JP2002238418A - Motor controlling device of electrically-driven reel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a motor controlling device of an electrically-driven reel having a gunwale stop mode, capable of making fishing terminal tackles locate at a predetermined position when a fishline is wound up, without regard to a load worked on a motor nor rotational speed of the motor. SOLUTION: In this motor controlling device of the electrically-driven reel, a reel controlling unit 30 controls the motor 12 for driving a spool on which the fishline is wound and conducts following operations: calculating length of the yarn discharged from the spool based on enumerated data given by a spool counter 42; obtaining torque which works on the motor based on detected output given by a torque sensor 43; and calculating rotational speed of the spool based on indicated output given by a spool sensor 41. Further, the controlling unit sets a deceleration point based on detected results of the torque and the rotational speed when the fishline is wound up, so that the motor is decelerated when the fishline is wound up to the set deceleration position, then the motor is stopped when the fishline is wound up to the gunwale stop position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

TECHNICAL FIELD The present invention relates to a motor control device,
The present invention relates to a motor control device for an electric reel that controls a motor that drives a spool around which a fishing line is wound.

[0002]

2. Description of the Related Art An electric reel is a reel usually used for fishing a fish having a relatively deep water, and a motor rotates a spool in a line payout direction. 2. Description of the Related Art In an electric reel, conventionally, the rotation speed of a motor, that is, the winding speed of a spool can be adjusted to a high or low speed by operating a switch. When the winding speed of the spool is set, the current is controlled so as to maintain the speed regardless of the load.

[0003] An electric reel of this type is known which has a hull stop mode in which a motor is turned off when a device reaches the hull. When such a hull stop mode is provided, when catching fish or exchanging bait, the gimmicks are arranged on the rim of the hull, so that the gimmicks and fish can be easily collected, and the hand-turning is quick. In the electric reel provided with the hull stop mode, the motor is decelerated on the near side from the set hull stop position to control the hull stop position to be constant. This deceleration position is usually set in advance by the hoisting speed, and is set closer to the hull side when the hoisting speed is slower than when it is faster.

[0004] On the other hand, there has been developed an electric reel that controls not to wind up while maintaining a set speed, but to maintain a set torque to keep the tension acting on the fishing line constant. When the torque is controlled to be constant in this way, it is possible to suppress an unnecessary increase in the hoisting torque, and to reduce the occurrence of cuts in the mouth of the fish and the sharpness of the device.

[0005]

In the conventional electric reel having the hull stop mode, the deceleration position is set by the winding speed. Even if the vehicle decelerates at the position, there is a possibility that the hull stop position is largely shifted to the fishing rod side and an overwinding state is caused. In addition, when a large load acts to wind up at low speed, the motor may stop below the hull even if the deceleration position is shifted to the hull side.
This phenomenon may occur when the hoisting speed is controlled to a constant value.However, especially when the hoisting torque is controlled to a constant value, the speed is not controlled. Remarkably easily occur.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a motor-driven reel having a ship-side stop mode, in which a mechanism can be arranged at a predetermined position during winding, regardless of the load acting on the motor or the number of rotations of the motor.

[0007]

A motor control device for an electric reel according to a first aspect of the present invention is a device for controlling a motor for driving a spool around which a fishing line is wound. The motor control device includes: a line length detecting unit; a torque detecting unit; A speed detecting unit, a deceleration yarn length setting unit, a stopping yarn length setting unit, and a first motor control unit are provided. The yarn length detecting means is means for detecting the length of the yarn discharged from the spool. The torque detecting means is:
This is a means for detecting the torque acting on the motor. The rotation speed detecting means is means for detecting the rotation speed of the spool. The deceleration yarn length setting means is a means for setting a deceleration yarn length for reducing the rotation of the motor based on the detection results of the torque detection means and the rotation speed detection means at the time of winding. The stop thread length setting means is a means for setting a stop thread length shorter than a deceleration thread length for stopping rotation of the motor during winding.
The first motor control means decelerates the rotation of the motor when the detection result of the yarn length detection means reaches the set deceleration yarn length at the time of winding, and the motor stops when the detection result of the yarn length detection means reaches the set stop yarn length. Means for stopping the rotation of.

In this motor control device for an electric reel, the line length of the fishing line released from the spool is detected by the line length detecting means. When the motor rotates at the time of winding and the spool rotates, the rotation speed is detected by the rotation speed detection means, and the torque of the motor is further detected by the torque detection means, and the deceleration yarn length is set according to the detected torque and rotation speed. The deceleration yarn length is set by the means. Then, when the detected yarn length becomes the deceleration yarn length, the rotation of the motor is reduced, and when the winding proceeds further and reaches the stop yarn length, the rotation of the motor is stopped.

Here, the deceleration start position of the rotation of the motor is set in consideration of not only the hoisting speed but also the hoisting torque. For example, in the case of high speed hoisting with a low load, the motor is decelerated earlier with emphasis on the torque. In the case of high-load low-speed hoisting, it is also easy to stop accurately at the set stop position by setting to decelerate more slowly with the same emphasis on torque. At the time of hoisting, the device can be arranged at a predetermined position, for example, on the rim of the boat, regardless of the number of rotations of the motor.

A motor control device for an electric reel according to a second aspect of the present invention is the motor control device according to the first aspect, wherein the speed-reducing yarn length setting means is configured to output the torque detected by the torque detection means and the rotation speed detected by the rotation speed detection means. The deceleration yarn length is set by multiplying by a predetermined coefficient. In this case, the deceleration yarn length can be set only by simple coefficient calculation, so that motor control becomes easy.

