AU2023202105A1 - Control system and bait capsule for long line fishing apparatus - Google Patents

Abstract

A bait capsule for use with a long line fishing apparatus, including: a substantially cylindrical body having a bait cavity extending from a baiting opening and a bottom opening, a slot in a side wall connecting said openings; a plunger having a plunger stem retained within an axial bore located in the cylindrical body and a plunger head, the plunger being movable in the body such that in an open position the plunger provides bait egress through said bottom opening and providing a substantially streamlined nose for said capsule in a closed position; a plunger locking mechanism disposed in an upper end portion of the cylindrical body, the mechanism being communicatively coupled to a limit line connected to a limit line retrieval mechanism on a fishing vessel and wherein plunger locking mechanism is configured to prevent the plunger from opening until the limit line is fed in by the retrieval mechanism for retrieval of the bait capsule. 4520~

Description

4520~

CONTROL SYSTEM AND BAIT CAPSULE FOR LONG LINE FISHING APPARATUS FIELD OF THE INVENTION

This invention relates to a control system and bait capsule for a long line fishing apparatus. This invention has particular application to longline fishing apparatus for stern baiting a longline to prevent seabirds striking at the baits, and for illustrative purposes the invention will be described with reference to this application. However we envisage that this invention may find use in other applications such as deploying baits beneath the surface in fishing rigs generally.

BACKGROUND OF THE INVENTION

The reference to any prior art in this specification is not, and should not be taken as, an acknowledgement or any form of suggestion that the referenced prior art forms part of the common general knowledge in the relevant art.

Longline fishing requires deployment of a long line having a multitude of individual hooks connected to the line by snoods or droppers. As the line passes over the stern of the vessel travelling at a selected speed relative to the payout speed of the main line, one end of the snood is snapped onto the main line and the other end bearing the hook or gang of hooks is baited up and tossed overboard. The disadvantages include that the bait stays at or near the surface for a considerable distance behind the boat. Seabirds, including albatross, view the baits as a food source and attempt to take the baits, resulting in injuries and drownings as the birds are hooked. Statutory bycatch limits are enforced with observers and log books, adding to compliance costs for fishing.

Bird scaring techniques, such as the use of streamers ("tori lines") are known. However, the birds eventually learn to ignore the streamers. Where the streamers discourage one aggressive species such as albatross, it often simply opens the way for less aggressive species such as lesser petrels. The bycatch continues. Tori lines and night setting are the most common mitigation methods, but other methods used included the weighting of swivels, dribbling a film of fish oil on the sea surface, water sprays, keeping deck lighting to a minimum, or using a powerful narrow-beam light. On small vessels there is a tendency for a tori line to get tangled in the mainline.

Weighting the swivels which attach the snoods to the main-line to sink the line faster is another mitigation method. However, placing a weight at the hook end of a snood is not favoured because if the line breaks with a fish of any size then the weight can be flung back very fast, a potential danger to a person in its path.

It has been proposed to enclose the baits for deployment. The bait is enclosed in a cover, denying access to bait and hook(s) to seabirds when the bait is deployed from the boat. The cover is selected to expose the bait when it is not accessible to the birds. One embodiment includes the use of a disposable tin clamshell housing having a fusible pin closure. Control of the time to deployment of the bait is variable and requires chemical action. The disposable parts are dispersed into the environment.

It has been proposed to hydrodynamically cause the baits to be drawn below the surface, either by the main line being configured to pull the dropper down rapidly or the dropper being so configured. However, this limits payout speeds to less than the boat speed and precludes fishing the line conventionally.

It has been proposed to launch the baits to a depth selected to reduce or prevent a bird striking the bait. Published examples include a 10n-long setting chute having an upper bait trough communicating with a slotted tube angling down aft from the transom. The upper end is hinged to the transom and the lower end is dynamically maintained at the deployment depth by paravanes. The hooked bait is fed into the upper bait trough and the other end of the snood is snapped to the main line. The main line then drags the snood and the baited hook down the chute with the snood passing along the slot. These examples rely on the bait being dragged to deployment. This makes the hooks mechanically active, and there is a tendency for hook fouling on equipment such as paravanes and cables, the setting chute etc. Other embodiments use water to flush baits down the chute, either from a deckhose source or by venturi effect.

Such underwater setting devices have been the subject of much experimentation with devices which enable the mainline to be shot well under the surface, but none has been perfected.

The most promising embodiment of the underwater setting device is the bait deploying "capsule". A weighted transportation capsule on a recovery line clamps the baited snood until the capsule reaches its deployment depth determined by the length of the recovery line. At this point the carry-over action of the capsule and retrieval action releases the bait. Baits set by the capsule can be delivered to a pre selected depth which can be varied; cycle time is dependent upon the depth selected and the dynamics of the capsule.

The most recent development to the method of deployment and retrieval of the capsule is a track that transports the capsule to some or all of the necessary depth. In this embodiment, a track is mounted over the stern of the vessel. A car is mounted for freely sliding motion along the track, the car being captive between the upper and lower ends of the track. A launch and retrieve line of selected length passes from a freespooling winch through an eye on the car and terminates at a capsule assembly. Operation of the winch retrieves the capsule until it docks with the car, and thereafter recovers the car and capsule in assembly to the top of the track where the capsule can be baited from deck level. The capsule assembly includes a capsule body of heavy cast metal construction. The capsule has a bait receiving cavity which is open at the top and bottom, the top and bottom opening being connected by a slot allowing passage for a snood. The bottom opening has a flap closure The capsule has hydrodynamic fins to control its "flight".

