WO2017160055A1 - System for displaying and controlling track of cast net of purse seine - Google Patents

System for displaying and controlling track of cast net of purse seine Download PDF

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Publication number
WO2017160055A1
WO2017160055A1 PCT/KR2017/002738 KR2017002738W WO2017160055A1 WO 2017160055 A1 WO2017160055 A1 WO 2017160055A1 KR 2017002738 W KR2017002738 W KR 2017002738W WO 2017160055 A1 WO2017160055 A1 WO 2017160055A1
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WO
WIPO (PCT)
Prior art keywords
network
fish
information
control system
trajectory path
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Application number
PCT/KR2017/002738
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French (fr)
Korean (ko)
Inventor
이춘우
Original Assignee
부경대학교 산학협력단
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Application filed by 부경대학교 산학협력단 filed Critical 부경대학교 산학협력단
Priority to JP2018548719A priority Critical patent/JP6721706B2/en
Priority to CN201780017277.7A priority patent/CN108778922B/en
Publication of WO2017160055A1 publication Critical patent/WO2017160055A1/en
Priority to NO20181209A priority patent/NO20181209A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/14—Fishing vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B49/00—Arrangements of nautical instruments or navigational aids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
    • B63H25/02—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring
    • B63H25/04—Initiating means for steering, for slowing down, otherwise than by use of propulsive elements, or for dynamic anchoring automatic, e.g. reacting to compass
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/96—Sonar systems specially adapted for specific applications for locating fish
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01W—METEOROLOGY
    • G01W1/00—Meteorology
    • G01W1/02—Instruments for indicating weather conditions by measuring two or more variables, e.g. humidity, pressure, temperature, cloud cover or wind speed

Definitions

  • the present invention calculates and provides in real time the netting start position and the netting trajectory, which are most likely to be successful, in consideration of the direction and speed of the fish group, and the fishing information, while simultaneously operating the ship automatically according to the trajectory.
  • the present invention relates to a network track display and control system of a wire network which controls to be able to view a network.
  • the largest of the fishing nets is the tuna net, which is operated in the Pacific Ocean, the Indian Ocean and the Atlantic Ocean. .
  • the tuna fishery fishery produced 4.79 million tons (270,000 tons in Korea) in 2013, totaling about 7 billion US dollars.
  • the fish group information is obtained from the sonar as the fishing information necessary for the operation process
  • the fishing information such as the ship operation information, the position information by the electronic chart, the direction and the strength of the tidal current and the wind, etc. are obtained from different measuring instruments. Because they appear on different indicators, it is not realistically easy to collect and analyze all of this information to find the proper location of the network.
  • the present invention integrates and provides a trajectory trajectory path for capturing a fish group together with ship information, fishing gear information, fish group information, and marine environment information, and simultaneously entrusts the ship to control the ship while moving automatically according to the trajectory. It is an object to provide a track display and control system.
  • the network tracking display and control system of the wire network is a transceiver for transmitting and receiving data in real time with the equipment installed on the wire, from the measurement equipment installed on the wire through the transceiver Based on the received data, the integrated display screen generating the integrated display screen including a projection path prediction unit for predicting the projection path path for capturing the fish group, and the projection path path predicted from the projection path prediction section And an integrated display screen generated by the integrated display screen generation unit, along with the network path, main ship information, fishing gear information, fish group information, and marine environment information are displayed on one screen.
  • the generated integrated display screen information may be transmitted to the sonar equipment or the existing location information display equipment through the transceiver.
  • the measurement equipment may include sonar equipment, GPS equipment, wind vane and anemometer.
  • the system further includes a meshing device controller for generating a control signal for controlling the fishing gear installed on the mesh line according to the projected trajectory path predicted from the meshing path predictor to control the meshing apparatus installed on the mesh line. can do.
  • the system may further include a navigation control unit for generating a navigation control signal for controlling the operation of the network according to the network trajectory path predicted from the network trajectory path prediction unit to control the navigation device of the network.
  • a navigation control unit for generating a navigation control signal for controlling the operation of the network according to the network trajectory path predicted from the network trajectory path prediction unit to control the navigation device of the network.
  • the network trajectory path prediction unit may determine ⁇ by the following equation.
  • Vf swimming speed of fish
  • K may be greater than 0 and less than or equal to 2.
  • the relationship between the trajectory length L and the distance a between the network and the center of the fish group is as follows according to the speed ratio E between the fish group and the mesh line.
  • K may be greater than 0 and less than or equal to 1.
  • the mesh trajectory path prediction unit may generate the needle string depth value information of the center of the phrase at the corresponding time point, and the integrated display screen information may include the needle string depth value information.
  • the integrated display screen generation unit may generate the integrated display screen information including ship line information, fishing gear information, fish group information, and marine environment information together with the network trajectory path.
  • the throwing track control system by predicting and providing a throwing trajectory path for catching fish, it is possible to significantly increase the probability of success of the operation.
  • the predicted trajectory trajectory path it automatically controls the operation of the trajectory and the netting device, thereby increasing the reliability and accuracy of the operation and vitalizing the high-quality manpower.
  • FIG. 1 is a block diagram of a transmission network track display and control system of a wire net according to an embodiment of the present invention.
  • FIG. 2 is an exemplary diagram of a network trajectory path according to the 1-1 mode of the meshing method 1 by the network trajectory path prediction unit in the network track display and control system of the network according to an embodiment of the present invention.
  • FIG. 3 is an exemplary diagram of a network trajectory path according to the mode 1-2 of the meshing method 1 by the network trajectory path prediction unit in the network track display and control system of a wire net according to an embodiment of the present invention.
  • FIG 4 is an exemplary diagram of a network trajectory path according to a first mode of the meshing method 1 by the network trajectory path prediction unit in the network track display and control system of a network according to an embodiment of the present invention.
  • FIG. 5 is a conceptual diagram of a network trajectory path according to a network method 2 in the network tracking display and control system of a network according to an embodiment of the present invention.
  • FIG. 6 illustrates an example of a trajectory path according to modes 2-1 to 2-3 of the mesh method 2 by the mesh path predictor in a mesh track display and control system of a network according to an embodiment of the present invention. It is also.
  • FIG. 7 is a diagram illustrating a throwing trajectory of the throwing method 1 calculated on the basis of the sedimentation depth of a fishing gear in the drop tracking and control system of a fishing net according to an embodiment of the present invention.
  • FIG. 8 is a diagram illustrating a throwing trajectory of the throwing method 2 calculated on the basis of the sedimentation depth of a fishing gear in the drop tracking and control system of a fishing net according to an embodiment of the present invention.
  • FIG 9 is an exemplary view of a screen displayed on the integrated display screen generation unit in the transmission network track display and control system of the wire network according to an embodiment of the present invention.
  • FIG. 10 is an exemplary diagram of a screen displaying a throwing trajectory on a sonar in the throwing track display and control system of a wire network according to an embodiment of the present invention.
  • each of the components, functional blocks or means may be composed of one or more sub-components, the electrical, electronic, mechanical functions performed by each component is an electronic circuit, It may be implemented by various known elements or mechanical elements such as an integrated circuit, an application specific integrated circuit (ASIC), or may be implemented separately, or two or more may be integrated into one.
  • ASIC application specific integrated circuit
  • Combinations of each block in the accompanying block diagram and in each step of the flowchart may also be performed by computer program instructions.
  • These computer program instructions may be mounted on a processor of a general purpose computer, a special purpose computer, a portable notebook computer, a network computer, or other programmable data processing equipment, such that the instructions executed by the processor of the computer device or other programmable data processing equipment may be used. It will create means for performing the functions described in each block of the block diagram or flow diagram described below.
  • Computer program instructions may be stored in a memory or computer readable memory available to a computer device capable of directing the computer device or other programmable data processing equipment to implement functionality in a particular manner, so that each It is also possible to produce an article containing instructions means for performing the functions described in each step of the block or flowchart.
  • Computer program instructions may also be mounted on a computer device or other programmable data processing equipment, thereby creating a process for performing a series of operational steps on the computer device or other programmable data processing equipment, so that each block and flowchart in the block diagram. It is also possible to provide steps for executing the functions described in each step of.
  • each block or step may represent a portion of a module, segment or code that includes one or more executable instructions for executing a specified logical function (s).
  • a specified logical function s.
  • the functions noted in the blocks or steps may occur out of order.
  • the two blocks or steps shown in succession may in fact be executed substantially concurrently or the blocks or steps may sometimes be performed in the reverse order, depending on the functionality involved.
  • FIG. 1 is a block diagram of a transmission network track display and control system of a wire net according to an embodiment of the present invention.
  • the system is a system installed on a fishing line that operates on a fishing group, and collects and displays the fish group information, the main vessel information, the position information, the fishing gear information, and the marine environment information from various measuring instruments. It predicts the trajectory path, constructs and provides an integrated display screen, and performs a function of controlling the operation of the wire network and the throwing device according to the predicted trajectory trajectory path.
  • the transmission network track display and control system 100 of a wire network includes a transceiver 110, a transmission path prediction unit 120, and an integrated display screen generation unit 130. ), The network device control unit 140 and the operation control unit 150.
  • the network device controller 140 and the operation controller 150 may be selectively included in the system.
  • the envy ship has a number of measuring devices for acquiring fishing information such as sonar devices for acquiring fish information necessary for the fishing process, GPS devices, ship navigation information, position information by electronic charts, and direction and strength of birds and wind. It is installed.
  • the transceiver 110 receives information measured from the sonar device and a plurality of measuring instruments.
  • the network trajectory path prediction unit 120 predicts the network trajectory path for capturing a fish group based on the information received by the transceiver 110.
  • the fishery When operating on a stationary fishery, the fishery should be positioned so that it is in the center of the siege surrounded by the net when the meshing is complete.
  • the network trajectory path prediction unit 120 may predict the network trajectory path according to any one of the first-first mode, the first-second mode, and the first-third mode of the first mesh method.
  • the first-first mode when the fish are stationary or move at a very slow speed, the fish are at the center of the siege of the fishing gear at the end of the fishing net, and in the first and second modes, the fish are moved.
  • the first to second mode in case of a relatively slow moving fish group, when the 50% of the fishing gear is thrown, the position of the fish group is located in the center of the surrounding circle of the fishing gear.
  • fast-moving fish when 25% of the fishing gear is thrown away, the position of the fish is in the center of the fishing gear's surrounding circle.
  • Each element used in the throwing trajectory calculation of throwing method 1 may be defined as shown in Table 1 below.
  • FIG. 2 is an exemplary diagram of a network trajectory path according to the 1-1 mode of the meshing method 1 by the network trajectory path prediction unit in the network track display and control system of the network according to an embodiment of the present invention.
  • the ⁇ value can be calculated as follows.
  • Equation 2 can be obtained by the following Equation 2.