A motor control device for an electric reel according to a third aspect of the present invention is a device for controlling a motor for driving a spool around which a fishing line is wound. The motor control device comprises: a line length detecting unit; a torque detecting unit; A speed setting unit, a stopped yarn length setting unit, and a first motor control unit are provided.
The yarn length detecting means is means for detecting the length of the yarn discharged from the spool. The torque detecting means is means for detecting a torque acting on the motor. The rotation speed detecting means is means for detecting the rotation speed of the spool. The deceleration setting means is means for setting a deceleration for reducing the rotation of the motor based on the detection results of the torque detection means and the rotation speed detection means at the time of winding. The stop thread length setting means is a means for setting a stop thread length for stopping rotation of the motor during winding. The first motor control means decelerates the rotation of the motor at the set deceleration when the detection result of the yarn length detection means at the time of winding reaches a predetermined deceleration yarn length longer than the set stop yarn length. Is a means for stopping the rotation of the motor when the detection result of reaches the set stop thread length.

In this motor control device for an electric reel, the line length of the fishing line released from the spool is detected by the line length detecting means. When the motor rotates at the time of winding and the spool rotates, the rotation speed is detected by the rotation speed detection means, and the torque of the motor is detected by the torque detection means, and the deceleration setting means is determined according to the detected torque and rotation speed. Sets the deceleration. Then, when the detected yarn length reaches a predetermined deceleration yarn length, the rotation of the motor is decelerated at the set deceleration, and further the winding proceeds, and when the stopped yarn length is reached, the rotation of the motor is stopped.

Here, the deceleration of the rotation of the motor is set in consideration of not only the hoisting speed but also the hoisting torque. For example, in the case of low load and high speed hoisting, the motor is decelerated at a large deceleration with emphasis on the torque. In the case of high-load low-speed hoisting, it is easy to stop at the set stop position with high precision by setting to decelerate at a small deceleration with the same emphasis on torque, which acts on the motor. Regardless of the load or the number of rotations of the motor, the device can be arranged at a predetermined position, for example, at the rim of the ship, at the time of winding.

According to a fourth aspect of the present invention, there is provided the motor control device for an electric reel according to the third aspect, wherein the speed reduction yarn length setting means is adapted to output the torque detected by the torque detection means and the rotation speed detected by the rotation speed detection means respectively. The deceleration is set by multiplying by a predetermined coefficient. In this case, since the deceleration can be set only by a simple coefficient calculation, the motor control becomes easy.

A motor control device for an electric reel according to a fifth aspect of the present invention is the motor control device according to any one of the first to fourth aspects, wherein the stopped yarn length setting means is configured such that a detection result of the yarn length detection means is equal to or less than a predetermined yarn length and the yarn is rotated When the speed detecting means determines that the rotation of the spool has been stopped for a predetermined time or more, the yarn length at that time is set as the stopped yarn length. In this case, since the hull stop position that changes depending on the size of the ship or the like can be set to the position where the angler has actually stopped, the optimum stop position can always be set.

According to a sixth aspect of the present invention, there is provided the motor control device for an electric reel according to any one of the first to fifth aspects, wherein the torque setting means for setting the torque in a plurality of stages and the torque detection means detect the torque. , Further comprising second motor control means for controlling the motor so as to maintain the set torque. In this case, a plurality of torque levels are set in advance by the torque setting means, and the torque of the motor is controlled for each step so that the winding torque does not exceed the winding torque of each step set by the torque setting means. For this reason, the hoisting torque does not exceed the set torque, and the useless increase of the hoisting torque can be suppressed, and the sharpness and the sharpness hardly occur.

According to a seventh aspect of the present invention, in the motor control device for an electric reel according to the sixth aspect, the torque setting means sets an allowable current value for each step, and the torque detecting means sets the current supplied to the motor. The hoisting torque is detected based on the value, and the second motor control means controls the current supplied to the motor so as not to exceed the allowable current value set for each stage. In this case, since the winding torque is detected by the current, the detection of the torque is easy and the accuracy is high. Further, since the current value does not easily increase beyond the set current value, damage to the motor due to heat such as burnout hardly occurs.

An electric reel motor control device according to an eighth aspect of the present invention is the motor control device according to the seventh aspect, wherein the motor control device is set based on a detection result of a speed setting device for setting a rotation speed in a plurality of stages and a rotation speed detection device. Motor control means for controlling the motor so as to maintain the adjusted speed, control selection for selectively selecting constant torque control by the second motor control means and constant speed control by the third motor control means. Means. In this case, one of the speed control and the torque control can be selected, so that the motor control method can be optimized according to the fish type, the fishing method, and the like.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIG. 1, an electric reel according to an embodiment of the present invention includes a reel body 1 mounted on a fishing rod R, and a spool for rotation of a spool arranged on the side of the reel body 1. It mainly includes a handle 2 and a star drag 3 for drag adjustment disposed on the reel body 1 side of the handle 2.

The reel body 1 comprises a pair of left and right side plates 7a, 7
b and a plurality of connecting members 8 for connecting them, and right and left side covers 9 covering left and right of the frame 7
a and 9b. Handle 2 side (right side in FIG. 1)
The rotating shaft of the handle 2 is rotatably supported on the side cover 9b, and the power cord 18 for connecting an external power supply PS is connected to the side cover 9a on the side opposite to the handle 2 (left side in FIG. 1). Connector 19 is provided.

Inside the reel body 1, a spool 10 connected to the handle 2 is rotatably supported. A DC-driven motor 12 that drives the spool 10 to rotate in the line winding direction is disposed inside the spool 10. An operating lever 11 of a clutch for turning on and off the drive transmission between the handle 2 and the motor 12 and the spool 10 is arranged on a side surface of the reel body 1 on the handle 2 side. When the clutch is turned on, the yarn feeding operation can be stopped during the yarn feeding by the own weight of the device.

A counter case 4 is provided on the upper part of the reel body 1.
Has been fixed. The counter case 4 includes the reel body 1
And a display window 20 is formed on the upper surface. On the upper surface of the counter case 4, as shown in FIG.
A display unit 5 composed of a liquid crystal display for displaying the water depth and shelf position of the device through the display window 20 based on two references, that is, from the water surface and the bottom, faces the display unit 5. A switch operation unit is provided around the display unit 5. 6 are provided.