In use, the baited snood is dropped into the cavity through the top opening and the other end of the snood is snapped to the main line as it is payed out. The bait and hooks are protected from seabirds in the cavity. When the bait is loaded the winch is released and the capsule and car assembly drops to the bottom of the rail. When the car hits its stop the capsule keeps going down through the water. When the capsule is at the end of the line, the winch retrieves the capsule. Reverse water flow flushes the bait past the flap, and the snood clears the slot. The capsule is retrieved to the car and the car and capsule assembly is retrieved to the top of the track for reloading. Hydrodynamics (provided by the cast-in fins) and weight balance in the capsule effect alignment of the capsule with the car on recovery.

Development trials identified design flaws. However, the capsule lowered bird activity in the area immediately behind the vessel in comparison to hooks set manually. There were occasions when tangles occurred. Further development was required to solve problems with tangling. The cast shapes of the capsule are empirical resulting in the inability to scale without undue experimentation. The casting is complex.

SUMMARY OF THE INVENTION

The invention in one aspect resides broadly in a dynamic control system for a long line fishing apparatus mountable on a transom of a fishing vessel, the fishing apparatus comprising a bait capsule attached to a limit line and mountable on a capsule carriage movable on a track between a baiting position and a capsule launch position adjacent or below a waterline, the control system comprising: a first drive means for dynamically controlling a rate at which the capsule carriage is driven between the limits of the track; a second drive means for dynamically controlling a rate at which the capsule is fed out once it has reached the capsule launch position; a data input module for receiving a set of operational parameters, the set of operational parameters comprising: a current speed of the fishing vessel; a desired bait depth; drive means output data representative of at least one of a position and speed of an output of the respective drive means; a controller communicable with the data input module for implementing a capsule deployment and recovery process responsive to receiving an initiation signal, wherein responsive to receiving the initiation signal, the controller is configured to: a) evaluate data received via the data input module to determine both the current speed of the fishing vessel and the desired bait depth; b) control the first drive means to drive the capsule carriage to a lower end of the track for capsule launch such that the capsule carriage is caused to initially accelerate before decelerating as it nears the lower end; c) determining an amount by which the limit line needs to be fed out to achieve the desired bait depth; and d) once the capsule carriage has reached the launch position, determine a feed out rate for the capsule to ensure that a predefined amount of line tension is achieved over the feed out process.

In another aspect there is provided a method of longline fishing including the steps of: providing a vessel with a long-line fishing apparatus mountable on a transom thereof, the fishing apparatus comprising a bait capsule attached to a limit line and mountable on a capsule carriage movable on a track between a baiting position and a capsule launch position adjacent or below a waterline, the apparatus further comprising a first drive means for controlling a rate at which the capsule carriage is driven between the limits of the track; a second drive means for controlling a rate at which the capsule is fed out once it has reached the capsule launch position; a data input for receiving a set of operational parameters, the set of operational parameters comprising: a current speed of the fishing vessel; a desired bait depth; positional data for the first and second drive means, the positional data representative of at least one of a position and speed of an output of the respective drive means; implementing a capsule deployment and recovery process responsive to receiving an initiation signal, wherein responsive to receiving the initiation signal the following computer implemented steps are carried out: evaluate data received via the data input means to determine both the current speed of the fishing vessel and the desired bait depth; control the first drive means to drive the capsule carriage to a lower end of the track for capsule launch such that the capsule carriage is caused to initially accelerate before decelerating as it nears the lower end; determine an amount by which the line needs to be fed out for achieving the desired bait depth; once the capsule carriage has reached the launch position, dynamically control operation of the second drive means to achieve a feed out rate of the capsule that results in a predefined amount of tension in the line over the feed out process.

In yet another aspect there is provided A bait capsule for use with a long line fishing apparatus, including: a) a substantially cylindrical body having a bait cavity extending from a baiting opening and a bottom opening, a slot in a side wall connecting said openings; b) a plunger having a plunger stem retained within an axial bore located in the cylindrical body and a plunger head, the plunger being movable in the body such that in an open position the plunger provides bait egress through said bottom opening and providing a substantially streamlined nose for said capsule in a closed position; c) a plunger locking mechanism disposed in an upper end portion of the cylindrical body, the mechanism being communicatively coupled to a limit line connected to a limit line retrieval mechanism on a fishing vessel and wherein plunger locking mechanism is configured to prevent the plunger from opening until the limit line is fed in by the retrieval mechanism for retrieval of the bait capsule.

Apparatus in accordance one or more embodiments of the present invention is advantageously controlled by cyclic control means. The control means may be electrical, electronic, hydraulic or pneumatic. For example, in situations where electrical or electronic control is environmentally unserviceable, the control means may comprise a hydraulic or pneumatic controller. In any case the control means may be selected for one button cyclical operation. For example, the deckhand may load a bait into the capsule, snap the snood to the main line and hit the cycle button. The control means may then release the limit line allowing the carriage to be driven to the lower end of the track to release the capsule. The control means may then automatically cycle the retrieval means for recovery of the capsule to the carriage and the carriage and capsule assembly to the baiting position.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention will be described with reference to the following non-limiting embodiment of the invention as illustrated in the drawings and wherein:

Figure 1 is a perspective view of fishing apparatus in accordance with the present invention and installed at the stern of a vessel;

Figure 2 is a full assembly perspective view of the apparatus of Figure 1;

Figure 3a is an isometric view of the capsule of Figure 1 in a closed state;

Figure 3b is an isometric view of the capsule of Figure 1 in an open state;

Figs. 4a and 4b are sectional views of the capsule of Figure 1 in a closed and open state, respectively;

Figure 4c is a close up of section B shown in Figure 4b;

Figs. 4d and 4e are additional sectional views (with capsule turned 90 degrees relative to Figs 4a and 4b) of the capsule in a closed and open state, respectively;

Figure 4f is a close-up of section C shown in Figure 4d;

Figure 5 is an isometric view of a locking pin, in accordance with an embodiment of the invention;

Figure 6a is an isometric view of a plunger retention mechanism (sans pawls) in accordance with an embodiment;

Figures 6b and 6c are isometric views of the plunger retention mechanism of Figure 6a showing pawls in a withdrawn and extended state, respectively;

Figure 7 is a schematic of the capsule carriage of Figure 1 illustrating a capsule retrieval process.