  • the distance Sf to which the fish group can move can be obtained as shown in Equation 3 below, and when the time t for the fish group to move to the time it takes for the wire to complete the line can be calculated as shown in Equation 4 below.
  • Equation 4 Substituting Equation 4 into Equation 3, the following Equation 5 is obtained.
  • Equation 5 when Equation 5 is substituted into Equation 2, ⁇ can be obtained as shown in Equation 6 below.
  • Equation 7 For example, in a case where the speed ratio is very large, assuming 100 (the fish group is almost stopped), ⁇ is obtained as shown in Equation 7 below.
  • the fish group is positioned at the center of the throwing circle when 1/2 of the net is thrown, and the value of ⁇ can be calculated as follows.
  • FIG 3 is an exemplary diagram of a network trajectory path according to the mode 1-2 of the transmission method 1 by the network trajectory path prediction unit in the network track display and control system of a wire net according to an embodiment of the present invention.
  • the ⁇ value may be calculated as in Equations 10 and 11 below.
  • Equation 12 ⁇ when the speed ratio is 6 and when the speed ratio is 3 is obtained as shown in Equations 12 and 13, respectively.
  • the ⁇ value can be calculated as follows under the condition that the fish group is located at the center of the surrounding circle of the fishing gear when 1/4 of the fishing gear is thrown away.
  • FIG 4 is an exemplary diagram of a network trajectory path according to a first mode of the meshing method 1 by the network trajectory path prediction unit in the network track display and control system of a network according to an embodiment of the present invention.
  • the ⁇ value may be calculated as in Equation 14 below.
  • ⁇ when the speed ratio is 6 and when the speed ratio is 3 is calculated as in Equations 15 and 16, respectively.
  • a fast fish group for example, tuna fish.
  • the first-first mode to the first-third mode may generate more various modes by setting the variable k in the molecule E in Equations 6, 11, and 14 above.
  • k is greater than 0 and satisfies 2 or less.
  • FIG. 5 is a conceptual diagram of a network trajectory path according to a network method 2 in the network tracking display and control system of a network according to an embodiment of the present invention.
  • Table 2 below is a table for explaining each symbol in FIG.
  • Throwing Method 2 meets the D point at the center of the net when the fish proceeds without changing the direction, and this center part is the place where the net sinks most deeply, which can effectively block the escape of the fish.
  • the 2-1 mode is a mode in which the fish reaches the center of the fishing gear at the end of the fishing net
  • the 2-2 mode is a mode in which the fish reaches the center of the fishing gear when the fishing net is advanced 80%.
  • Mode 2-3 is a mode in which the fish reaches the center of the fishing gear when the fishing net is advanced by 60%.
  • a1, a2, and a3 for each scenario can be obtained, and the starting point P1 of the mesh can be obtained as follows. If you put P3 at the center of the telephoto circle, the fish from P0 must go through P3 to reach the central position D. Therefore, if the unit vector of the fish velocity vector is nrf, the coordinates of P3 are determined using the position vector between P0 and P3. It can be obtained as follows.
  • the mesh start position P1 can be obtained using the dot product of the vector.
  • ⁇ is an angle formed between the velocity vector of the fish group and the forward and horizontal lines of the reticular line, and ⁇ can be obtained by knowing the ratio of the length of the moxibustion line and the towing line.
  • the distance between the center P3 and the start position P1 of the telephoto circle is Rg, that is, the surrounding radius of the phrase is expressed by the following equation.
  • P1 (x1, y1) can be determined by solving equations 21 and 22 in a system.
  • 6 illustrates an example of a trajectory path according to modes 2-1 to 2-3 of the mesh method 2 by the mesh path predictor in a mesh track display and control system of a network according to an embodiment of the present invention. It is also.
  • the 2-1 to 2-3 modes as an example, it is possible to generate a variety of modes by setting the variable k to ⁇ in the molecules in the equation (17) to 19. At this time, k is greater than 0 and satisfies 1 or less.
  • FIG. 7 is a diagram illustrating a throwing trajectory of the throwing method 1 calculated on the basis of the sedimentation depth of a fishing gear in the drop tracking and control system of a fishing net according to an embodiment of the present invention.
  • the line 1 is a bed line reaching depth of 50m
  • the line 2 is a bed line reaching depth of 60m
  • the line 3 is a bed line reaching depth of 70 m.
  • the line 1 is a bed line reaching depth of 50m
  • the line 2 is a bed line reaching depth of 60m
  • the line 3 is a bed line reaching depth of 70 m. In this way, it is possible to select the optimal trajectory path during operation by providing the depth of arrival information of the bed line.
  • the data calculated by performing a numerical simulation in advance, or the data obtained from the experiment can be used, and the transmission path prediction unit 120 performs the real time on the basis of the design data information on the fishing gear.
  • the forecasting path can be obtained while performing the calculation.
  • the network trajectory path prediction unit 120 includes the first-first, first-second, first-third, second-first, second-second, and second-second modes according to the moving speed of the fish group.
  • One of three modes can be selected to predict the network trajectory path.
  • at least one or two or more mesh trajectories of the six modes are displayed on the screen according to the speed and direction of the fish group and the cruising speed of the wire at every preset period, and the mesh trajectory is calculated every time. Each step is updated in real time according to the moving direction and speed of the fish group.
  • the six modes are one example, and more modes may be generated or other modes may be generated by setting different values in addition to the above-described modes.
  • the integrated display screen generation unit 130 generates integrated display screen information including the network prediction path predicted from the network trajectory path prediction unit 120.
  • 9 is an exemplary view of a screen displayed on the integrated display screen generation unit 130 in the transmission network track display and control system 100 of the wire network according to an embodiment of the present invention.
  • the integrated display screen generation unit 130 receives information received from the sonar device, a GPS device, a plurality of measuring devices, etc., which are installed on a wire network through the transmission / reception unit 110, and the projection path path prediction.
  • the integrated display screen generated by using the integrated display screen information including the projection path of the six modes predicted by the unit 120 is generated and output.
  • FIG. 10 is an exemplary diagram of a screen displaying a throwing trajectory on a sonar in the throwing track display and control system of a wire network according to an embodiment of the present invention.
  • only a part of the network trajectories may be output to the integrated display screen, the sonar screen or the screen of the existing location information display equipment.
  • the integrated display screen generated by the integrated display screen generation unit 130 may provide the integrated ship screen information, fishing gear information, fish group information, marine environment information, and the network trajectory path information. This allows all information on the operating environment to be integrated in one screen.
  • the integrated display screen information generated by the integrated display screen generation unit 130 is transmitted to the sonar device or the existing position display device through the transceiver 110, the integrated screen display information on the display or location display device on the sonar device Alternatively, the throwing trajectory may be configured to be displayed together with the sonar fish group information.
  • the ship information includes information on the position of the wire and the speed and course of the wire, and the fishing gear information includes the length of the moxibustion line and the shape of the net, and the fish group information includes the moving speed, direction, size and distance of the fish group. Information and the like. Marine environmental information also includes information on tidal direction, tidal velocities, wind direction and wind speed.
  • the meshing device controller 140 generates a control signal for controlling the fishing gear installed on the meshed line according to the projected trajectory path predicted by the meshing path predictor 120 and automatically generates the meshing device installed on the meshed line. Can be controlled automatically.
  • the operation control unit 150 selects one of the six modes generated by the network trajectory path prediction unit, it generates a flight control signal for controlling the operation of the network according to the predicted network trajectory path to operate the network of the network. By controlling, the operation of the envoy for fishing can be automatically controlled.
  • the network device control unit 140 and the operation control unit 150 can automatically control the operation of the network and the network for the mesh network to maximize the productivity of fishing activities.

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Abstract

The present invention relates to a system for displaying and controlling a track of cast net of purse seine. The system comprises: a cast net wake path prediction unit for predicting a cast net wake path in order to catch a shoal of fish, on the basis of data received from measurement equipment provided on a purse seiner, through a transmission and reception unit; and an integrated display screen generation unit for generating integrated display screen information including a cast net wake path predicted by the cast net wake path prediction unit.

Description

선망의 투망 항적 표시 및 제어시스템Envy track display and control system
본 발명은 어군의 이동 방향과 속도 및 어업정보를 고려하여 가장 성공 가능성이 큰 투망 시작 위치 및 투망 궤적을 실시간으로 계산하여 제공하여 조업할 수 있도록 함과 동시에 선박을 그 궤적에 따라 자동으로 이동시키면서 투망할 수 있도록 제어하는 선망의 투망 항적 표시 및 제어시스템에 관한 것이다.The present invention calculates and provides in real time the netting start position and the netting trajectory, which are most likely to be successful, in consideration of the direction and speed of the fish group, and the fishing information, while simultaneously operating the ship automatically according to the trajectory. The present invention relates to a network track display and control system of a wire network which controls to be able to view a network.
선망어업 중 규모가 가장 큰 것은 다랑어 선망으로 태평양, 인도양 및 대서양의 대양에서 다랑어류를 대상으로 조업이 이루어지고, 중소규모의 선망어업이 전 세계 연안국의 연근해에서 고등어 등 부어류를 대상으로 행해지고 있다. 다랑어 선망어업은 전 세계에서 2013년기준 479만톤(우리나라 27만톤)을 생산하여 총 생산고는 약 70억불에 이른다.The largest of the fishing nets is the tuna net, which is operated in the Pacific Ocean, the Indian Ocean and the Atlantic Ocean. . The tuna fishery fishery produced 4.79 million tons (270,000 tons in Korea) in 2013, totaling about 7 billion US dollars.
다랑어 선망에서 최근 국제적으로 대두되는 문제는 세계 대양에서 이루어지는 조업의 대부분이 유목에 모여있는 어군을 대상으로 조업하고 있어서 비목적어인 눈다랑어와 황다랑어 치어의 혼획이 많다는 점이다. 그래서 자원관리를 담당하는 중서부태평양수산위원회 등의 지역수산위원회에서는 유목군의 조업을 규제하는 대신 부상군 조업을 하도록 하고 있으나 조업국에서는 부상군에 대한 조업기술이 부족하여 이러한 규제의 전면적인 시행을 미루고 부분적으로만 시행하고 있는데 그치고 있다.The problem that is emerging internationally in the tuna envy is that most of the operations in the world's oceans are aimed at fish populations gathered in driftwood, and there is a lot of confusion between the big-eye tuna and yellowfin fry. Therefore, regional fisheries committees, such as the Midwest Pacific Fisheries Commission, which are in charge of resource management, are required to operate injured forces instead of regulating nomadic operations. It is delayed and only partially implemented.