The display unit 5 has a four-digit seven-segment depth display area 5a disposed at the center, a three-digit bottom depth display area 5b disposed therebelow, and a right-side depth display area 5a in FIG. And a stage number display area 5c arranged at The step number display area 5c displays the current hoisting torque or speed operated by the switch operation unit 6 in five stages. In addition, above the water depth display area 5a, one of the characters "speed / torque" indicating a control mode of a speed mode and a torque mode described later is displayed.

The switch operation unit 6 includes a change switch SK and a motor switch PW arranged vertically on the right side of the display unit 5 in FIG. 1, and a bottom memo switch SM and a mode switch MD arranged vertically on the left side. Have.

The motor switch PW is a switch for turning on and off the motor 12, and is a switch capable of continuously winding the motor 12 when the motor switch PW is turned on.

The change switch SK is connected to the driven motor 1
2 is a switch for increasing or decreasing the speed or torque,
This is a seesaw type switch having two switches, an upper switch and a neutral switch. Pressing the upper switch of the change switch SK increases the speed or torque, and pressing the lower switch decreases the speed or torque.

The bottom memo switch SM is a switch that is pressed when the device reaches the bottom, and the water depth at that time is set as the bottom. When the bottom memo switch SM is pressed for a predetermined time or more, the zero point of the water depth display can be set to a new position when the fishing line breaks.

The mode switch MD is a switch for switching the mode for controlling the motor between the torque mode for controlling the torque and the speed mode for controlling the speed, and switches the control mode each time the switch is pressed. In the initial setting, the control mode is set to the speed mode.

The reel control unit 30 includes a microcomputer including a CPU, a RAM, a ROM, an I / O interface, and the like arranged in the counter case 4.
The reel control unit 30 controls the display unit 5 according to the control program.
And various control operations such as display control and motor drive control. As shown in FIG. 3, the reel control unit 30 includes various switches of the switch operation unit 6 and a spool sensor 41.
, A spool counter 42 and a torque sensor 43 are connected. The reel control unit 30 includes a buzzer 4
4, a PWM drive circuit 45, a display unit 5, and a storage unit 46.
And other input / output units are connected.

The spool sensor 41 is composed of two reed switches arranged side by side, and can detect the rotation direction of the spool 10 depending on which reed switch has issued the detection pulse first. The spool counter 42 is a counter for counting the number of times the spool sensor 41 is turned on and off, and rotational position data relating to the number of rotations of the spool is obtained from the counted value. Spool counter 4
2, the count value decreases when the spool 10 rotates forward (rotation in the line payout direction), and increases when the spool 10 rotates reversely. The torque sensor 43 is a sensor for detecting a hoisting torque used for torque control. Specifically, the torque sensor 43 detects a hoisting torque by detecting a current flowing through the motor 12. The buzzer 44 is used to sound an alarm.
The PWM drive circuit 45 drives the motor 12 by PWM, and the duty ratio is controlled by the reel control unit 30 to drive the motor 12 variably.

The storage unit 46 is composed of a nonvolatile memory such as an EEPROM. 4 is stored in the storage unit 46.
As shown in FIG. 5, a display data storage area 50 for storing display data such as a shelf position, a learning data storage area 51 for storing learning data indicating a relationship between an actual thread length and a spool rotation speed, and a speed step number SC. Speed data storage area 52 for storing the upper limit of the winding speed (rpm) of the spool 10 according to the torque, and a torque data storage area 53 for storing the upper limit of the winding torque (ampere) of the motor 12 according to the number of torque stages TC. And a data storage area 54 for storing various data.

In the speed data storage area 52, for example, when the number of stages SC is 1st speed, the upper limit speed data SS = 2
57 rpm, SS = 369 rpm for 2nd speed, SS = 503 rpm for 3rd speed, SS = 665 for 4th speed
In the case of 5 rpm, SS = 1000 rpm is stored. In the torque data storage area 53, for example, the upper limit torque data TS = 2A when the number of stages TC is one, TS = 3.5A when the number of stages TC is two, TS = 5A when the number of stages TC is four, and four stages. , TS = 6.5A, and in the case of five stages, TS = 8A.

The data storage area 54 stores duty ratio data for PWM control and various temporary data. Also stored are data of the maximum duty ratio and the minimum duty ratio for each number of torque stages, speed coefficient data VA and torque coefficient data TB for setting the hull stop position FN and the deceleration start position RX before the hull stop.

Next, a specific control process performed by the reel control unit 30 will be described with reference to a control flowchart shown in FIG. When the electric reel is connected to the external power supply PS via the power cord 18, initialization is performed in step S1 of FIG. In this initial setting, the count value of the spool counter 42 is reset, various variables and flags are reset, and the motor control mode is set to the speed mode.

Next, in step S2, display processing is performed. In the display processing, various kinds of display processing such as water depth display are performed. Here, in the speed mode, the speed stage number SC operated by the change switch SK is displayed in the stage number display area 5c, and in the torque mode, the torque stage number TC is displayed. In addition, one of the speed mode and the torque mode is displayed.

In step S3, it is determined whether or not the water depth LX calculated in each operation mode described below is 6 m or less. In step S4, a key input is determined to determine whether any switch of the switch operation unit 6 has been pressed. In step S5, it is determined whether the spool 10 is rotating. This determination is made based on the output of the spool sensor 41. In step S6, it is determined whether another command or input has been made.