Figure 8 is a schematic of line feed assembly operable to control the fishing apparatus of Figure 1; and

Figure 9 is a process flow implemented by the controller of Figure 8.

DESCRIPTION OF THE EMBODIMENT

Embodiments described herein relate to a dynamic control system and bait capsule for a long line fishing apparatus mounted to the stern of a fishing vessel. Embodiments advantageously ensure that a bait capsule of the long line fishing apparatus is deployed safely, accurately and expeditiously to a desired depth for avoiding unnecessary seabird bycatch.

The dynamic control system is specifically configured for controlling a long line fishing apparatus having a bait capsule attached to a limit line. The bait capsule being mountable on a capsule carriage that is movable on a track between a baiting position and a capsule launch position adjacent or below a waterline.

A specific non-limiting example of such a fishing apparatus will now be described with reference to the Figures.

According to the illustrated example, the fishing apparatus comprises a head pulley assembly 16 that is mounted at the top of the track 11. A capsule carriage 17 is captively mounted for sliding movement on the track 11. A weighted bait capsule 20 docks to a pivoting docking receiver 21 of the capsule carriage 17. According to the illustrated embodiment, the capsule 20 weighs approximately 12kg which facilitates downward travel of the capsule to a desired depth once it has been launched from the track 11.

A limit line 22 is secured to the bait capsule 20 and passes through a fairlead 23 in the pivoting docking receiver 21, about a pulley 24 coaxial with the docking receiver pivot 25. The limit line 22 then passes over large 26 and small 27 pulleys of the head pulley assembly 16 and then via guide pulleys 30 to a line feed assembly 13 configured to dynamically control feeding of the limit line. More particularly, the limit line 22 is taken up and terminated on a winch drum 31 controlled (rotated) by a hydraulically operated drive means of the line feed assembly 13.

With particular reference to Figure 2, the capsule carriage 17 comprises a pair of spaced side plates 32 located substantially within the track 11 and having mounting rollers 33 engaging the track 11. Extending out of the slot 34 of the track 11 are mounting portions 35 spaced by the afore-mentioned pulley 24 coaxial with the docking receiver pivot 25. The pivoting docking receiver 21 has an ovoid, tapering recess 36. The lower ends of the side plates 32 are interconnected and spaced by a lower terminal portion 37 to which is terminated a launching line 40. The launching line 40 passes down within the slot 34 about a pulley assembly 41 mounted at the bottom of the track 1. The launching line 40 then passes back up through the track 11 past the mount 12 to a turning pulley 42 and into the line feed assembly 13 to be terminated and spooled onto a winch drum 43 via idler pulley 44. The winch drum 43 is in turn controlled (rotated) by a hydraulically operated drive means of the line feed assembly 13.

The bait capsule 20 is shown in more detail in Figures 3 to 6. As shown, the bait capsule 20 comprises a substantially cylindrical body 45 having a rear or upper ovoid tapered end portion 46 and an open lower end 47. The body 45 is formed of a combination of materials assembled in relation to a strength required and the compilation needed to obtain stable platform. For example, the body 45 may be formed of high grade aluminium, with the tapered end portion 46 made of high grade and/or corrosion resistant steel. The interior of the bait capsule 20 forms a bait cavity 50, the inner surface of which is formed in part by a substantially axial wall portion 51. The capsule body 45 is weight biased longitudinally and to the side at 52. According to the illustrated embodiment, the weight bias is achieved, in part, by way of a titanium slug 88 that is inserted in a machined gallery (running parallel to the long axis) in the bait cavity 50. In addition, one or more voids on an opposite side of the cylindrical body 45 and tapered end portion 46 may be provided to further enhance the weight bias. The bias operates to prevent the capsule from spinning when being recovered back to the bottom of track 11, thus avoiding 'twist knots' in the limit line 22.

A pair of inwardly opening hinged ingress flaps 72a, 72b are provided on opposing side walls of the substantially cylindrical body 45, with the hinge for each flap 72a, 72b being located adjacent the tapered end portion 46. The ingress flaps 72a, 72b are configured to be in the locked position at all times unless relieved by a release mechanism located in the tapered end portion 46, as will be described in more detail in subsequent paragraphs. When unlocked, the flaps 72a, 72b are configured to open inwardly to expose a baiting opening 53 for receiving a baited hook (i.e. from an operator standing on either side of the fishing apparatus. This is best shown in Fig 3b. Each of the openings transition, via curved edges 54, to respective slots 55a, 55b connecting the corresponding baiting opening 53 with the open lower end 47. It will be understood that only a single flap may be provided, depending on the desired implementation.

An axial bore 56 opens to the bottom of the capsule body 45 and is configured to slidingly retain the plunger 60. The plunger 60 comprises a plunger strut 57 and plunger head 58. The plunger strut 57 is configured to move within the bore 56 thus allowing the plunger head 58 to open and close the open lower end 47 of the cylindrical body 45. The axial bore 56 is integrally formed with the axial wall portion 51. The strut 57 is spring loaded by a tension spring 73 in the bore 56 to bias the plunger 60 to the closed position.