선망으로 부상하여 빠르게 유영하는 어군을 어획하기 위해서는 어군의 이동 방향과 속도, 선망선의 투망 속도와 어구의 크기 및 바람과 조류의 세기와 방향을 고려하여 정확한 투망 위치를 찾아서 투망해야 조업을 성공할 수 있다. 일반적으로 부상하여 유영하는 다랑어 어군을 발견해도 조업의 성공률은 30%미만으로 알려지고 있다. In order to catch a fish that floats rapidly and floats, it is necessary to find the exact position of the fishing net, considering the direction and speed of the fishing net, the speed of the fishing net, the size of the fishing gear, and the strength and direction of the wind and tide. . In general, even if you find a tuna fish that floats and swims, the success rate is known to be less than 30%.
하지만, 투망 위치와 선망선의 투망 속도와 위치 등은 선망선의 선장의 경험적 지식에 의존하여 진행되기 때문에 각 선망선 마다 조업 성공률은 편차가 크고, 또한 경험이 많은 선장이라고 하더라도 직관에 의존하기 때문에 조업 성공률을 높이는 데에는 한계가 있다. However, since the mesh position and the mesh speed and position of the mesh line depend on the empirical knowledge of the captain's captain, the success rate of the operation depends on the intuition even if the captain is experienced. There is a limit to increase.
또한, 조업 과정에 필요한 어업 정보로서 어군 정보는 소나로부터 얻고, 선박의 운항 정보, 전자해도에 의한 위치 정보, 조류와 바람의 방향과 세기 등의 어업 정보를 각기 다른 계측기로부터 얻고 있고 이들 정보가 서로 다른 표시기에 나타나기 때문에 이 정보들을 모두 수집·분석하여 적절한 투망 위치를 찾아내서 조업을 진행하기가 현실적으로 용이하지 않다.In addition, the fish group information is obtained from the sonar as the fishing information necessary for the operation process, and the fishing information such as the ship operation information, the position information by the electronic chart, the direction and the strength of the tidal current and the wind, etc. are obtained from different measuring instruments. Because they appear on different indicators, it is not realistically easy to collect and analyze all of this information to find the proper location of the network.
따라서 어군의 이동 정보, 선박의 운항 정보 및 어구 정보를 실시간으로 분석하여 성공 가능성이 높은 투망 시작 위치와 어군 포위 궤적을 자동으로 계산하여 제공하고, 어군 정보, 선박의 운항 정보, 전자 해도에 의한 위치 정보, 조류와 바람의 방향과 세기 등의 정보를 통합하여 제공할 수 있는 시스템이 요구된다.Therefore, by analyzing in real time the movement information of the fish, the operation information of the vessel and the fishing gear information, it automatically calculates and provides the launching position and the trajectory surrounding the trajectory, which is highly likely to be successful. There is a need for a system capable of integrating and providing information such as information, direction and strength of tides and wind.
본 발명은 어군을 포획하기 위한 투망궤적 경로를 본선정보, 어구정보, 어군정보 및 해양환경정보와 함께 통합하여 제공함과 동시에 선박을 그 궤적에 따라 자동으로 이동시키면서 투망할 수 있도록 제어하는 선망의 투망 항적 표시 및 제어시스템을 제공하는 것을 목적으로 한다. The present invention integrates and provides a trajectory trajectory path for capturing a fish group together with ship information, fishing gear information, fish group information, and marine environment information, and simultaneously entrusts the ship to control the ship while moving automatically according to the trajectory. It is an object to provide a track display and control system.
상기 과제를 해결하기 위한 본 발명의 일 양상에 따른 선망의 투망 항적 표시 및 제어시스템은 선망선에 설치된 장비와 실시간으로 데이터를 송수신하기 위한 송수신부, 상기 송수신부를 통해 상기 선망선에 설치된 계측장비로부터 수신한 데이터를 기초로, 어군을 포획하기 위한 투망궤적 경로를 예측하는 투망궤적경로예측부, 및 상기 투망궤적경로예측부로부터 예측된 투망궤적 경로를 포함하는 통합표시화면으로 생성하는 통합표시화면생성부를 포함하고, 상기 통합표시화면생성부에서 생성된 통합표시화면은 상기 투망궤적 경로와 함께 본선정보, 어구정보, 어군정보 및 해양환경정보가 한 화면에 표시된다. In accordance with an aspect of the present invention for solving the above problems, the network tracking display and control system of the wire network is a transceiver for transmitting and receiving data in real time with the equipment installed on the wire, from the measurement equipment installed on the wire through the transceiver Based on the received data, the integrated display screen generating the integrated display screen including a projection path prediction unit for predicting the projection path path for capturing the fish group, and the projection path path predicted from the projection path prediction section And an integrated display screen generated by the integrated display screen generation unit, along with the network path, main ship information, fishing gear information, fish group information, and marine environment information are displayed on one screen.
상기 송수신부를 통해 상기 생성된 통합표시화면정보가 소나장비 또는 기존 위치정보 표시장비로 전송될 수 있다. The generated integrated display screen information may be transmitted to the sonar equipment or the existing location information display equipment through the transceiver.
상기 계측장비는 소나장비, GPS 장비, 풍향계 및 풍속계를 포함할 수 있다. The measurement equipment may include sonar equipment, GPS equipment, wind vane and anemometer.
상기 시스템은 상기 투망궤적경로예측부로부터 예측된 투망궤적 경로에 따라 상기 선망선에 설치된 어구를 투망하도록 제어하는 제어신호를 생성하여 상기 선망선에 설치된 투망장치를 제어하기 위한 투망장치제어부를 더 포함할 수 있다. The system further includes a meshing device controller for generating a control signal for controlling the fishing gear installed on the mesh line according to the projected trajectory path predicted from the meshing path predictor to control the meshing apparatus installed on the mesh line. can do.
상기 시스템은 상기 투망궤적경로예측부로부터 예측된 투망궤적 경로에 따라 상기 선망선의 운항을 제어하기 위한 운항제어신호를 생성하여 상기 선망선의 운항장치를 제어하는 운항제어부를 더 포함할 수 있다. The system may further include a navigation control unit for generating a navigation control signal for controlling the operation of the network according to the network trajectory path predicted from the network trajectory path prediction unit to control the navigation device of the network.
상기 투망궤적경로예측부는 다음의 수식에 의하여 θ을 결정할 수 있다.The network trajectory path prediction unit may determine θ by the following equation.
Figure PCTKR2017002738-appb-I000001
Figure PCTKR2017002738-appb-I000001
θ: 어군이 어구로 포위된 원의 중심에 위치하기까지 이동할 거리와 상기 어구의 포위반경으로 이루어지는 직각삼각형에서 상기 어군이 이동할 거리에 대하여 상기 투망시작위치에서의 상기 선망선이 어군을 바라보는 각도임[theta]: an angle at which the wire network views the fish group at the start position of the mesh with respect to the distance to which the fish group moves in a right triangle formed by a distance from which the fish group is located at the center of the circle surrounded by the gear and the enclosing radius of the gear being
E: 속도비(Vs/Vf)E: speed ratio (Vs / Vf)
Vs:선망선의 속도Vs: speed of the wire
Vf:어군의 유영속도Vf: swimming speed of fish
상기 k는 0보다 크고 2 이하일 수 있다. K may be greater than 0 and less than or equal to 2.
상기 투망궤적경로예측부는 어군과 선망선의 속도비 E에 따라 어구길이 L과 투망원과 어군 중심간의 거리 a와의 관계는 다음과 같다. The relationship between the trajectory length L and the distance a between the network and the center of the fish group is as follows according to the speed ratio E between the fish group and the mesh line.
Figure PCTKR2017002738-appb-I000002
Figure PCTKR2017002738-appb-I000002
E: 속도비(Vs/Vf)E: speed ratio (Vs / Vf)
Vs: 선망선의 속도Vs: Speed of Envy
Vf: 어군의 유영속도Vf: Swimming Speed of Fish
a: 어군 중심과 투망원 간의 거리 a: Distance between fish center and telephoto
상기 k는 0보다 크고 1 이하일 수 있다. K may be greater than 0 and less than or equal to 1.
상기 투망궤적경로예측부는 미리 설정된 모드에 따라 투망이 진행된 경우에, 해당 시점에서의 어구의 중심의 침자줄 수심값 정보를 생성하고 상기 통합표시화면정보는 상기 침자줄 수심값 정보를 포함할 수 있다. When the mesh network progresses according to a preset mode, the mesh trajectory path prediction unit may generate the needle string depth value information of the center of the phrase at the corresponding time point, and the integrated display screen information may include the needle string depth value information. .
상기 통합표시화면생성부는 상기 투망궤적 경로와 함께 본선정보, 어구정보, 어군정보 및 해양환경정보를 포함하는 상기 통합표시화면정보를 생성할 수 있다. The integrated display screen generation unit may generate the integrated display screen information including ship line information, fishing gear information, fish group information, and marine environment information together with the network trajectory path.
본 발명의 실시예에 따른 투망항적제어시스템에 의하면, 어군을 포획하기 위한 투망궤적경로를 예측하여 제공함으로써, 조업의 성공 가능성을 획기적으로 높일 수 있다.According to the throwing track control system according to an embodiment of the present invention, by predicting and providing a throwing trajectory path for catching fish, it is possible to significantly increase the probability of success of the operation.
또한, 다양한 정보를 통합하여 한 화면에 제공함으로써, 조업 상황을 통합적으로 확인할 수 있기 때문에 사용자의 편의성을 증대시킬 수 있다.In addition, by integrating a variety of information on one screen, it is possible to increase the convenience of the user because it is possible to integrally check the operating situation.
또한, 예측된 투망궤적경로에 따라 선망선의 운항 및 투망장치를 자동으로 제어함으로 조업의 신뢰성과 정확성을 높일 수 있고 고급인력을 생력화시킬 수 있다. In addition, according to the predicted trajectory trajectory path, it automatically controls the operation of the trajectory and the netting device, thereby increasing the reliability and accuracy of the operation and vitalizing the high-quality manpower.
도 1은 본 발명의 실시예에 따른 선망의 투망 항적 표시 및 제어시스템의 구성도이다.1 is a block diagram of a transmission network track display and control system of a wire net according to an embodiment of the present invention.
도 2는 본 발명의 실시예에 따른 선망의 투망 항적 표시 및 제어시스템에 있어서, 투망궤적경로예측부에 의한 투망법 1의 제1-1 모드에 따른 투망궤적경로의 예시도이다.2 is an exemplary diagram of a network trajectory path according to the 1-1 mode of the meshing method 1 by the network trajectory path prediction unit in the network track display and control system of the network according to an embodiment of the present invention.
도 3은 본 발명의 실시예에 따른 선망의 투망 항적 표시 및 제어시스템에 있어서, 투망궤적경로예측부에 의한 투망법 1의 제1-2 모드에 따른 투망궤적경로의 예시도이다.FIG. 3 is an exemplary diagram of a network trajectory path according to the mode 1-2 of the meshing method 1 by the network trajectory path prediction unit in the network track display and control system of a wire net according to an embodiment of the present invention.