When the water depth LX is equal to or less than 6 m, the process proceeds from step S3 to step S7. In step S4,
It is determined whether or not the vehicle has stopped at that depth for 5 seconds or more. 6
The stoppage at a water depth of 5 m or less for 5 seconds or more often occurs when an operation such as taking in fish caught on the rim of the hull or re-feeding the gimmick is performed. For this reason, when it is determined that the vehicle has stopped for 5 seconds or more, the process proceeds to step S8, and the water depth LX at that time is set to the ship edge stop position FN. If the time is less than 5 seconds, the process moves from step S7 to step S4.

If a switch input has been made, the flow advances from step S4 to step S9 to execute key input processing. If the rotation of the spool 10 is detected, the process proceeds from step S5 to step S10. Step S1
At 0, each operation mode process is executed. If another command or input has been made, the process shifts from step S6 to step S11 to execute other processing.

In the key input process of step S6, it is determined whether or not the mode switch MD has been pressed in step S12 of FIG. In step S13, it is determined whether the motor switch PW has been pressed. In step S14, it is determined whether or not the upper switch of the change switch SK has been pressed.
In step S15, it is determined whether the down switch of the change switch SK has been pressed. In step S16, it is determined whether or not another switch has been operated. The operation of other switches includes the operation of the bottom memo switch SM and the like.

When the mode switch MD is pressed, the flow shifts from step S12 to step S17. Step S17
Then, it is determined whether or not the control mode is the speed mode. Pressing the mode switch MD during the speed mode is because the angler attempts to enter the torque mode.
The process shifts to step S18 to set the control mode to the torque mode. Thus, torque control is performed according to the operation of the change switch SK. If it is not the speed mode but the torque mode, the process moves from step S17 to step S19, and the control mode is set to the speed mode.

When the motor switch PW is pressed, the flow shifts from step S13 to step S20. Step S2
At 0, it is determined whether or not the motor 12 is already turned on (rotating). The fact that the motor switch PW is pressed during rotation of the motor means that the angler attempts to stop the motor 12, and the process proceeds to step S21 to turn off the motor 12. If the motor is stopped, the process moves from step S20 to step S22, and the motor 12 is turned on.

When the upper switch of the change switch SK is pressed, the process moves from step S14 to step S23. In step S23, it is determined whether the control mode is the speed mode. In the case of the speed mode, the process shifts to step S24 to perform a speed increasing process described later. In the torque mode, the process proceeds from step S23 to step S25, and a torque increasing process described later is performed. Here, when the upper switch is pressed, the speed increase or the torque increase process is performed. As a result, these increase processes are performed only during the time the upper switch is pressed.

When the down switch of the change switch SK is pressed, the process moves from step S15 to step S26. In step S26, it is determined whether the control mode is the speed mode. In the case of the speed mode, the flow shifts to step S27 to perform a speed reduction process described later. In the torque mode, the process proceeds from step S26 to step S28, and a torque reduction process described later is performed. Here, if the lower switch is pressed, the speed reduction or torque reduction processing is performed. As a result, these reduction processings are performed only during the time the lower switch is pressed.

When another switch input is made, the process shifts from step S16 to step S29, and performs another key input process corresponding to the operated switch input, for example, setting to the bottom shelf value of the current water depth. .

In the speed increasing process of step S24, FIG.
In step S31, the previously set speed stage number SC is read from the data storage area 54. Here, the data storage area 54 stores the value each time the speed stage number SC increases or decreases. When the power is turned on and when the motor switch PW is pressed and the motor 12 stops, the speed stage number SC is set to “0” and stored in the data storage area 54.

In step S32, the read speed stage number SC is increased by one stage. The increased speed stage number S at this time
C is displayed in the number-of-stages display area 5e in the display processing and is stored in the data storage area 54. In addition,
Immediately after the motor switch PW is pressed, the speed stage number SC is increased by one stage and set to “1”. When the number of speed stages SC is set to "5", it does not increase any more.

In step S33, the speed data S corresponding to the increased speed stage number SC is stored in the speed data storage area 52.
S is read and set. In step S34, the speed data SP of the spool 10 is obtained from the output of the spool sensor 41.
Read.

In step S35, it is determined whether or not the read speed data SP is equal to or higher than the speed data SS corresponding to the set speed stage number SC. Speed data SP
Is less than the speed data SS, the process moves from step S35 to step S36. In step S36, the current duty ratio D is read from the data storage area 54. Each time the duty ratio D is set, the set duty ratio D is stored in the data storage area 54.

In step S37, the data storage area 5
The current duty ratio D read from 4 is the maximum duty
Ratio D_UIt is determined whether the above has been achieved. This maximum du
Tea ratio D_UIs usually “100”, but the number of speed stages S
C and the maximum duty ratio D according to the load of the motor 12, etc._U
May be changed. Duty ratio D is maximum
Tee ratio D_UIf the value is less than the predetermined
The process proceeds to step S38 to increase the duty ratio D by a predetermined increment DI.
Add and set. This newly set duty
The ratio D is stored in the data storage area 54. Note that this
The increment DI is, for example, “5”. Step S37
And the duty ratio D is the maximum duty ratio D _UJudge
Then, control goes to a step S39. In step S39
Sets the duty ratio D to the maximum duty ratio D_USet to
You.

On the other hand, in step S35, the speed data SP
If it is determined that the speed data is equal to or higher than the speed data SS, the process returns to the key input process without performing any processing. Step S38 or S3
When the process of step 9 is completed, the process returns to the key input process.

In this speed increasing process, the number of speed stages SC is increased by the time the upper switch is pressed, and the speed of the spool 10 is increased to a winding speed corresponding to the increased number of speed stages SC. When the pressing of the upper switch is stopped, the speed increasing process and the speed decreasing process are not performed until the upper switch or the lower switch is pressed again. Will be maintained.