The plunger head 58 has a double cone form whereby the outer or lower conical surface 61 forms a streamlining nose cone for the capsule assembly 20. The inner conical surface 62 forms, with the inner periphery of the open lower end 47 to form a generally radially divergent egress opening for a bait passing from the bait cavity to the outside.

The tapered end portion 46 includes an internal mechanism that operates to control a plunger locking mechanism 76 (i.e. that prevents the plunger from opening until the capsule 20 is retrieved once the line limit has been reached), as well as to release closing tension on the ingress flaps 72a, 72b during retrieval and while in the docked position.

In more detail, and with particular reference to Figures 4a to 4f, the limit line 22 passes through a centre of the ovoid tapered end portion 46 and is tethered inside a spigot 100, that in turn is held freely inside a pressure plate assembly consisting of two adjoined discs 102, 104 that are biased in a rearward position (i.e. toward the open lower end 47) by way of a plurality of circumferentially disposed springs 106. This biased configuration is shown in Figures 4a, 4d and 4f. When the capsule 20 is in the docked position in the docking receiver 21, tension on the limit line 22, caused by a continued force applied by the hydraulically operated drive, forces the pressure plate assembly to compress the small springs 106. In doing so, a cam block 108 that is cooperative with hinges on the ingress flap 72a, 72b is released, thus allowing the ingress flaps 72a, 72b to swing freely for loading of the bait when the capsule 20 is docked in the docking receiver 21. This is best shown in Figure 4e.

Through extensive testing it has been found that, irrespective of the spring tension applied, the tension spring 73 alone is not a wholly effective mechanism for controlling the release of the plunger and premature opening can occur in certain situations (i.e. allowing the bait to be released before the desired depth is reached). Thus, to avoid such premature opening, a plunger retention mechanism 76 is provided that ensures the plunger assembly will not actuate until a predefined axial force is exerted on the plunger head 60.

The plunger retention mechanism 76 comprises a locking pin 112 having a conical end (see Figure 5). The locking pin 112 is configured to couple to a rearward face of the pressure plate 104. When the pressure plate assembly is in its rearwardly biased position (See Figures 4a, 4d, 4f), the conical end of the locking pin 112 extends into a correspondingly shaped void 113 disposed in an end of a multi pawl retention housing 114 (which is in turn coupled to the forward end of the plunger strut 57). A close-up view of the retention housing 114 (sans pawls) is shown in Figure 6a. As shown, the housing 114 comprises multiple longitudinally extending channels 116 that are circumferentially disposed around the housing 114. The channels 116 extend into the conical void 113 within the housing 114. Figures 6b and 6c show the retention housing 114 with nose pawls 120 that are retained within each channel by way of a circular retention clip 123. When inserted into the void 113, the conical end of the locking pin 112 bears on a cam disposed on a forward end of each nose pawl 120, thus causing rounded outer end of each nose pawl 120 to project out of its corresponding channel 116. This is best shown in Figure 6c. In use, the pawls 120 extend into a correspondingly shaped groove in an inner wall of a coupling 117 located within the bore 56 and attached to a forward end of the plunger 60. The outward spreading of the nose pawls 120 into the corresponding grooves prevents lateral movement of the plunger retention mechanism 76 and therefore prevents the plunger 60 from releasing.

A compressive force occurs during the retrieval of the capsule 20 back to the vessel, with the weight and drag on the capsule 20 causing the pressure plate assembly to compress the plurality of springs 106. As described above, this compressive force results in the ingress flaps 72a, 72b being allowed to open which, during retrieval of the capsule 20, results in water rushing into the bait cavity 50 applying pressure on the inner conical surface 62 of the plunger head 58. In addition, forward movement of the pressure plate assembly 102, 104 causes the locking pin 112 of the plunger retention mechanism 76 to be withdrawn from the void 113, thus allowing the nose pawls 120 to be wholly withdrawn back into their corresponding channel 116 (see Figure 6b). This in turn allows the plunger retention mechanism 76 to move laterally within the bore 56 and thus unlocks the plunger. Once unlocked, the force of the water rushing into the bait cavity 50 overcomes the tension of the tension spring 73 on the strut 57. When these two things occur together, the water rushing in and then out of the bait cavity 50 acts to flush the baited hook out of the capsule 20 at the required depth. This "open" retrieval state is best shown in Figure 7.

The line feed control assembly 13 is schematically represented in Figure 8. The line feed control assembly 13 is advantageously configured to deploy and recover the bait capsule 20 as expeditiously as possible to allow for efficient baiting to be carried out. As previously stated, the line feed assembly 12 comprises a pair of drive means 105, 106 for controlling spooling of the launching line 40 and limit line 22, respectively. More particularly, the drive means 105 is configured for controlling rotation of winch drum 43, while drive means 106 is configured for controlling rotation of the winch drum 31. According to the illustrated embodiment, each drive means 105, 106 takes the form of a hydraulic motor that is hydraulically coupled to a hydraulic drive pack 108. For reasons that will become evident in subsequent paragraphs, the hydraulic drive pack 108 comprises a proportional valve, brake controller and freewheel valve for each motor 105, 106.

The line feed assembly 13 comprises a controller 103 that is the processing hub responsible for the dynamic control of the motors 105, 106 for all modes of operation. According to the illustrated embodiment, the controller 103 takes the form of a programmable logic controller (PLC). More particularly, the controller 103 is configured to receive operational data from various inputs and apply the data to dynamically control speed settings of the motors 105, 106 for bait capsule deployment and recovery. The controller 103 also accumulates run data in error codes, tracking, hook counts per current operation, hook delivery position (determined based on GPS coordinates), and accumulative hook numbers from all operations.