도 4는 본 발명의 실시예에 따른 선망의 투망 항적 표시 및 제어시스템에 있어서, 투망궤적경로예측부에 의한 투망법 1의 제1-3 모드에 따른 투망궤적경로의 예시도이다.4 is an exemplary diagram of a network trajectory path according to a first mode of the meshing method 1 by the network trajectory path prediction unit in the network track display and control system of a network according to an embodiment of the present invention.
도 5는 본 발명의 실시예에 따른 선망의 투망 항적 표시 및 제어시스템에 있어서, 투망방법 2에 의한 투망궤적경로의 개념도이다.5 is a conceptual diagram of a network trajectory path according to a network method 2 in the network tracking display and control system of a network according to an embodiment of the present invention.
도 6은 본 발명의 실시예에 따른 선망의 투망 항적 표시 및 제어시스템에 있어서, 투망궤적경로예측부에 의한 투망법 2의 제2-1 모드 내지 제2-3모드에 따른 투망궤적경로의 예시도이다.6 illustrates an example of a trajectory path according to modes 2-1 to 2-3 of the mesh method 2 by the mesh path predictor in a mesh track display and control system of a network according to an embodiment of the present invention. It is also.
도 7은 본 발명의 실시예에 따른 선망의 투망 항적 표시 및 제어시스템에 있어서, 어구의 침강수심을 기준으로 계산한 투망방법1의 투망궤적을 도시한 도면이다.FIG. 7 is a diagram illustrating a throwing trajectory of the throwing method 1 calculated on the basis of the sedimentation depth of a fishing gear in the drop tracking and control system of a fishing net according to an embodiment of the present invention.
도 8은 본 발명의 실시예에 따른 선망의 투망 항적 표시 및 제어시스템에 있어서, 어구의 침강수심을 기준으로 계산한 투망방법2의 투망궤적을 도시한 도면이다.8 is a diagram illustrating a throwing trajectory of the throwing method 2 calculated on the basis of the sedimentation depth of a fishing gear in the drop tracking and control system of a fishing net according to an embodiment of the present invention.
도 9는 본 발명의 실시예에 따른 선망의 투망 항적 표시 및 제어시스템에 있어서, 통합표시화면생성부에 표시되는 화면의 예시도이다.9 is an exemplary view of a screen displayed on the integrated display screen generation unit in the transmission network track display and control system of the wire network according to an embodiment of the present invention.
도 10은 본 발명의 실시예에 따른 선망의 투망 항적 표시 및 제어시스템에 있어서, 소나에 투망궤적을 표시한 화면의 예시도이다.10 is an exemplary diagram of a screen displaying a throwing trajectory on a sonar in the throwing track display and control system of a wire network according to an embodiment of the present invention.
본 발명의 목적 및 효과, 그리고 그것들을 달성하기 위한 기술적 구성들은 첨부되는 도면과 함께 상세하게 뒤에 설명이 되는 실시 예들을 참조하면 명확해질 것이다. 본 발명을 설명함에 있어서 공지 기능 또는 구성에 대한 구체적인 설명이 본 발명의 요지를 불필요하게 흐를 수 있다고 판단되는 경우에는 그 상세한 설명을 생략할 것이다. 그리고 뒤에 설명되는 용어들은 본 발명에서의 구조, 역할 및 기능 등을 고려하여 정의된 용어들로서 이는 사용자, 운용자의 의도 또는 관례 등에 따라 달라질 수 있다.Objects and effects of the present invention, and technical configurations for achieving them will be apparent with reference to the embodiments described later in detail in conjunction with the accompanying drawings. In describing the present invention, when it is determined that a detailed description of a known function or configuration may unnecessarily flow the gist of the present invention, the detailed description thereof will be omitted. The terms to be described later are terms defined in consideration of structures, roles, functions, and the like in the present invention, which may vary according to intentions or customs of users and operators.
그러나 본 발명은 이하에서 개시되는 실시 예들에 한정되는 것이 아니라 서로 다른 다양한 형태로 구현될 수 있다. 단지 본 실시 예들은 본 발명의 개시가 완전하도록 하고, 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자에게 발명의 범주를 완전하게 알려주기 위해 제공되는 것이며, 본 발명은 오로지 특허청구범위에 기재된 청구항의 범주에 의하여 정의될 뿐이다. 그러므로 그 정의는 본 명세서 전반에 걸친 내용을 토대로 내려져야 할 것이다.However, the present invention is not limited to the embodiments disclosed below but may be implemented in various forms. The present embodiments are merely provided to complete the disclosure of the present invention, and to fully inform the scope of the invention to those skilled in the art, and the present invention is described only in the claims. It is only defined by the scope of the claims. Therefore, the definition should be made based on the contents throughout the specification.
명세서 전체에서, 어떤 부분이 어떤 구성요소를 "포함"한다고 할 때, 이는 특별히 반대되는 기재가 없는 한 다른 구성요소를 제외하는 것이 아니라 다른 구성요소를 더 포함할 수 있는 것을 의미한다.Throughout the specification, when a part is said to "include" a certain component, it means that it can further include other components, without excluding other components unless specifically stated otherwise.
이하에서는 첨부한 도면을 참조하며, 본 발명의 바람직한 실시예들을 보다 상세하게 설명하기로 한다. Hereinafter, with reference to the accompanying drawings, it will be described in detail preferred embodiments of the present invention.
한편, 본 발명의 실시 예에 있어서, 각 구성요소들, 기능 블록들 또는 수단들은 하나 또는 그 이상의 하부 구성요소로 구성될 수 있으며, 각 구성요소들이 수행하는 전기, 전자, 기계적 기능들은 전자회로, 집적회로, ASIC(Application Specific Integrated Circuit) 등 공지된 다양한 소자들 또는 기계적 요소들로 구현될 수 있으며, 각각 별개로 구현되거나 2 이상이 하나로 통합되어 구현될 수도 있다.On the other hand, in an embodiment of the present invention, each of the components, functional blocks or means may be composed of one or more sub-components, the electrical, electronic, mechanical functions performed by each component is an electronic circuit, It may be implemented by various known elements or mechanical elements such as an integrated circuit, an application specific integrated circuit (ASIC), or may be implemented separately, or two or more may be integrated into one.
또한 첨부된 블록도의 각 블록과 흐름도의 각 단계의 조합들은 컴퓨터 프로그램 인스트럭션들에 의해 수행될 수도 있다. 이들 컴퓨터 프로그램 인스트럭션들은 범용 컴퓨터, 특수용 컴퓨터, 휴대용 노트북 컴퓨터, 네트워크 컴퓨터 등 기타 프로그램 가능한 데이터 프로세싱 장비의 프로세서에 탑재될 수 있으므로, 컴퓨터 장치 또는 기타 프로그램 가능한 데이터 프로세싱 장비의 프로세서를 통해 수행되는 그 인스트럭션들이 아래에서 설명할 블록도의 각 블록 또는 흐름도의 각 단계에서 설명된 기능들을 수행하는 수단을 생성하게 된다. 이들 컴퓨터 프로그램 인스트럭션들은 특정 방식으로 기능을 구현하기 위해 컴퓨터 장치 또는 기타 프로그램이 가능한 데이터 프로세싱 장비를 지향할 수 있는 컴퓨터 장치에 이용 가능한 메모리 또는 컴퓨터 판독 가능 메모리에 저장되는 것도 가능하므로, 블록도의 각 블록 또는 흐름도 각 단계에서 설명된 기능을 수행하는 인스트럭션 수단을 내포하는 제조물을 생산하는 것도 가능하다. 컴퓨터 프로그램 인스트럭션들은 컴퓨터 장치 또는 기타 프로그램 가능한 데이터 프로세싱 장비 상에 탑재되는 것도 가능하므로, 컴퓨터 장치 또는 기타 프로그램 가능한 데이터 프로세싱 장비 상에서 일련의 동작 단계들이 수행되기 위한 프로세스를 생성하여 블록도의 각 블록 및 흐름도의 각 단계에서 설명된 기능들을 실행하기 위한 단계들을 제공하는 것도 가능하다.Combinations of each block in the accompanying block diagram and in each step of the flowchart may also be performed by computer program instructions. These computer program instructions may be mounted on a processor of a general purpose computer, a special purpose computer, a portable notebook computer, a network computer, or other programmable data processing equipment, such that the instructions executed by the processor of the computer device or other programmable data processing equipment may be used. It will create means for performing the functions described in each block of the block diagram or flow diagram described below. These computer program instructions may be stored in a memory or computer readable memory available to a computer device capable of directing the computer device or other programmable data processing equipment to implement functionality in a particular manner, so that each It is also possible to produce an article containing instructions means for performing the functions described in each step of the block or flowchart. Computer program instructions may also be mounted on a computer device or other programmable data processing equipment, thereby creating a process for performing a series of operational steps on the computer device or other programmable data processing equipment, so that each block and flowchart in the block diagram. It is also possible to provide steps for executing the functions described in each step of.
또한, 각 블록 또는 각 단계는 특정된 논리적 기능(들)을 실행하기 위한 하나 이상의 실행 가능한 인스트럭션들을 포함하는 모듈, 세그먼트 또는 코드의 일부를 나타낼 수 있다. 또, 몇 가지 대체 실시예들에서는 블록들 또는 단계들에서 언급된 기능들이 순서를 벗어나서 발생하는 것도 가능함을 주목해야 한다. 예컨대, 잇달아 도시되어 있는 두 개의 블록들 또는 단계들은 사실 실질적으로 동시에 수행되는 것도 가능하고 또는 그 블록들 또는 단계들이 때때로 해당하는 기능에 따라 역순으로 수행되는 것도 가능하다.In addition, each block or step may represent a portion of a module, segment or code that includes one or more executable instructions for executing a specified logical function (s). It should also be noted that in some alternative embodiments, the functions noted in the blocks or steps may occur out of order. For example, the two blocks or steps shown in succession may in fact be executed substantially concurrently or the blocks or steps may sometimes be performed in the reverse order, depending on the functionality involved.
이하에서는 첨부된 도면을 참조하면, 본 발명의 실시예에 따른 선망의 투망 항적 표시 및 제어시스템에 대하여 설명하기로 한다.Hereinafter, with reference to the accompanying drawings, it will be described with respect to the network track display and control system of the wire net according to an embodiment of the present invention.
도 1은 본 발명의 실시예에 따른 선망의 투망 항적 표시 및 제어시스템의 구성도이다.1 is a block diagram of a transmission network track display and control system of a wire net according to an embodiment of the present invention.