[0052] In the torque increase process in step S25, that the maximum duty ratio TD _U are set for each torque level TC is different from the speed increasing process. That is, in the case of torque control, the maximum value of the current value applied to the motor 12, that is, the maximum duty ratio TD _U, because they are set for each torque level TC, never more torque is increased at each torque level TC . In the torque increasing process, the previously set torque stage number TC is read from the data storage area 54 in step S41 of FIG. Here, the data storage area 54 stores the value each time the number of torque stages TC increases or decreases. Further, when the power is turned on and when the motor switch PW is pressed and the motor 12 stops, the number of torque stages TC is set to “0” and stored in the data storage area 54.

In step S42, the read torque stage number TC is increased by one stage. The increased torque stage number TC at this time is displayed in the stage number display area 5e in the display process and is stored in the data storage area 54. Immediately after the motor switch PW is pressed, the number of torque stages TC increases by one and is set to “1”. Further, when the number of torque stages TC is set to “5”, there is no further increase.

In step S43, the torque data TS corresponding to the increased number of torque stages TC is read from the torque data storage area 53 and set. In step S44,
The torque data AM of the spool 10 is read from the output of the torque sensor 43.

In step S45, it is determined whether or not the read torque data AM is equal to or larger than the torque data TS corresponding to the set number of torque stages TC. When the torque data AM is less than the torque data TS, the process proceeds from step S45 to step S46. Step S46
Then, the current duty ratio D is read from the data storage area 54. Each time the duty ratio D is set, the set duty ratio D is stored in the data storage area 54.

In step S47, data storage area 5
The current duty ratio D read from 4 is the number of each torque stage
Maximum duty ratio TD set for each TC_UMore than
Is determined. Duty ratio D is maximum duty
Ratio TD_UIf it is less than, the process proceeds from step S47 to step
Proceed to S48 to increase the duty ratio D by the predetermined increment DI
And set it. This newly set duty ratio
D is stored in the data storage area 54. This increase
The minute DI is, for example, “5”. In step S47,
Duty ratio D is the maximum duty ratio TD_UJudge
Then, control goes to a step S49. In step S49,
Duty ratio D to maximum duty ratio TD _USet to
You.

On the other hand, in step S45, the torque data A
When it is determined that M is equal to or larger than the torque data TS, the process returns to the key input process without performing any processing. When the process in step S48 or S49 is completed, the process returns to the key input process.

In this torque increasing process, the number of torque stages TC is increased by the time the upper switch is pressed, and the torque of the motor 12 is increased to a torque corresponding to the increased number of torque stages TC. Further, when the pressing of the upper switch is stopped, the torque increasing process and the torque decreasing process are not performed until the upper switch or the lower switch is pressed again. Therefore, the torque stage number TC resulting from the torque increase is maintained, and the torque is maintained. Is done. As a result, the speed decreases as the load increases. However, since the film is wound with a constant torque, it is difficult to cause a sharpness or a shortage of the mouth during the winding.

In the speed reduction process of step S27, the process shown in FIG.
In step S51, the previously set speed stage number SC is read from the data storage area 54. In step S52, the read speed stage number SC is reduced by one stage. The reduced speed stage number SC at this time is displayed in the stage number display area 5e in the display processing, and the data storage area 5e is displayed.
4 is stored. When the number of speed stages SC is reduced to "1", it does not decrease any more. Step S53
Then, the speed data SS corresponding to the reduced speed stage number SC is read from the speed data storage area 52. Step S5
In step 4, the speed data SP of the spool 10 is read from the output of the spool sensor 41.

In step S55, it is determined whether or not the read speed data SP is equal to or less than the speed data SS corresponding to the set speed stage number SC. Speed data SP
When the speed exceeds the speed data SS, the process moves from step S55 to step S56. In step S56, the current duty ratio D is read from the data storage area 54.

In step S57, data storage area 5
Then, it is determined whether or not the current duty ratio D read from Step 4 is equal to or greater than the minimum duty ratio D _L. This minimum duty ratio D _L is usually “40”. Duty ratio D
Exceeds the minimum duty ratio D _L , the step S
The process proceeds from step S57 to step S58, in which the duty ratio D is reduced by a predetermined decrement DI and set. The set duty ratio D is stored in the data storage area 54.
The decrement DI is, for example, "5". In step S58, the process proceeds to step S59 when the duty ratio D is determined to less than the minimum duty ratio D _L. Step S
In 59 sets the duty ratio D to the minimum duty ratio D _L.

On the other hand, if it is determined in step S55 that the read speed data SP has become equal to or less than the speed data SS corresponding to the set speed step number SC, the process returns to the key input process without performing any processing. When the process in step S58 or S59 is completed, the process returns to the key input process.

In this deceleration process, the number of speed stages SC is reduced by the time during which the lower switch is pressed, and the winding speed of the spool 10 is reduced to a winding speed corresponding to the number of speed stages SC that has been lowered. When the pressing of the lower switch is stopped, the speed increasing process and the speed decreasing process are not performed until the upper switch or the lower switch is pressed again. Will be maintained.

[0064] In the torque reduction process in step S28, that the minimum duty ratio TD _L is set for each torque level TC is different from the speed reducing process. That is, in the case of the torque control, since the minimum value of the current value given to the motor 12, that is, the minimum duty ratio TD _L is set for each torque stage number TC, the torque falls below the torque stage number TC. There is no. In the torque reduction process, the previously set torque stage number TC is read from the data storage area 54 in step S61 of FIG. Here, the data storage area 54 stores the value each time the number of torque stages TC increases or decreases. Further, when the power is turned on and when the motor switch PW is pressed and the motor 12 stops, the number of torque stages TC is set to “0” and stored in the data storage area 54.

In step S62, the read torque stage number TC is decreased by one stage. The reduced torque stage number TC at this time is displayed in the stage number display area 5e in the display process and is stored in the data storage area 54. Immediately after the motor switch PW is pressed, the number of torque stages TC increases by one and is set to “1”. Further, when the torque stage number TC is set to “0”, there is no further decrease.