In more detail, the controller 103 is communicable with a digital display controller 110 mounted in the wheelhouse of the vessel. Various operational control parameters are set using the digital display controller 110 (hereafter "wheelhouse DDC"), such as vessel speed, desired bait depth and the like. This data is communicated to the controller 103 for dynamic motor control.

The controller 103 is additionally communicable with a digital display controller 112 mounted on the deck (and accordingly hereafter referred to as the "deck DDC").

The deck DDC 112 provides operator level controls from the deck level for all run mode, maintenance mode, and recovery operations. No dynamic parameters are set via the deck DDC 112.

The controller 103 is also communicable with an encoder processing unit 117 that receives output data from encoders 114 and 116. The encoders 114 and 116 are attached to the drive motors 105, 106 respectively. The encoder processing unit 117 provides positioning and speed data (i.e. based on the encoder outputs) for processing by the controller 103.

According to the illustrated embodiment, speed and positioning data is constantly updated on each cycle of the controller 103 at a rate exceeding 1K (less than 1 millisecond per cycle). The encoder resolution is 1024 parts per revolution and, when decoded by the encoder processing unit 117, provides both positive and negative directional count.

Thus, the controller 103 is configured to receive from the wheelhouse DDC 110 and encoder processing unit 117 dynamic operational parameter data including current vessel speed, desired bait depth, positional data for each motor 105, 106 and speed data for each motor 105, 106.

The various valves and controllers of the hydraulic drive pack 108 are selectively actuated by the controller 103 for controlling hydraulic flow to the motors 105, 106 (i.e. for setting motor speed) and brakes 109, 111 (which can be actuated to stop the motors 105, 106 for stopping line feed either once a limit has been reached or in response to determining an anomaly in the positional data for the respective drive means during the capsule deployment and recovery process). A closed control loop is formed by the direct connection of the encoders 114, 116 to the drive motors 105 and 106. According to the illustrated embodiment, a fourth order formula is invoked to convert the outputs of the controller 103 to form a PWM signal for sending to the proportional valves to match the desired motor speed setting (in RPM).

The controller 103 may be mounted inside a control box 63 (see Figure 2). A remote control cycle activate button 49 is located on the side of the winch housing toward the operator and connected to the controller in the control box 63. Pressing the cycle activate button 49 causes an initiation signal to be received by the controller 103. An emergency power-on stop button 66 is located on the control box front panel. It allows power to the controller and once activated kills the launcher operations. A display panel 64 indicates faults and/or cycle position and operations data such as cycle count, depth setting etc. A run/maintenance switch with 6 positions isolates the run mode from the maintenance operations, such as controlling the brakes 109, 111, winding on cables, operating individual drives, and emergency recovery operation should sequence fail.

To operate, run/maintenance switch 65 is set to "run" mode, the emergency power on stop button 66 is released and power is applied. The display panel 64 indicates the run status after initial power up.

Should the capsule /cart not be correctly placed in the "home position" (i.e. where the capsule carriage is located at the upper limit of the track 11) the controller 103 corrects this before a run cycle commences. The cycle won't start unless the capsule and carriage are correctly placed. The run button 49 starts the cycle and is then locked out by the control means; it can not be restarted again until cycle completes. This is an important part of the operation as at this point the carriage's position is monitored before deployment. The run button 49 is also used during maintenance and emergency recovery for direct control over all maintenance operations.

A control cable 67 connects the controller 103 to the winch assembly 13. The winches 31, 43 are coordinated in their operation as follows.

In use, the limit line 22 is fully withdrawn onto its winch drum 31 which serves to park the ovoid rear or upper portion 46 of the capsule assembly 20 into the corresponding ovoid recess 36 of the pivoting docking receiver 21, and further to hold the capsule carriage 17 at the top of the track 11. The launching line 40 is at full extension, having been unwound by the contrary action of the limit line 22 being wound onto the winch drum 31.

An operator activates the unit with the run/maintenance switch 65 set to "run" mode and the emergency power-on stop button 66 released, as described above. A main line (not shown) is deployed from the stern of the vessel in the conventional manner. The operator has access to a plurality of baited hooks each on a snood having a snap on connection which can be made to the main line. The bait is placed in the bait cavity 50 through the bait opening 53 (i.e. accessed through either flap 72a or 72b) and the free end of the snood is snapped to the main line. The operator then hits the run button 49, whereupon the control means activates a capsule deployment and recovery process, as shown in Figure 8.

At step S1, responsive to the run button 49 being pressed, the controller 103 evaluates all operational parameters affecting depth and feed out rate. This data is received via the data input of the controller 103 and includes a current speed of the fishing vessel, desired depth setting and current motor positions and speeds.

At step S2, the controller 103 outputs an appropriate signal for controlling the motors 105, 106 for simultaneously spooling in the launch winch 43 and spooling out the winch drum 31 for driving the capsule carriage 17 down the track 11. More particularly, the motors are controlled to cause the capsule carriage 17 to accelerate down the track 11, before decelerating to its limit of downward travel whereupon the bait capsule 20 is launched by its own momentum, disengaging the ovoid tapered portion 46 from the ovoid recess 36. From extensive testing, it was found that accelerating the capsule carriage 17 along the track 11 during launch was advantageous in overcoming gradational forces, while retarding the mechanism as the capsule carriage 17 nears the track end minimizes unwanted impact forces.

According to the illustrated embodiment, the capsule carriage 17 is accelerated down the track 11 at approximately 6m/s 2 Further, due to the weight bias, within approximately 50 milliseconds of the capsule 20 leaving the track 11 it is configured to rotate through 180 degrees, thus presenting itself for a more dynamic accelerated decent, in turn reducing the time to reach programmed limits of decent.