상기 시스템은 어군을 대상으로 조업을 실시하는 선망선에 설치되는 시스템으로서, 어군 정보, 본선 정보, 위치 정보, 어구 정보 및 해양환경 정보를 여러 계측기로부터 수집하여 표시하고, 선망선에 설치된 어구의 투망궤적경로를 예측하여 통합표시화면을 구성하여 제공하고, 상기 예측된 투망궤적경로에 따라 선망선의 운항 및 투망장치를 제어하는 기능을 수행한다. The system is a system installed on a fishing line that operates on a fishing group, and collects and displays the fish group information, the main vessel information, the position information, the fishing gear information, and the marine environment information from various measuring instruments. It predicts the trajectory path, constructs and provides an integrated display screen, and performs a function of controlling the operation of the wire network and the throwing device according to the predicted trajectory trajectory path.
상기 도 1에 도시된 바와 같이, 본 발명의 실시예에 따른 선망의 투망 항적 표시 및 제어시스템(100)은 송수신부(110), 투망궤적경로예측부(120), 통합표시화면생성부(130), 투망장치제어부(140) 및 운항제어부(150)를 포함한다. As shown in FIG. 1, the transmission network track display and control system 100 of a wire network according to an embodiment of the present invention includes a transceiver 110, a transmission path prediction unit 120, and an integrated display screen generation unit 130. ), The network device control unit 140 and the operation control unit 150.
상기 투망장치제어부(140) 및 운항제어부(150)는 상기 시스템에 선택적으로 포함될 수 있다. The network device controller 140 and the operation controller 150 may be selectively included in the system.
선망선에는 조업과정에 필요한 어군 정보를 획득하기 위한 소나장치, GPS 장치, 선박의 운항정보, 전자해도에 의한 위치정보, 조류와 바람의 방향과 세기 등의 어업 정보를 획득하기 위한 다수의 계측기기 설치되어 있다.The envy ship has a number of measuring devices for acquiring fishing information such as sonar devices for acquiring fish information necessary for the fishing process, GPS devices, ship navigation information, position information by electronic charts, and direction and strength of birds and wind. It is installed.
상기 송수신부(110)는 상기 소나장치와 다수의 계측기로부터 계측된 정보를 수신한다. The transceiver 110 receives information measured from the sonar device and a plurality of measuring instruments.
상기 투망궤적경로예측부(120)는 상기 송수신부(110)가 수신한 정보를 기초로, 어군을 포획하기 위한 투망궤적경로를 예측한다.The network trajectory path prediction unit 120 predicts the network trajectory path for capturing a fish group based on the information received by the transceiver 110.
이하에서는 2가지 투망방법에 대하여 자세히 설명하기로 한다. Hereinafter, the two projection methods will be described in detail.
[투망방법 1][Method 1]
정지하고 있는 어군을 대상으로 조업할 때는 투망이 완료되었을 때 어군이 그물로 포위된 포위 원의 중앙에 위치하도록 투망해야 한다. When operating on a stationary fishery, the fishery should be positioned so that it is in the center of the siege surrounded by the net when the meshing is complete.
이동하는 어군을 대상으로 하는 조업방법의 경우, 어군이 일정한 방향과 속도로 이동하는 것을 전제로 투망이 완료되었을 때, 어군이 그물로 포위된 원의 중앙 위치에 오는 것이 가장 좋으므로 어군의 이동을 고려하여 어군을 좌우현 정횡보다는 앞으로 가서 투망해야 한다. In the case of a fishing method targeting moving fish, it is best to come to the center of the circle surrounded by the net when the fishing net is completed, provided that the fish are moving in a certain direction and speed. Consideration should be taken to go forward rather than to the right and left.
어느 정도 앞에서 투망하는가는 어군의 속도, 선망선의 투망 속도 및 그물의 길이 등을 고려하여 결정할 수 있으며, 바람은 좌회전 투망의 경우는 좌현부터 선수에서 받으면서 투망을 시작해야 투망 완료 후 조임줄 조임과 양망 과정에서 배가 그물 안으로 들어가는 사고를 방지할 수 있고, 우회전 투망의 경우는 반대로 우현쪽부터 선수에서 바람을 받으며 투망을 시작해야 한다.You can decide how much you want to go ahead by considering the speed of the fish, the speed of the wire and the length of the net.In the case of the left turn, the wind should be received from the port from the port. It is possible to prevent the boat from entering the net.In the case of a right-turned throw, the player must start the throw with the wind from the athlete from the starboard side.
상기 투망궤적경로예측부(120)는 투망방법 1의 제1-1 모드, 제1-2 모드 및 제1-3 모드 중 어느 하나에 따라 투망궤적경로를 예측할 수 있다. 이때, 상기 제1-1 모드는 어군이 정지해 있거나 아주 느린 속력으로 이동할 경우로 투망 종료 시 어군이 어구의 포위 원 중심에 있을 조건이고, 제1-2, 제1-3 모드는 어군이 이동하는 경우를 가정하여, 제1-2 모드는 비교적 느리게 이동하는 어군의 경우로 어구의 50%가 투망되었을 때 어군의 위치가 어구의 포위 원 중앙에 위치할 조건이며, 제 1-3모드는 비교적 빠르게 이동하는 어군의 경우로 어구의 25%가 투망되었을 때 어군의 위치가 어구의 포위 원 중앙에 위치할 조건이다.The network trajectory path prediction unit 120 may predict the network trajectory path according to any one of the first-first mode, the first-second mode, and the first-third mode of the first mesh method. In this case, in the first-first mode, when the fish are stationary or move at a very slow speed, the fish are at the center of the siege of the fishing gear at the end of the fishing net, and in the first and second modes, the fish are moved. In the case of the first to second mode, in case of a relatively slow moving fish group, when the 50% of the fishing gear is thrown, the position of the fish group is located in the center of the surrounding circle of the fishing gear. In the case of fast-moving fish, when 25% of the fishing gear is thrown away, the position of the fish is in the center of the fishing gear's surrounding circle.
투망방법 1의 투망궤적 계산에서 사용되는 각 요소는 다음의 표 1에서와 같이 정의할 수 있다.Each element used in the throwing trajectory calculation of throwing method 1 may be defined as shown in Table 1 below.
이름name 속성property
LL 어구의 길이(뜸줄 길이(F.L)+예인줄 길이(T.L))The length of the phrase (line length (F.L) + line length (T.L))
Rg R g 어구의 포위반경Siege radius of a phrase
Sf S f 어군이 이동할 거리Distance to fish
tt 어군 또는 선망이 이동하는데 걸리는 시간How long it takes for fish or envy to move
Vs V s 선망선의 속도Speed of envy
Vf V f 어군의 유영속도Fish swimming speed
LL 선망 어구 뜸줄의 길이Length of envy
EE 속도비(Vs/Vf)Speed ratio (V s / V f )
θθ 선망선의 정횡으로부터 어군을 보는 각도Angle to see fish group from front side of line
ππ 원주율(3.14)Circumference rate (3.14)
QQ 투망시작위치Starting position
Figure PCTKR2017002738-appb-M000001
Figure PCTKR2017002738-appb-M000001
어군위치보다 어느 정도 앞으로 가서 투망을 시작하는가를 결정하는 것이 θ이다. 상기 θ는 어군이 어구의 중심에 위치하기까지 이동할 거리와 어구의 포위반경으로 만들어지는 직각 삼각형에서 상기 어군이 이동할 거리의 마주보는 각으로, 상기 투망 시작 위치에서의 상기 선망선이 정횡보다 어군을 뒤로 보는 각도로 정의할 수 있다.It is θ to determine how far ahead of the fish position to start the throwing net. [Theta] is an opposing angle of the distance the fish group moves in a right triangle formed by the distance to which the fish group is located at the center of the fishing gear and the enclosing radius of the fishing gear. Can be defined as the angle to look backwards.
도 2는 본 발명의 실시예에 따른 선망의 투망 항적 표시 및 제어시스템에 있어서, 투망궤적경로예측부에 의한 투망법 1의 제1-1 모드에 따른 투망궤적경로의 예시도이다. 상기 도 2에 도시된 바와 같이, 제1-1 모드의 경우에, 상기 θ값은 다음과 같이 계산할 수 있다. 2 is an exemplary diagram of a network trajectory path according to the 1-1 mode of the meshing method 1 by the network trajectory path prediction unit in the network track display and control system of the network according to an embodiment of the present invention. As shown in FIG. 2, in the case of the 1-1 mode, the θ value can be calculated as follows.
상기 도 2에서 θ는 다음의 수학식 2에 의해 구할 수 있다.2 can be obtained by the following Equation 2.
Figure PCTKR2017002738-appb-M000002
Figure PCTKR2017002738-appb-M000002
또한, 어군이 이동할 거리 Sf는 다음의 수학식 3과 같이 구할 수 있고, 어군이 이동하는데 걸리는 시간 t를 선망선이 완전히 투망하는데 걸리는 시간으로 하면 다음의 수학식 4와 같이 계산할 수 있다.Further, the distance Sf to which the fish group can move can be obtained as shown in Equation 3 below, and when the time t for the fish group to move to the time it takes for the wire to complete the line can be calculated as shown in Equation 4 below.
Figure PCTKR2017002738-appb-M000003
Figure PCTKR2017002738-appb-M000003
Figure PCTKR2017002738-appb-M000004
Figure PCTKR2017002738-appb-M000004
상기 수학식 4를 수학식 3에 대입하면 다음의 수학식 5를 얻는다.Substituting Equation 4 into Equation 3, the following Equation 5 is obtained.
Figure PCTKR2017002738-appb-M000005
Figure PCTKR2017002738-appb-M000005
또한, 수학식 5를 수학식 2에 대입하면 상기 θ는 다음의 수학식 6과 같이 구할 수 있다.In addition, when Equation 5 is substituted into Equation 2, θ can be obtained as shown in Equation 6 below.
Figure PCTKR2017002738-appb-M000006
Figure PCTKR2017002738-appb-M000006
예를 들어, 속도비가 아주 큰 경우, 100으로 가정하면(어군이 거의 정지한 경우) θ는 다음의 수학식 7과 같이 구해진다.For example, in a case where the speed ratio is very large, assuming 100 (the fish group is almost stopped), θ is obtained as shown in Equation 7 below.
Figure PCTKR2017002738-appb-M000007
Figure PCTKR2017002738-appb-M000007
한편, 속도비가 6인 경우와 속도비가 3인 경우의 θ는 각각 수학식 8 및 수학식 9와 같이 구해진다.On the other hand, θ when the speed ratio is 6 and when the speed ratio is 3 is calculated as in Equations 8 and 9, respectively.
Figure PCTKR2017002738-appb-M000008
Figure PCTKR2017002738-appb-M000008
Figure PCTKR2017002738-appb-M000009
Figure PCTKR2017002738-appb-M000009
제1-1 모드의 경우는 위 계산에서도 나타나듯이 어군의 속도가 약간만 있어도 지나치게 앞선 위치에서 투망을 시작해야 하므로 어군의 속도가 느린 경우에 적합한 방법이고, 어군 속도가 빠르면 제1-2모드 또는 제1-3모드를 선택해서 투망하는 것이 바람직하다. In the case of the 1-1 mode, as shown in the above calculation, even if the speed of the fish is only a little, it is necessary to start the fishing net in a position that is too advanced. This is a suitable method when the speed of the fish is slow. It is preferable to select 1-3 modes and to wait.