In step S63, the torque data TS corresponding to the increased number of torque stages TC is read from the torque data storage area 53 and set. In step S64,
The torque data AM of the spool 10 is read from the output of the torque sensor 43.

In step S65, it is determined whether or not the read torque data AM is equal to or smaller than the torque data TS corresponding to the set number of torque stages TC. When the torque data AM exceeds the torque data TS, the process proceeds from step S65 to step S66. Step S6
6, the current duty ratio D is stored in the data storage area 54.
Read from Each time the duty ratio D is set, the set duty ratio D
Is stored.

In step S67, data storage area 5
Current duty ratio D read out from 4 to determine whether it is less than the minimum duty ratio TD _L set for each torque number TC. When the duty ratio D exceeds the minimum duty ratio TD _L, the process proceeds from step S67 to step S68, the predetermined duty ratio D decrement D
Set by decreasing I. The newly set duty ratio D is stored in the data storage area 54. The decrement DI is, for example, "5". In step S67, the process proceeds to step S69 when the duty ratio D is determined to less than the minimum duty ratio TD _L. Step S
In 69 sets the duty ratio D to the minimum duty ratio TD _L.

On the other hand, in step S65, the torque data A
When it is determined that M is equal to or less than the torque data TS, the process returns to the key input process without performing any processing. When the process in step S68 or S69 is completed, the process returns to the key input process.

Also in this torque reduction process, the number of torque stages TC is reduced by the time the lower switch is pressed, and the torque of the motor 12 is reduced to a torque corresponding to the reduced number of torque stages TC. When the switch is stopped, the torque increase process and the torque decrease process are not performed until the upper switch or the lower switch is pressed again. Therefore, the torque stage number TC resulting from the torque decrease is maintained, and the torque is maintained. Is done. As a result, the speed increases as the load decreases. However, since the film is wound with a constant torque, it is difficult to cause a sharpness or a shortage of the mouth during the winding.

In each operation mode process in step S7, it is determined in step S71 in FIG. 11 whether or not the rotation direction of the spool 10 is the line feeding direction. This determination is made based on which reed switch of the spool sensor 41 has emitted the pulse first. When it is determined that the rotation direction of the spool 10 is the line payout direction, the process proceeds from step S71 to step S72. In step S72, every time the spool rotation speed decreases, the data stored in the storage unit 46 is read from the spool rotation speed, and the water depth (the released yarn length) LX
Is calculated. This water depth LX is displayed in the display processing of step S2. In step S73, it is determined whether or not the obtained water depth LX matches the bottom position, that is, whether or not the device has reached the bottom. The bottom position is set in the storage unit 46 by pressing the bottom memo switch SM when the device reaches the bottom. In the step S74, it is determined whether or not the mode is another mode. If the mode is not another mode, each operation mode process is ended and the process returns to the main routine.

If the water depth matches the bottom position, step S73
Then, the process proceeds to step S75, and the buzzer 44 is sounded to notify that the device has reached the bottom. In the case of another mode, the process shifts from step S74 to step S76 to execute another designated mode.

If it is determined that the rotation of the spool 10 is in the line winding direction, the process proceeds from step S71 to step S77. In step S77, the storage unit 4
The data stored in 6 is read out to calculate the water depth LX. This water depth LX is displayed in the display processing of step S2.

In step S78, it is determined whether or not the water depth LX is 10 m before the hull stop position FN, that is, whether or not the gimmick has been wound up to a position reaching the hull stop position FN 10 m later. This judgment is used to set the deceleration position RX. In other words, it is useless to set the deceleration position RX for each hoist, and it is determined that the hoist to this position will be truly hoisted to the hull.

In the step S79, it is determined whether or not the water depth LX based on the calculation result matches the deceleration position RX. In step S80, it is determined whether or not the water depth LX based on the calculation result matches the ship's edge stop position FN.

When the water depth LX coincides with the water depth of 10 m from the hull stop position FN, steps S78 to S81 are performed.
Move to In step S81, it is determined whether or not the deceleration position RX has already been set. If it is determined in step S81 that the deceleration position RX has already been set, the process proceeds to step S79. If it is determined that the deceleration position RX has not been set, the process proceeds to step S82, where the deceleration position RX is set, and the process proceeds to step S79.

This deceleration position RX is determined by the spool sensor 41
And the torque data DT based on the detection result of the torque sensor 43. That is, as shown in FIG. 12, even if the deceleration is set to be the same, the actual deceleration decreases as the load, that is, the hoisting torque decreases. For this reason, the deceleration position RX as the yarn length data (water depth) for starting the deceleration from the hull stop position FN is determined by the rotation speed and the torque. Specifically, the deceleration position RX is determined by the following equation.

RX = FN + 2 × (VA × DV−TB × DT) Here, VA is speed coefficient data, and TB is torque coefficient data. Note that (VA × DV−TB × D
The speed coefficient data VA and the torque coefficient data TB are set so that the value of T) changes, for example, between 0.5 and 1.5.

Accordingly, as shown in FIG. 12, the deceleration position RX is, as shown in FIG. 12, a deceleration position at a maximum of 3 m away from the hull stop position FN when the speed increases and the torque decreases with reference to a position 2 m before the hull stop position FN. When the speed becomes slow and the torque becomes large, the speed becomes the deceleration position RX2 which approaches the ship edge stop position FN to a minimum of 1 m. That is, the slope shown by the broken line in FIG. 12 shows the deceleration when the hoisting torque is small when the predetermined deceleration is set, and the solid line shows when the hoisting torque is large. As described above, when the load (torque) is larger than the set deceleration, the actual deceleration becomes larger, and when the load is smaller, the actual deceleration becomes smaller. Therefore, when the load is low, the deceleration becomes small, and if the load is kept as it is, the deceleration becomes overrun. When the load is high, the deceleration becomes large and the vehicle stops just before the rim stop position FN.