In more detail, determining the appropriate output signal for capsule launch involves evaluating feedback provided to the controller 103 by the encoder processor 117; in particular ramp speed and position data derived from the output of the encoder 114.

At step S3, the controller 103 initiates a feed out process whereby the drive means 106 is controlled to allow the limit line 22 to be further fed out (i.e. away from the track 11), in turn allowing the capsule 20 to continue down through the water column to a limit imposed by the length of the limit line 22.

During feed out, the speed of the drive means 106 is dynamically varied based on a preprogrammed decent algorithm (discussed below) implemented by the controller 103 to compensate for a reduced diameter of winch drum 31 as the limit line 22 is fed out. Also, importantly, the speed is controlled to ensure that a suitable amount of line tension is maintained. This ensures that the capsule 20 is not subjected to unnecessary forces that may comprise its integrity.

Through extensive trialing, that involved evaluating various capsule dynamics during feed out for various speed and depth ranges, a look up table was derived to be fed to the process to compensate for any boat speed and set depth. The controller 103 is programmed to implement a descent algorithm that refers to the look up table and encoder count to dynamically control the drive means 106 (i.e. and thus payout of the limit line 22) for ensuring suitable line tension based on any input combination of vessel speed and bait depth, and based on a current drum diameter (determined from an output of the encoder 116).During the feed out process, the controller 103 monitors the position of the capsule carriage 17 and controls the brake and repositioning function should the limits be exceeded.

At the end of its downward travel (i.e. once the determined length of limit line has been fully let out), the controller 103 immediately initiates a capsule recovery process (step S4).

This involves actuating the winch drum 31 in the reverse direction thus retrieving the limit line to the winch drum 31. Since the feed out process ensured minimal or no play in the limit line (as discussed above), actuating the winch drum 31 in the reverse direction causes the capsule to be immediately pulled in (i.e. against the direction of vessel travel). The combined forward motion of the capsule 20 through the water increases the water pressure within the bait cavity 50 until the plunger 60 is caused to open (as described above), flushing the bait out through the radially divergent egress opening 48. The snood is guided by the curved edges 54 to pass down the corresponding slot 55a, 55b and clear the bait capsule 20, to effect the deployment of the bait at the selected depth.

Again, from extensive trialing, it was found that the capsule recovery operation is also critical to performance of the system. In particular it was found that excessive loads on the capsule during retrieval (resulting from forward vessel speed) can cause unnecessary capsule damage. Further, incorrect docking speeds can also result in damage to the track. Accordingly, to prevent such damage, a sequence of recovery operations are performed. Firstly, the controller 103 implements a retrieval algorithm that is programmed to control the winch drum 31 to wind in the limit line 22 at a high speed (taking into account a speed of the vessel) until the capsule 20 is at a specified distance from the track end. At this point the speed is reduced to a docking speed and at some 500 mm from the track end the capsule is slowly docked.

It will be understood that the retrieval algorithm takes into consideration positional data from the encoder 116 as well as vessel speed.

As previously mentioned, the towed capsule 20 is stabilized in its orientation by its ballasting. As the limit line is retrieved, the gross orientation of the capsule assembly 20 enables the ovoid tapered portion 46 to be generally aligned with the ovoid recess 36. as the capsule assembly 20 docks with the pivoting docking receiver 21 the matching ovoid shapes effects terminal radial orientation of the capsule assembly 20 with the pivoting docking receiver 21. The capsule assembly is being trailed behind the track on the recovery cycle. The limit line 22 acts on the fairlead 23 and about the pulley 24 to pivot the pivoting docking receiver 21 up to line up for docking of the capsule assembly 20.

After a controlled delay, with the capsule 20 securely docked in the capsule carriage 117 at the track end, the controller 103 initiates an up-track process (step S5).

At step S5, all up-track parameters are dynamically controlled, within limits controlled from the wheelhouse DDC 110. More particularly, the controller 103 controls the motor 106 to accelerate the carriage 117 and docked capsule 120 up the track 11 to a position where a ramp down function occurs to a pre-set position approximately 100mm from the upper limit of the track (referred to as the "home position"). At this pre-set position, the controller 103 initiates an idle operation (step S6) where the final docking and pressure needed to actuate the flaps72a, 72b on the capsule 20 are controlled by the controller. In an embodiment, during the idle operation period, the controller 103 implements a control process that applies a small drive force for freeing the capsule flaps 72a, 72b as stated above. At this point, the deployment and recovery process is complete and the controller 103 rests the apparatus awaiting the next operator-triggered cycle initiated by operation of the run button 49. The baiting opening 53 is presented to the operator for the next baited hook to be placed.

Any dynamic parameter changes made from the wheelhouse DDC 102 are evaluated by the controller 103 (e.g. change in desired bait depth, change in vehicle speed). The next cycle reflects the changes.

It will be understood that the speed of the hydraulic motors 105, 106 (measure in RPM) through each of the above processes is crucial to a successful outcome. The drives are controlled with a standalone PID which compares derived RPM from encoders to pre-set operational requirements.

After the initial startup the DDC 110 wheelhouse controller has built in the control parameters which set and defines performance during cyclic operation. Changes made are retained until further changed. The PLC retains these settings made from the DDC 110 and further applies then after the next Idle Operation Cycle.

It will be understood that the bait cavity in the capsule may be of any suitable shape. For example, the bait capsule may be substantially tubular and the bait cavity may comprise the hollow interior of the tubular form. Alternatively, the bait cavity may be optimized for the typical bait shape. For example, where the capsule is substantially cylindrical, the bait cavity may be defined by a surface dividing the cylindrical form lengthwise, such as along a generally axial plane.