한편, 제1-2 모드는 그물의 1/2이 투망되었을 때 어군의 위치가 투망 원의 중심에 위치할 조건으로, 상기 θ값은 다음과 같이 계산할 수 있다. On the other hand, in the 1-2 mode, the fish group is positioned at the center of the throwing circle when 1/2 of the net is thrown, and the value of θ can be calculated as follows.
도 3은 본 발명의 실시예에 따른 선망의 투망 항적 표시 및 제어시스템에 있어서, 투망궤적경로예측부에 의한 투방법 1의 제1-2 모드에 따른 투망궤적경로의 예시도이다.3 is an exemplary diagram of a network trajectory path according to the mode 1-2 of the transmission method 1 by the network trajectory path prediction unit in the network track display and control system of a wire net according to an embodiment of the present invention.
상기 도 3에 도시된 바와 같이, 제1-2 모드의 경우에, 상기 θ값은 다음의 수학식 10 및 11에서와 같이 계산할 수 있다.As shown in FIG. 3, in the case of the 1-2 mode, the θ value may be calculated as in Equations 10 and 11 below.
Figure PCTKR2017002738-appb-M000010
Figure PCTKR2017002738-appb-M000010
Figure PCTKR2017002738-appb-M000011
Figure PCTKR2017002738-appb-M000011
예를 들어, 속도비가 6인 경우와 속도비가 3인 경우의 θ는 각각 수학식 12 및 수학식 13과 같이 구해진다. For example, θ when the speed ratio is 6 and when the speed ratio is 3 is obtained as shown in Equations 12 and 13, respectively.
Figure PCTKR2017002738-appb-M000012
Figure PCTKR2017002738-appb-M000012
Figure PCTKR2017002738-appb-M000013
Figure PCTKR2017002738-appb-M000013
제1-2 모드의 경우 비교적 위치 선택이 수월하고 어군이 계속 진행하여도 결국 충분히 침강된 그물을 만나게 되고 되돌아 나가더라도 선망선이 먼저 어군을 포위하게 되므로 성공확률이 높다. 그러나 이 방법도 속도비가 작아지면 어군보다 상당히 앞선 위치에서 투망을 해야 하므로 유영속력이 빠른 어군을 대상으로 할 경우에는 실패의 우려가 있다.In the case of the 1-2 mode, it is relatively easy to select a location, and even if the fish continue, the nets are sufficiently settled, and even if the ship goes back, the envy ship first surrounds the fish. However, this method also has a fear of failure when targeting a fish with a fast swimming speed, since the speed ratio should be reduced to a position far ahead of the fish.
한편, 제1-3 모드의 경우는 어구의 1/4이 투망되었을 때 어군이 어구의 포위 원 중앙에 위치할 조건으로, 상기 θ값은 다음과 같이 계산할 수 있다. On the other hand, in the case of the 1-3 mode, the θ value can be calculated as follows under the condition that the fish group is located at the center of the surrounding circle of the fishing gear when 1/4 of the fishing gear is thrown away.
도 4는 본 발명의 실시예에 따른 선망의 투망 항적 표시 및 제어시스템에 있어서, 투망궤적경로예측부에 의한 투망법 1의 제1-3 모드에 따른 투망궤적경로의 예시도이다.4 is an exemplary diagram of a network trajectory path according to a first mode of the meshing method 1 by the network trajectory path prediction unit in the network track display and control system of a network according to an embodiment of the present invention.
상기 도 4에 도시된 바와 같이, 제1-3 모드의 경우에, 상기 θ값은 다음의 수학식 14에서와 같이 계산할 수 있다.As shown in FIG. 4, in the case of the 1-3 mode, the θ value may be calculated as in Equation 14 below.
Figure PCTKR2017002738-appb-M000014
Figure PCTKR2017002738-appb-M000014
예를 들어, 속도비가 6인 경우와 속도비가 3인 경우의 θ는 각각 수학식 15 및 수학식 16와 같이 구해진다. For example, θ when the speed ratio is 6 and when the speed ratio is 3 is calculated as in Equations 15 and 16, respectively.
Figure PCTKR2017002738-appb-M000015
Figure PCTKR2017002738-appb-M000015
Figure PCTKR2017002738-appb-M000016
Figure PCTKR2017002738-appb-M000016
제1-3 모드의 경우, 속도가 빠른 어군, 즉 예를 들어 참치를 어군으로 할 때 권장할 수 있는 방법이다.In the case of the 1-3 mode, it is recommended to use a fast fish group, for example, tuna fish.
상기 제1-1모드 내지 제1-3모드는 하나의 일 예로서, 상기 수학식 6, 수학식 11 및 수학식 14에서 분자 E에 변수 k를 설정하여 보다 다양한 모드를 생성할 수 있다. 이때 상기 k는 0보다 크고 2이하를 만족한다. For example, the first-first mode to the first-third mode may generate more various modes by setting the variable k in the molecule E in Equations 6, 11, and 14 above. In this case, k is greater than 0 and satisfies 2 or less.
[투망법 2][Method 2]
이하에서는 어군이 그물의 중앙부에 위치하는 경우를 설정한 제4 모드 제6 모드의 경우에 대해서 설명하기로 한다.Hereinafter, the case of the fourth mode and the sixth mode in which the fish group is located at the center of the net will be described.
도 5는 본 발명의 실시예에 따른 선망의 투망 항적 표시 및 제어시스템에 있어서, 투망방법 2에 의한 투망궤적경로의 개념도이다.5 is a conceptual diagram of a network trajectory path according to a network method 2 in the network tracking display and control system of a network according to an embodiment of the present invention.
아래의 표 2는 상기 도 5에서의 각 기호를 설명한 표이다. Table 2 below is a table for explaining each symbol in FIG.
이름name 속성property
aa 어군 중심과 투망원 간의 거리Distance between fish center and telephoto
F.L.F.L. 뜸줄 길이Moxibustion length
T.L.T.L. 예인 줄 길이Towing line length
LL 어구의 길이(뜸줄 길이+ 예인줄 길이)The length of the phrase (long line length + tug line length)
RgRg 어구의 포위반경Siege radius of a phrase
θθ 어군 속도 벡터와 선망선의 정횡과 이루는 각Angle between the fish speed vector and the horizontal line of the wire
bb 어군이 이동할 거리Distance to fish
rf r f 어군의 반경Fish radius
Vf V f 어군의 속도 벡터Fish speed vector
nrf n rf 어군의 속도의 단위 벡터Unit vector of fish speed
P0 P 0 어군 위치Fish position
P1 P 1 투망 시작 위치Start position
P3 P 3 투망 포위원 중심Tomang Gunnery Center
DD 그물의 중앙부Central part of the net
E=Vs/Vf E = V s / V f 속도비Speed ratio
L=2πRg L = 2πR g 어굴 길이와 포위반경의 관계Relationship between face length and envelop radius
투망방법 2에 의해 투망궤적을 계산하는 방법을 설명한다. 투망방법 2는 어군이 방향변화 없이 진행하면 그물의 중앙부분 D점과 만나며 이 중앙 부분은 그물이 가장 깊게 침강하는 곳이므로 어군의 도피를 효과적으로 차단할 수 있다. 투망방법 2의 어구 길이에 대한 속도비 및 어군과 투망원간의 거리 a와의 관계식을 변형하여 제2-1모드를 a1, 제2-2모드를 a2, 제 2-3모드를 a3로 두고 시나리오별로 다시 쓰면 다음과 같다. The method of calculating the throwing trajectory by the throwing method 2 will be described. Throwing Method 2 meets the D point at the center of the net when the fish proceeds without changing the direction, and this center part is the place where the net sinks most deeply, which can effectively block the escape of the fish. By modifying the relationship between the speed ratio for the length of the gear of the throwing method 2 and the distance a between the fish group and the throwing circle, the scenarios are set in the 2-1 mode a1, the 2-2 mode a2, and the 2-3 mode a3. Rewrite it like this:
Figure PCTKR2017002738-appb-M000017
Figure PCTKR2017002738-appb-M000017
Figure PCTKR2017002738-appb-M000019
Figure PCTKR2017002738-appb-M000019
상기 제2-1모드는 투망 종료 시 어군이 어구의 중앙부에 도달하는 경우의 모드이고, 상기 제2-2모드는 투망을 80% 진행 시 어군이 어구의 중앙부에 도달하는 경우의 모드이고 ,상기 제2-3모드는 투망을 60% 진행 시 어군이 어구의 중앙부에 도달하는 경우의 모드에 해당한다.The 2-1 mode is a mode in which the fish reaches the center of the fishing gear at the end of the fishing net, and the 2-2 mode is a mode in which the fish reaches the center of the fishing gear when the fishing net is advanced 80%. Mode 2-3 is a mode in which the fish reaches the center of the fishing gear when the fishing net is advanced by 60%.
상기 식에서 속도비와 어구길이가 정해지면 시나리오별 a1, a2, a3를 구할 수 있고, 투망 시작점 P1을 다음과 같이 구할 수 있다. P3를 투망원의 중심으로 두면 P0에서 출발한 어군이 중앙부분 위치 D에 도달하려면 P3를 통과해야 하므로, P3의 좌표는 어군속도 벡터의 단위 벡터를 nrf라 두면 P0에서 P3간의 위치벡터를 이용하여 다음과 같이 구할 수 있다.When the speed ratio and the phrase length are determined in the above equation, a1, a2, and a3 for each scenario can be obtained, and the starting point P1 of the mesh can be obtained as follows. If you put P3 at the center of the telephoto circle, the fish from P0 must go through P3 to reach the central position D. Therefore, if the unit vector of the fish velocity vector is nrf, the coordinates of P3 are determined using the position vector between P0 and P3. It can be obtained as follows.
Figure PCTKR2017002738-appb-M000020
Figure PCTKR2017002738-appb-M000020
투망 시작 위치 P1은 벡터의 내적을 이용하여 구할 수 있다. The mesh start position P1 can be obtained using the dot product of the vector.
즉, 상기 도 5에서 θ는 어군의 속도 벡터와 선망선의 정횡과 이루는 각도이고, 뜸줄의 길이와 예인줄 길이의 비를 알면 θ를 구할 수 있으므로 다음과 같이 표현된다.That is, in FIG. 5, θ is an angle formed between the velocity vector of the fish group and the forward and horizontal lines of the reticular line, and θ can be obtained by knowing the ratio of the length of the moxibustion line and the towing line.