In order to prevent this, when the torque is small and the speed is high, the deceleration position RX is greatly changed to the depth of water deeper than the reference position, and when the torque is large and the speed is low, the deceleration position RX is changed to the depth of water shallower than the reference position. Make a big change. By setting the deceleration position RX in accordance with the speed and the torque in this manner, the deceleration position RX is farther away from the hull stop position FN even at a low load and high speed such as when collecting a device in the torque mode. A device is easily arranged at the stop position FN. If the water has not been wound up to a depth of 10 m from the hull stop position FN, step S
The process moves from step 78 to step S79.

When the water depth LX reaches the deceleration position RX, that is, when the device is wound up to the deceleration position RX, the process proceeds from step S79 to step S83. Step S83
Then, the deceleration position RX is reset. Accordingly, a new deceleration position RX is set at the next winding. In step S84, the rotation of the motor 12 is reduced at a predetermined deceleration, and the process proceeds to step S80. If it has not been wound up to the deceleration position RX, the process moves from step S79 to step S80.

When the hull stops FN are reached, step S
The process moves from step 80 to step S85. In step S85, the buzzer 4 is used to notify that the device is on the hull.
Ring 4. In step S86, the motor 12 is turned off. Thus, when a fish or fish is caught or a bait is collected and the bait is exchanged, the fish or the bait is arranged at a position where it is easy to take in. If the reel has not been wound up to the ship edge stop position FN, the process returns to the main routine.

In this electric reel, when the device is wound up to the hull, the motor 12 is decelerated by shifting the deceleration position in consideration of the torque acting on the motor 12 and the speed of the motor 12 (the rotation speed of the spool 10). Therefore, even if the load or the speed fluctuates, the device can be reliably arranged on the hull.

[Other Embodiments] (a) In the above embodiment, the deceleration position RX is set by multiplying the speed and the torque by a predetermined coefficient. The deceleration position RX may be set using a two-dimensional map table of the torque.

(B) In the above embodiment, the deceleration position is set 10 m before the hull stop position. However, any position may be used as long as the deceleration position is being wound. Further, the reference of the deceleration position is set to 2 m, but this is an example, and the reference position is not limited to 2 m.

(C) In the above embodiment, the deceleration position is changed according to the speed and the torque. However, the deceleration RA may be changed according to the speed and the torque. FIG.
Each operation mode process of the embodiment in which the deceleration is changed according to the speed and the torque is shown. In FIG. 13, steps S91 to S97 correspond to FIG.
The description is omitted because it is the same as the embodiment shown in FIG.

In step S98, it is determined whether or not the water depth LX is 10 m before the hull stop position FN, that is, whether or not the gimmick has been wound up to a position reaching the hull stop position FN 10 m later. This determination is used to set the deceleration RA.

In step S99, it is determined whether or not the water depth LX based on the calculation result matches a predetermined deceleration position RX (for example, a water depth 2 m before the ship's edge stop position). In step S100, it is determined whether or not the water depth LX based on the calculation result matches the ship edge stop position FN.

When the water depth LX coincides with the water depth of 10 m from the ship edge stop position FN, steps S98 to S10
Move to 1. In step S101, it is determined whether or not the deceleration RA has already been set. Step S101
If it is determined that the deceleration RA has already been set, the process proceeds to step S99. If it is determined that the deceleration RA has not been set, the process proceeds to step S102, the deceleration RA is set, and the process proceeds to step S99.

The deceleration RA is determined by the spool rotation speed data DV based on the detection result of the spool sensor 41 and the torque data DT based on the detection result of the torque sensor 43. That is, the actual deceleration with respect to the set deceleration changes due to a change in load. That is, when the load, that is, the hoisting torque, decreases, the actual deceleration decreases. For this reason, the deceleration RA from the deceleration position RX separated by a predetermined distance from the hull stop position FN.
Is determined by the rotation speed and the torque. Specifically, the deceleration RA is determined by the following equation.

RA = 5 × (VA × DV−TB × DT) Here, VA is speed coefficient data, and TB is torque coefficient data. Note that (VA × DV−TB × D
The speed coefficient data VA and the torque coefficient data TB are set so that the value of T) changes, for example, between 0.5 and 1.5.

As shown in FIG. 14, the deceleration RA changes according to the rotation speed and the torque when the vehicle decelerates from the deceleration position RX, for example, 2 m before the ship edge stop position FN.
That is, the inclination shown by the broken line in FIG. 14 indicates the deceleration when the hoisting torque is small and the solid line indicates the case when the same is set to the same deceleration. As described above, when the load (torque) is larger than the set deceleration, the actual deceleration becomes larger, and when the load is smaller, the actual deceleration becomes smaller. Therefore, the deceleration becomes small when the load is low, and if this state is maintained, the ship edge stop position FN is overrun.

To prevent this, the deceleration RA is increased when the torque is small and the speed is high, and the deceleration RA is reduced when the torque is large and the speed is low. By setting the deceleration RA in accordance with the speed and the torque in this manner, the deceleration becomes large even at a low load and a high speed, such as when collecting the device in the torque mode, and the device is mounted on the hull stop position FN. Is easy to place. Ship stop position FN
If it has not been wound up to a depth of 10 m, the process proceeds from step S98 to step S99.

When the water depth LX reaches the deceleration position RX, that is, when the device is wound up to the deceleration position RX, the process proceeds from step S99 to step S103. Step S1
In 03, the deceleration RA is reset. Thus, a new deceleration RA is set at the next winding. In step S104, the rotation of the motor 12 is reduced at the set deceleration RA, and the process proceeds to step S100. If it has not been wound up to the deceleration position RX, step S99
Then, control goes to a step S100.

When the hull stops FN are reached, step S
The process proceeds from step 100 to step S105. Step S1
At 05, the buzzer 44 sounds to notify that the gimmick is on the hull. In step S106, the motor 12
Turn off. Thus, when fish or fish are caught or when the device is collected and the bait is exchanged, the fish or the device is arranged at a position where it is easy to take in. If the reel has not been wound up to the ship edge stop position FN, the process returns to the main routine.