The bait opening is preferably optimized to present for a crew member to insert a bait, such as a fish gang-hooked on a snood, as the capsule returns to the baiting position. To this end the bait opening may be presented to one side of the track consistently. By this means the crew member can locate close to the stern rail and the track can be bolted to the transom in its most vertical attitude. The capsule may be configured whereby it docks in the carriage in an orientation selected to consistently present the bait opening in the selected orientation. In these embodiments the bait opening may be through a side wall of the capsule. Alternatively, the bait opening may be at an upper or back annular end of the bait capsule, making rotational orientation about the axis irrelevant.

The slot is to permit a baited line or snood to pass from the baiting opening to the bottom opening as the bait exits the bottom opening. The slot may be configured to reduce the likelihood of snagging of the snood or main line. For example, the transition between the bait opening and the slot may include a lead-in portion including smoothly curved edges. The transition from the slot to the bottom opening may be configured to be clear of any structures that are likely to snag the snood or main line.

The capsule carriage may be mounted for movement between the baiting and capsule launch positions by any suitable means. For example the carriage may be mounted to the track by captive rollers, PTFE or other polymer slides, endless chain or the like.

The track may extend from a baiting position at deck level of a vessel and adapted to deploy over the stern of the vessel. Alternatively the track may deploy to one side such as from the stern quarter or may deploy to a well amidships, between hulls or through a fantail.

The limit line retriever may comprise a winch drum or a linear drive. The retriever may include control means operating devices such as rope clutches and the like.

The capsule carriage may be specifically adapted to cooperate with the capsule to ensure consistent docking orientation. For example, the carriage may include a shaped docking portion adapted to cooperate with a complementarily shaped upper portion of the capsule to present the baiting opening in a consistent orientation at the baiting position. The capsule may latch into the carriage on recovery to be unlatched on deployment. Alternatively, the capsule may passively dock to be retained on the up-cycle by the retrieval means.

It will of course be realised that while the above has been given by way of illustrative example of this invention, all such and other modifications and variations thereto as would be apparent to persons skilled in the art are deemed to fall within the broad scope and ambit of this invention as is set forth in the claims appended hereto.

Claims (18)

Claims:

1. A dynamic control system for a long-line fishing apparatus mountable on a transom of a fishing vessel, the fishing apparatus comprising a bait capsule attached to a limit line and mountable on a capsule carriage movable on a track between a baiting position and a capsule launch position adjacent or below a waterline, the control system comprising: a first drive means for dynamically controlling a rate at which the capsule carriage is driven between the limits of the track; a second drive means for dynamically controlling a rate at which the capsule is fed out once it has reached the capsule launch position; a data input module for receiving a set of operational parameters, the set of operational parameters comprising: a current speed of the fishing vessel; a desired bait depth; drive means output data representative of at least one of a position and speed of an output of the respective drive means; a controller communicable with the data input module for implementing a capsule deployment and recovery process responsive to receiving an initiation signal, wherein responsive to receiving the initiation signal, the controller is configured to: a) evaluate data received via the data input module to determine both the current speed of the fishing vessel and the desired bait depth; b) control the first drive means to drive the capsule carriage to a lower end of the track for capsule launch such that the capsule carriage is caused to initially accelerate before decelerating as it nears the lower end; c) determining an amount by which the limit line needs to be fed out to achieve the desired bait depth; and d) once the capsule carriage has reached the launch position, determine a feed out rate for the capsule to ensure that a predefined amount of line tension is achieved over the feed out process.

2. A dynamic control system in accordance with claim 1, wherein the feed out rate is determined utilising an algorithm that takes into consideration the current vessel speed and set bait depth.

3. A dynamic control system in accordance with claim 1 or 2, wherein the control system continuously evaluates the drive means output data for the second drive means for selectively adjusting a drive speed to achieve the determined feed out rate.

4. A dynamic control system in accordance with any one of the preceding claims, wherein the second drive means is a rotary motor and wherein the drive means output data is determined from an output of a rotary encoder that is coupled to the rotary motor.

5. A dynamic control system in accordance with claim 4, wherein the drive means output data is utilised by the controller to determine both a current speed of the capsule payout and a current depth of the capsule.

6. A dynamic control system in accordance with any one of the preceding claims, wherein the capsule carriage is connected to a launch line which is wound around a primary winch drum rotatable by the first drive means and wherein the drive means is controlled to compensate for a reduced drum diameter as the launch line is fed from the drum.

7. A dynamic control system in accordance with claim 6, wherein the drive means output data for the first drive means is evaluated to determine a current position and ramp speed which information is dynamically evaluated in order to achieve the predefined acceleration/deceleration profile.

8. A dynamic control system in accordance with any one of the preceding claims, wherein, once the capsule has reached the desired depth, the controller is further configured to control the second drive means to wind in the limit line for docking the capsule with the capsule carriage, and, thereafter, control the first drive means to drive the capsule carriage to an upper end of the track for capsule recovery and re-baiting.

9. A dynamic control system in accordance with claim 8, wherein the second drive means is configured to reduce the speed at which the limit line is wound in as it nears the track.

10. A dynamic control system in accordance with claim 8 or 9, wherein the first drive means is configured to drive the capsule carriage upwardly such that the capsule carriage is caused to initially accelerate before decelerating as it nears the upper end based on a predefined acceleration/deceleration profile.

11. A dynamic control system in accordance with any one of the preceding claims, further comprising a brake coupled to at least one of the drive means, and wherein the controller is configured to actuate the brake in response to determining an anomaly in the positional data for the respective drive means during the capsule deployment and recovery process.