Figure PCTKR2017002738-appb-M000021
Figure PCTKR2017002738-appb-M000021
또한, 투망원의 중심 P3와 투망시작 위치 P1간의 거리는 Rg 즉, 어구의 포위 반경이므로 다음 식으로 표현된다. In addition, the distance between the center P3 and the start position P1 of the telephoto circle is Rg, that is, the surrounding radius of the phrase is expressed by the following equation.
Figure PCTKR2017002738-appb-M000022
Figure PCTKR2017002738-appb-M000022
따라서 수학식 21과 22를 연립하여 풀면 P1(x1, y1)을 결정할 수 있다. 도 6은 본 발명의 실시예에 따른 선망의 투망 항적 표시 및 제어시스템에 있어서, 투망궤적경로예측부에 의한 투망법 2의 제2-1 모드 내지 제2-3모드에 따른 투망궤적경로의 예시도이다.Therefore, P1 (x1, y1) can be determined by solving equations 21 and 22 in a system. 6 illustrates an example of a trajectory path according to modes 2-1 to 2-3 of the mesh method 2 by the mesh path predictor in a mesh track display and control system of a network according to an embodiment of the present invention. It is also.
도 6에 도시된 바와 같이, 실질적인 예(rf=50m, Vf=-2i + j (m/s), P0(0, 0) , F.L.=1860m, T.L.=400m, Vs=6 m/s일때)의 투망시작위치 P1(x1, y1)과 투망궤적을 구할 수 있다. As shown in Fig. 6, a practical example (when rf = 50m, Vf = -2i + j (m / s), P0 (0, 0), FL = 1860m, TL = 400m, Vs = 6 m / s) The network start position P1 (x1, y1) and the network trajectory of can be obtained.
이때 상기 제2-1모드 내지 제2-3모드는 하나의 일예로서, 상기 수학식 17내지 19에서 분자에 있는 π에 변수 k를 설정하여 보다 다양한 모드를 생성할 수 있다. 이때 상기 k는 0보다 크고 1 이하를 만족한다. At this time, the 2-1 to 2-3 modes as an example, it is possible to generate a variety of modes by setting the variable k to π in the molecules in the equation (17) to 19. At this time, k is greater than 0 and satisfies 1 or less.
한편, 위에서 설명한 투망방법 1,2와 같이 어군이 어구로 포위된 원의 중심에 위치하거나 어군이 어구의 중앙부에 도달하는 경우의 투망궤적을 예측할 수 있지만, 어군을 그물로 차단할 수 있는지는 전적으로 침자줄의 침강 수심에 달려 있다. 선망어구에 대한 수치시뮬레이션이나 실험적인 해석을 통하여 어구의 각부분 특히 C점과 D점의 침강수심을 시간에 대해서 알 수 있으면, 상기 2가지 투망방법의 시나리오별로 어군이 C점 또는 D점에 도달했을 때 침자줄의 침강수심을 표시할 수 있다. 이러한 침자줄의 침강 수심자료가 시간의 경과에 대해서 얻어지면 상기 2가지 투망방법 별로 침자줄의 침강수심을 기준으로도 투망 궤적을 계산하여 표시할 수 있다. On the other hand, it is possible to predict the throwing trajectory when the fish is located at the center of the circle surrounded by the fishing gear or the fishing gear reaches the center of the fishing gear as described in the throwing methods 1 and 2 described above, but whether the fishing net can be blocked by the net is entirely asleep. Depends on the depth of sedimentation. If numerical simulations or experimental interpretations of the fishing nets reveal the sedimentation depths of each part of the fishing gear, especially C and D, the fish reach point C or D for each scenario of the two fishing methods. If you do, you can indicate the depth of the bed line. When the sedimentation depth data of the needle thread is obtained over time, the network trajectory can be calculated and displayed based on the depth of sedimentation of the needle thread for each of the two meshing methods.
도 7은 본 발명의 실시예에 따른 선망의 투망 항적 표시 및 제어시스템에 있어서, 어구의 침강수심을 기준으로 계산한 투망방법1의 투망궤적을 도시한 도면이다. 이때, 투망원 1은 침자줄 도달 수심이 50m이고, 투망원 2는 침자줄 도달 수심이 60m이고, 투망원 3은 침자줄 도달 수심이 70 m인 경우에 해당한다. FIG. 7 is a diagram illustrating a throwing trajectory of the throwing method 1 calculated on the basis of the sedimentation depth of a fishing gear in the drop tracking and control system of a fishing net according to an embodiment of the present invention. At this time, the line 1 is a bed line reaching depth of 50m, the line 2 is a bed line reaching depth of 60m, the line 3 is a bed line reaching depth of 70 m.
도 8은 본 발명의 실시예에 따른 선망의 투망 항적 표시 및 제어시스템에 있어서, 어구의 침강수심을 기준으로 계산한 투망방법2의 투망궤적을 도시한 도면이다. 이때, 투망원 1은 침자줄 도달 수심이 50m이고, 투망원 2는 침자줄 도달 수심이 60m이고, 투망원 3은 침자줄 도달 수심이 70 m인 경우에 해당한다. 이와 같이 침자줄의 도달 수심 정보를 함께 제공하여 조업 시에 최적의 투망궤적경로를 선택할 수 있다.8 is a diagram illustrating a throwing trajectory of the throwing method 2 calculated on the basis of the sedimentation depth of a fishing gear in the drop tracking and control system of a fishing net according to an embodiment of the present invention. At this time, the line 1 is a bed line reaching depth of 50m, the line 2 is a bed line reaching depth of 60m, the line 3 is a bed line reaching depth of 70 m. In this way, it is possible to select the optimal trajectory path during operation by providing the depth of arrival information of the bed line.
침자줄의 침강 수심을 알기 위해서는 수치 시뮬레이션을 사전에 수행하여 계산된 자료를 사용하거나, 실험으로부터 구한 자료를 사용할 수 있고, 어구에 대한 설계자료 정보를 기초로 투망경로예측부(120)가 실시간으로 계산을 수행하면서 투망예측경로를 구할 수 있다. In order to know the depth of sedimentation of the acupuncture line, the data calculated by performing a numerical simulation in advance, or the data obtained from the experiment can be used, and the transmission path prediction unit 120 performs the real time on the basis of the design data information on the fishing gear. The forecasting path can be obtained while performing the calculation.
상기 투망궤적경로예측부(120)는 어군의 이동 속력에 따라 상기에서 설명한 제1-1, 제1-2, 제1-3 모드, 제 2-1 모드, 제2-2 모드, 제2-3 모드 중 어느 하나를 선택하여 투망궤적경로를 예측할 수 있다. 본 시스템에서는 미리 설정된 주기마다 어군의 속도와 방향 및 선망선의 순항속도에 따라 상기 2가지 투망방법에 6가지 모드 중 적어도 하나 또는 2가지 이상의 투망 궤적이 선택에 의해 화면에 나타나며, 투망궤적은 매 계산 스텝마다 어군의 이동방향과 속도에 따라 실시간으로 갱신된다. The network trajectory path prediction unit 120 includes the first-first, first-second, first-third, second-first, second-second, and second-second modes according to the moving speed of the fish group. One of three modes can be selected to predict the network trajectory path. In this system, at least one or two or more mesh trajectories of the six modes are displayed on the screen according to the speed and direction of the fish group and the cruising speed of the wire at every preset period, and the mesh trajectory is calculated every time. Each step is updated in real time according to the moving direction and speed of the fish group.
상기 6개의 모드는 하나의 일 예로서, 이보다 더 많은 모드가 생성되거나 또는 위에서 설명한 모드 이외에 값을 다르게 설정하여 다른 모드를 생성하는 것도 가능하다. The six modes are one example, and more modes may be generated or other modes may be generated by setting different values in addition to the above-described modes.
한편, 통합표시화면생성부(130)는 상기 투망궤적경로예측부(120)로부터 예측된 투망예측경로를 포함하는 통합표시화면정보를 생성한다. 도 9는 본 발명의 실시예에 따른 선망의 투망 항적 표시 및 제어시스템(100)에 있어서, 통합표시화면생성부(130)에 표시되는 화면의 예시도이다.Meanwhile, the integrated display screen generation unit 130 generates integrated display screen information including the network prediction path predicted from the network trajectory path prediction unit 120. 9 is an exemplary view of a screen displayed on the integrated display screen generation unit 130 in the transmission network track display and control system 100 of the wire network according to an embodiment of the present invention.
상기 도 9에 도시된 바와 같이, 통합표시화면생성부(130)는 선망선에 설치된 소나장치, GPS 장치 및 다수의 계측기 등으로부터 송수신부(110)를 통해 수신한 정보와, 상기 투망궤적경로예측부(120)에 의해 예측된 6가지 모드의 투망궤적경로를 포함한 통합표시화면정보를 이용하여 구성한 통합표시화면을 생성하여 출력한다.As shown in FIG. 9, the integrated display screen generation unit 130 receives information received from the sonar device, a GPS device, a plurality of measuring devices, etc., which are installed on a wire network through the transmission / reception unit 110, and the projection path path prediction. The integrated display screen generated by using the integrated display screen information including the projection path of the six modes predicted by the unit 120 is generated and output.
도 10은 본 발명의 실시예에 따른 선망의 투망 항적 표시 및 제어시스템에 있어서, 소나에 투망궤적을 표시한 화면의 예시도이다.10 is an exemplary diagram of a screen displaying a throwing trajectory on a sonar in the throwing track display and control system of a wire network according to an embodiment of the present invention.
상기 도 10에 도시된 바와 같이, 또는 사용자 선택에 따라 상기 투망궤적 중 일부만이 통합표시화면 또는 소나화면이나 기존 위치정보 표시 장비의 화면에 출력하는 것도 가능하다. As shown in FIG. 10 or according to a user's selection, only a part of the network trajectories may be output to the integrated display screen, the sonar screen or the screen of the existing location information display equipment.
상기 통합표시화면생성부(130)에 의해 성성된 통합표시화면에는 도 9에 도시된 바와 같이, 본선정보, 어구정보, 어군 정보, 해양환경정보 및 투망궤적경로 정보를 통합하여 제공할 수 있다. 이를 통해 조업환경에 관한 모든 정보를 한 화면에서 통합적으로 확인할 수 있다.As shown in FIG. 9, the integrated display screen generated by the integrated display screen generation unit 130 may provide the integrated ship screen information, fishing gear information, fish group information, marine environment information, and the network trajectory path information. This allows all information on the operating environment to be integrated in one screen.