In such an electric reel, when the device is wound up to the hull, the motor 12 is decelerated by changing the deceleration in consideration of the torque acting on the motor 12 and the speed of the motor 12 (the rotation speed of the spool 10). Therefore, even if the load or the speed fluctuates, the gimmick can be reliably arranged on the hull.

[0097]

According to the present invention, the deceleration start position of the rotation of the motor is set in consideration of not only the hoisting speed but also the hoisting torque. By setting to decelerate early, and in the case of high-load low-speed hoisting, it is also easy to accurately stop the gimmick at the set stop position by setting to decelerate later with emphasis on torque as well. ,
Regardless of the load acting on the motor or the number of rotations of the motor, it is possible to arrange the device at a predetermined position, for example, at the rim of the ship when winding up.

According to another aspect of the present invention, the deceleration of the rotation of the motor is set in consideration of not only the hoisting speed but also the hoisting torque. In the case of high-load low-speed hoisting, it is easy to accurately stop the device at the set stop position by setting it to decelerate at a small deceleration in the case of high load low speed winding. That is, it is possible to arrange the device at a predetermined position, for example, at the rim of the ship, at the time of hoisting regardless of the load acting on the motor and the number of rotations of the motor.

[Brief description of the drawings]

FIG. 1 is a plan view of an electric reel employing one embodiment of the present invention.

FIG. 2 is a plan view of the periphery of a display unit of the electric reel.

FIG. 3 is a control block diagram of the electric reel.

FIG. 4 is a diagram showing stored contents of a storage unit.

FIG. 5 is a flowchart showing a main routine of the electric reel.

FIG. 6 is a flowchart showing a key input processing subroutine.

FIG. 7 is a flowchart illustrating a speed increase processing subroutine.

FIG. 8 is a flowchart illustrating a torque increase processing subroutine.

FIG. 9 is a flowchart showing a speed reduction processing subroutine.

FIG. 10 is a flowchart showing a torque reduction processing subroutine.

FIG. 11 is a flowchart showing each operation mode processing subroutine.

FIG. 12 is a graph showing a change in a deceleration position.

FIG. 13 is a flowchart corresponding to FIG. 11 of another embodiment.

FIG. 14 is a graph corresponding to FIG. 12 of another embodiment.

[Explanation of symbols]

 Reference Signs List 1 reel body 10 spool 12 motor 30 reel control unit 41 spool sensor 43 torque sensor 46 storage unit MD mode switch

Claims (8)

[Claims] 1. A motor control device for an electric reel that controls a motor that drives a spool around which a fishing line is wound, wherein: a line length detecting unit that detects a line length released from the spool; and a torque that acts on the motor. , A rotation speed detection unit for detecting the rotation speed of the spool, and a deceleration yarn length for reducing the rotation of the motor based on the detection results of the torque detection unit and the rotation speed detection unit during winding. Deceleration thread length setting means for setting a stop thread length shorter than the deceleration thread length for stopping rotation of the motor during winding, and a detection result of the thread length detecting means during winding. When the speed reaches the set deceleration yarn length, the rotation of the motor is decelerated, and the stop yarn on which the detection result of the yarn length detection means is set. In the motor controller of the electric reel, comprising: a first motor control means, the stopping the rotation of the motor. 2. The deceleration yarn length setting means sets the deceleration yarn length by multiplying a torque detected by the torque detection means and a rotation speed detected by the rotation speed detection means by respective predetermined coefficients. The motor control device for an electric reel according to claim 1. 3. A motor control device for an electric reel for controlling a motor for driving a spool around which a fishing line is wound, comprising: a line length detecting means for detecting a line length released from the spool; and a torque acting on the motor. Torque detecting means for detecting the rotational speed of the spool, and a deceleration for reducing the rotation of the motor based on the detection results of the torque detecting means and the rotational speed detecting means during winding. Deceleration setting means for setting; stopping thread length setting means for setting a stopping thread length for stopping rotation of the motor at the time of winding; and stopping thread length at which a detection result of the thread length detecting means is set at the time of winding. When a longer predetermined deceleration yarn length is reached, the rotation of the motor is reduced at the set deceleration,
A motor control device for an electric reel, comprising: first motor control means for stopping the rotation of the motor when the detection result of the yarn length detection means reaches the set stop yarn length. 4. The deceleration setting means sets the deceleration by multiplying a torque detected by the torque detection means and a rotation speed detected by the rotation speed detection means by respective predetermined coefficients. 4. The motor control device for an electric reel according to claim 3. 5. The stopping thread length setting means, when the detection result of the thread length detecting means is less than a predetermined thread length and the rotation speed detecting means determines that the rotation of the spool is stopped for a predetermined time or more. The motor control device for an electric reel according to any one of claims 1 to 4, wherein the yarn length at that time is set to the stop yarn length. 6. A torque setting means for setting a torque acting on the motor in a plurality of stages, and controlling the motor so as to maintain the set torque based on a detection result of the torque detection means. The motor control device for an electric reel according to any one of claims 1 to 5, further comprising two motor control means. 7. The torque setting means sets an allowable current value for each of the stages, the torque detection means detects the hoisting torque based on a current value supplied to the motor, and controls the second motor control. The dual-bearing reel according to claim 6, wherein the means controls a current supplied to the motor so as not to exceed the allowable current value set for each step. 8. A third motor for controlling the motor so as to maintain the set speed based on a detection result of the rotation speed detecting means, the speed setting means for setting the rotation speed in a plurality of stages. 8. The electric motor according to claim 7, further comprising: control means; and control selection means for selectively selecting constant torque control by the second motor control means and constant speed control by the third motor control means. 9. Reel motor control device.