12. A method of longline fishing including the steps of: providing a vessel with a long-line fishing apparatus mountable on a transom thereof, the fishing apparatus comprising a bait capsule attached to a limit line and mountable on a capsule carriage movable on a track between a baiting position and a capsule launch position adjacent or below a waterline, the apparatus further comprising a first drive means for controlling a rate at which the capsule carriage is driven between the limits of the track; a second drive means for controlling a rate at which the capsule is fed out once it has reached the capsule launch position; a data input for receiving a set of operational parameters, the set of operational parameters comprising: a current speed of the fishing vessel; a desired bait depth; positional data for the first and second drive means, the positional data representative of at least one of a position and speed of an output of the respective drive means; implementing a capsule deployment and recovery process responsive to receiving an initiation signal, wherein responsive to receiving the initiation signal the following computer implemented steps are carried out: a) evaluate data received via the data input means to determine both the current speed of the fishing vessel and the desired bait depth; b) control the first drive means to drive the capsule carriage to a lower end of the track for capsule launch such that the capsule carriage is caused to initially accelerate before decelerating as it nears the lower end; c) determine an amount by which the line needs to be fed out for achieving the desired bait depth; d) once the capsule carriage has reached the launch position, dynamically control operation of the second drive means to achieve a feed out rate of the capsule that results in a predefined amount of tension in the line over the feed out process.

13. A bait capsule for use with a long line fishing apparatus, including: a) a substantially cylindrical body having a bait cavity extending from a baiting opening and a bottom opening, a slot in a side wall connecting said openings; b) a plunger having a plunger stem retained within an axial bore located in the cylindrical body and a plunger head, the plunger being movable in the body such that in an open position the plunger provides bait egress through said bottom opening and providing a substantially streamlined nose for said capsule in a closed position; c) a plunger locking mechanism disposed in an upper end portion of the cylindrical body, the mechanism being communicatively coupled to a limit line connected to a limit line retrieval mechanism on a fishing vessel and wherein plunger locking mechanism is configured to prevent the plunger from opening until the limit line is fed in by the retrieval mechanism for retrieval of the bait capsule.

14. A bait capsule in accordance with claim 13, further comprising a flap that covers the baiting opening and is configured to open inwardly to expose the baiting opening.

15. A bait capsule in accordance with claim 14, wherein the plunger locking mechanism is additionally configured to control opening of the flap such that the flap.

16. A bait capsule in accordance with claim 15, wherein the plunger locking mechanism is configured to release a closing tension on the flap during retrieval and while in a docked position.

17. A bait capsule in accordance with any one of claims 13 to 16, wherein the limit line passes through a centre of the upper end portion and is tethered inside a spigot, that in turn is held inside a pressure plate assembly consisting of two adjoined discs that are biased in a rearward position toward the open lower end by way of a plurality of circumferentially disposed springs.

18. A bait capsule in accordance with claim 17, wherein, when tension on the limit line, caused by a continued force applied by the retrieval mechanism, causes the pressure plate assembly to compress the springs, in turn moving the pressure plate assembly to a forward position.

19. A bait capsule in accordance with claim 18, wherein when the pressure plait assembly is in the rearward position it inhibits movement of the ingress flap and such that movement of the pressure plate assembly to the forward position allows the ingress flap to freely swing inwardly.

20. A bait capsule in accordance with claim 19, wherein the plunger retention mechanism comprises a locking pin coupled to a rearward face of the pressure plate assembly and wherein when the pressure plate assembly is in its rearwardly biased position, an end of the locking pin extends into a correspondingly shaped void disposed in a multi pawl retention housing that is in turn coupled to the plunger stem and wherein insertion of the locking pin into the multi pawl retention housing causes one or more internally housed pawls to extend outwardly into a notch in an opposing wall of the axial bore, thus preventing axial movement of the plunger.

21. A bait capsule in accordance with claim 20, wherein movement of the pressure plate assembly to the forward position causes the locking pin to be withdrawn from the multi pawl retention housing thereby allowing axial movement of the plunger and such that, during retrieval of the capsule, water passing into the bait cavity applies pressure on the plunger head thus allowing plunger to open for releasing the bait.

22. A bait capsule in accordance with claim 21, wherein the plunger strut is spring loaded by a tension spring in the axial bore which biases the plunger to the closed position.

23. A bait capsule in accordance with any one of claims 13 to 22, wherein the capsule is configured for mounting in a capsule carriage that is in turn mounted for movement on a track extending between a baiting position and a capsule launch position adjacent or below a waterline and including complementary docking means adapted to dock said capsule with said baiting opening presented in a selected position.

24. A bait capsule in accordance with claim 23, where, the limit line passes through a fairlead in said carriage to said capsule, and wherein the limit line retrieval mechanism is operable to dock said capsule with said carriage for recovery to said baiting position.

45 20 2023202105

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72a

Fig. 3a

45 20 60 47

72a 53

Fig. 3b 57

52 20 22 76 88 60

73 2023202105

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106 Fig. 4b

102 104 100

112

114

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Fig. 4c 106

22 B 45 26 Apr 2023

72a 55a 20

73 2023202105

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58 Fig. 4d

108 20 72a 53 62

51 56 61 73

100 57 72b 47

58 Fig. 4e 108

112 114

Fig. 4f

Fig. 5

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116

Fig. 6a

123 120

120

120 120

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22/31 40/43 106 105 116 114

117 111 109

Fig. 8

Evaluate operational S1 parameters response to 2023202105

receiving signal

Output motor control S2 signal for capsule deployment

S3 Dynamically control feed out and brake

S4 Initiate capsule recovery

S5 Dynamically control track up process

S6 Idle

Fig. 9