한편, 상기 통합표시화면생성부(130)에 의해 생성된 통합표시화면정보는 송수신부(110)를 통해 소나장치나 기존 위치 표시 장치로 전송되어 소나장치 상의 디스플레이 또는 위치 표시 장치에 통합화면표시정보 또는 투망궤적이 소나의 어군 정보와 함께 표시되도록 구성하는 것도 가능하다. On the other hand, the integrated display screen information generated by the integrated display screen generation unit 130 is transmitted to the sonar device or the existing position display device through the transceiver 110, the integrated screen display information on the display or location display device on the sonar device Alternatively, the throwing trajectory may be configured to be displayed together with the sonar fish group information.
상기 본선정보는 선망선의 위치와 선속 및 침로 등에 관한 정보를 포함하고, 어구정보는 뜸줄 길이 및 그물 형태에 관한 정보를 포함하며, 어군 정보는 어군의 이동속도, 이동방향, 크기 및 본선과의 거리정보 등을 포함한다. 또한 해양환경정보는 조류 방향, 조류 속도, 풍향 및 풍속에 관한 정보를 포함한다. The ship information includes information on the position of the wire and the speed and course of the wire, and the fishing gear information includes the length of the moxibustion line and the shape of the net, and the fish group information includes the moving speed, direction, size and distance of the fish group. Information and the like. Marine environmental information also includes information on tidal direction, tidal velocities, wind direction and wind speed.
한편, 투망장치제어부(140)는 투망궤적경로예측부(120)로부터 예측된 투망궤적경로에 따라 상기 선망선에 설치된 어구를 투망하도록 제어하는 제어신호를 생성하고 상기 선망선에 설치된 투망장치를 자동으로 제어하여, 투망 프로세스를 자동으로 제어할 수 있다.Meanwhile, the meshing device controller 140 generates a control signal for controlling the fishing gear installed on the meshed line according to the projected trajectory path predicted by the meshing path predictor 120 and automatically generates the meshing device installed on the meshed line. Can be controlled automatically.
또한, 운행제어부(150)는 상기 투망궤적경로예측부에서 생성되는 6모드 중 하나를 선택하면 예측된 투망궤적 경로에 따라 상기 선망선의 운항을 제어하기 위한 운항제어신호를 생성하여 상기 선망선의 운항장치를 제어함으로써 조업을 위한 선망선의 운항을 자동으로 제어할 수 있다. In addition, when the operation control unit 150 selects one of the six modes generated by the network trajectory path prediction unit, it generates a flight control signal for controlling the operation of the network according to the predicted network trajectory path to operate the network of the network. By controlling, the operation of the envoy for fishing can be automatically controlled.
상기 투망장치제어부(140)와 상기 운행제어부(150)를 이용하여 투망을 위한 선망선의 운항 및 투망을 자동으로 제어하여 조업활동의 생산성을 극대화시킬 수 있다.By using the network device control unit 140 and the operation control unit 150 can automatically control the operation of the network and the network for the mesh network to maximize the productivity of fishing activities.
이상, 본 발명의 실시예에 대하여 설명하였으나, 해당 기술 분야에서 통상의 지식을 가진 자라면 특허청구범위에 기재된 본 발명의 사상으로부터 벗어나지 않는 범위 내에서, 구성 요소의 부가, 변경, 삭제 또는 추가 등에 의해 본 발명을 다양하게 수정 및 변경시킬 수 있을 것이며, 이 또한 본 발명의 권리범위 내에 포함되는 것으로 이해되어야 한다.As mentioned above, although embodiment of this invention was described, the person of ordinary skill in the art should add, change, delete, add, etc. the component within the range which does not deviate from the idea of this invention described in the claim. The present invention may be modified and changed in various ways, and it should be understood that the present invention is included in the scope of the present invention.
[부호의 설명][Description of the code]
100: 선망의 투망 항적 표시 및 제어시스템 110: 송수신부100: network tracking display and control system of envy 110: transceiver
120: 투망궤적경로예측부 130: 통합표시화면생성부120: projection path prediction unit 130: integrated display screen generation unit
140: 투망장치제어부 150: 운항제어부140: network device control unit 150: operation control unit

Claims (10)

  1. 선망선에 설치된 장비와 실시간으로 데이터를 송수신하기 위한 송수신부;Transmitting and receiving unit for transmitting and receiving data in real time with the equipment installed on the wire line;
    상기 송수신부를 통해 상기 선망선에 설치된 계측장비로부터 수신한 데이터를 기초로, 어군을 포획하기 위한 투망궤적 경로를 예측하는 투망궤적경로예측부; 및A transmission trajectory path prediction unit for predicting a transmission trajectory path for capturing fish based on data received from the measurement equipment installed on the wire network through the transceiver; And
    상기 투망궤적경로예측부로부터 예측된 투망궤적 경로를 포함하는 통합표시화면정보를 생성하는 통합표시화면생성부를 포함하는,And an integrated display screen generation unit configured to generate integrated display screen information including the network trajectory path predicted from the network trajectory path prediction unit.
    선망의 투망 항적 표시 및 제어시스템.Envy's Wake Track Display and Control System.
  2. 제1항에 있어서,The method of claim 1,
    상기 송수신부를 통해 상기 생성된 통합표시화면정보가 소나장비 또는 기존 위치정보 표시장비로 전송되는 것을 특징으로 하는 The generated integrated display screen information is transmitted to the sonar equipment or the existing location information display equipment through the transceiver.
    선망의 투망 항적 표시 및 제어시스템.Envy's Wake Track Display and Control System.
  3. 제1항에 있어서, The method of claim 1,
    상기 계측장비는 소나장비, GPS 장비, 풍향계 및 풍속계를 포함하는,The measuring equipment includes sonar equipment, GPS equipment, weather vane and anemometer,
    선망의 투망 항적 표시 및 제어시스템.Envy's Wake Track Display and Control System.
  4. 제1항에 있어서, The method of claim 1,
    상기 시스템은 The system is
    상기 투망궤적경로예측부로부터 예측된 투망궤적 경로에 따라 상기 선망선에 설치된 어구를 투망하도록 제어하는 제어신호를 생성하여 상기 선망선에 설치된 투망장치를 제어하기 위한 투망장치제어부를 더 포함하는,And a meshing device control unit for generating a control signal for controlling the fishing gear installed on the meshing line according to the projected trajectory path predicted from the meshing path predicting unit to control the meshing apparatus installed on the meshing line.
    선망의 투망 항적 표시 및 제어시스템.Envy's Wake Track Display and Control System.
  5. 제1항에 있어서, The method of claim 1,
    상기 시스템은 The system
    상기 투망궤적경로예측부로부터 예측된 투망궤적 경로에 따라 상기 선망선의 운항을 제어하기 위한 운항제어신호를 생성하여 상기 선망선의 운항장치를 제어하는 운항제어부를 더 포함하는,Further comprising a navigation control unit for controlling the navigation device for generating the navigation control signal for controlling the operation of the network according to the network trajectory path predicted from the network trajectory path prediction unit,
    선망의 투망 항적 표시 및 제어시스템.Envy's Wake Track Display and Control System.
  6. 제1항에 있어서, The method of claim 1,
    상기 투망궤적경로예측부는 The network trajectory path prediction unit
    다음의 수식에 의하여 θ을 결정하고Θ is determined by the following formula
    Figure PCTKR2017002738-appb-I000003
    Figure PCTKR2017002738-appb-I000003
    θ: 어군이 어구로 포위된 원의 중심에 위치하기까지 이동할 거리와 상기 어구의 포위반경으로 이루어지는 직각삼각형에서 상기 어군이 이동할 거리에 대하여 상기 투망시작위치에서의 상기 선망선이 어군을 바라보는 각도[theta]: an angle at which the wire network views the fish group at the start position of the mesh with respect to the distance to which the fish group moves in a right triangle formed by a distance from which the fish group is located at the center of the circle surrounded by the gear and the enclosing radius of the gear
    E: 속도비(Vs/Vf)E: speed ratio (Vs / Vf)
    Vs:선망선의 속도Vs: speed of the wire
    Vf:어군의 유영속도를 만족하고Vf: Satisfy the swimming speed of the fish
    상기 k는 0보다 크고 2 이하의 값을 가지는K is greater than 0 and less than or equal to 2
    선망의 투망 항적 표시 및 제어시스템. Envy's Wake Track Display and Control System.
  7. 제1항에 있어서,The method of claim 1,
    상기 투망궤적경로예측부는 The network trajectory path prediction unit
    다음의 수식에 의해 어구길이와 속도비에 따라 어군과 투망원간의 거리를 결정하는 Determining the distance between a fish group and a telephoto circle according to the gear length and speed ratio by the following formula
    Figure PCTKR2017002738-appb-I000004
    Figure PCTKR2017002738-appb-I000004
    E: 속도비(Vs/Vf)E: speed ratio (Vs / Vf)
    Vs:선망선의 속도Vs: speed of the wire
    Vf: 어군의 유영속도Vf: Swimming Speed of Fish
    a: 어군 주심과 투망원 간의 거리a: Distance between fish referee and telephoto
    상기 k는 0보다 크고 1 이하인,K is greater than 0 and less than or equal to 1,
    선망의 투망 항적 표시 및 제어시스템.Envy's Wake Track Display and Control System.
  8. 제6항에 있어서,The method of claim 6,
    상기 투망궤적경로예측부는 The network trajectory path prediction unit
    미리 설정된 모드에 따라 투망이 진행될 경우에, 해당 시점에서의 어구의 침자줄 수심값 정보를 생성하고When the network is proceeding according to the preset mode, the bed line depth value information of the phrase at that time is generated
    상기 통합표시화면정보는 상기 침자줄 수심값 정보를 포함하는 The integrated display screen information includes the needle line depth value information.
    선망의 투망 항적 표시 및 제어시스템.Envy's Wake Track Display and Control System.
  9. 제7항에 있어서,The method of claim 7, wherein
    상기 투망궤적경로예측부는The network trajectory path prediction unit
    미리 설정도니 모드에 따라 투망이 진행될 경우에, 해당 시점에서의 어구의 침자줄 수심값 정보를 생성하고When the network is proceeding according to the pre-set donation mode, information on the bed line depth value of the phrase at that time is generated.
    상기 통합표시화면정보는 상기 침자줄 침강 수심값 정보를 포함하는The integrated display screen information includes the needle line sedimentation depth value information.
    선망의 투망 항적 표시 및 제어시스템.Envy's Wake Track Display and Control System.
  10. 제1항에 있어서,The method of claim 1,
    상기 통합표시화면생성부는 상기 투망궤적 경로와 함께 본선정보, 어구정보, 어군정보 및 해양환경정보를 포함하는 상기 통합표시화면정보를 생성하는,The integrated display screen generation unit generates the integrated display screen information including the ship information, fishing gear information, fish group information and marine environment information together with the network trajectory path;
    선망의 투망 항적 표시 및 제어시스템.Envy's Wake Track Display and Control System.
PCT/KR2017/002738 2016-03-15 2017-03-14 System for displaying and controlling track of cast net of purse seine WO2017160055A1 (en)

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