JP2010081905A - Automatic fishing system, and setter therefor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automatic fishing system wherein all the respective processings necessary for fishing are automated to thereby more efficiently perform fishing work or fishery work than conventional technologies, and easily afford fishing results even by a fishing beginner. <P>SOLUTION: The automatic fishing system includes: an electric reel 12; a flexing level sensor 2 mounted on a fishing rod for detecting the flexing level of the fishing rod; a setter 46 for setting various fishing conditions; a reel rotation detector 38 for detecting the drive level of the electric reel 12; and a controller 30 for performing a series of sequences of a fishhook moving processing, bite monitoring processing, striking processing, and catch processing, based on the detection output from the flexing level sensor 2, detection output from the reel rotation detector 38, and the various fishing conditions set by the setter 46. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an automatic fishing system that can automatically fish fish, and a setting device thereof.

  In order to enable even beginners of fishing to easily raise the fishing results, in the prior art, an acceleration sensor is provided on the fishing rod to detect the vibration of the fishing line, and the detection output of this acceleration sensor exceeds a preset threshold value. A device has been proposed in which it is determined that there has been atari (fish trust) and informed the outside (see, for example, Patent Document 1).

In another conventional technique, a reflection mirror is attached to the tip of the fishing rod, while an optical sensor is provided on the electric reel side, and when the fishing rod moves up and down and the reflected light from the reflection mirror is detected by the optical sensor, an attrition is generated. An apparatus has been proposed in which an electric reel is activated and a fishing line is wound up by judging that it is present (see, for example, Patent Document 2).
Japanese Patent Laid-Open No. 10-4835 JP 2006-262737 A

  However, none of the prior arts of Patent Documents 1 and 2 described above are fully automated fishing (once automatic fishing is started, it is fully automated until a fishing hook is hooked on a fish and fished up). It is difficult to raise.

  That is, the devices described in Patent Documents 1 and 2 can detect the presence or absence of atari, but do not perform until the fishing line is slightly raised immediately after the atari detection. For this reason, it is inefficient to actually let the fish eat the bait (hang the fishhook), and whether the fish actually bites into the bait (hangs the fishhook) It cannot be judged until. Furthermore, even if automatic fishing is started, fishing cannot be performed automatically until the fish is reliably caught.

  For this reason, in the former device disclosed in Patent Document 1, it is necessary for the angler to wake-up when a hit is detected. Also, in the latter device described in Patent Document 2, when there is atari, the fishing line is uniformly wound up to the surface of the water, so if there is simply atari and the fish is not actually hooked, For example, when a fishing rod bent due to the influence of a disturbance such as a ship swaying is erroneously determined to be attrition, there is a disadvantage that the fishing line is wound up to the surface of the water.

  Further, when a device described in Patent Document 2, for example, is used for boat fishing that is always affected by disturbance, or for salmon fishing that is temporarily affected by disturbance, for example, the device described in Patent Document 2 has a certain degree of fishing rod deflection. Because there is a problem of misrecognizing that the bending of the fishing rod due to the influence of the disturbance is misleading, the problem of misreporting that there was no atariation due to this problem or the fishing line Inconvenience such as rolling up to the surface of the water occurs.

  Due to this inconvenience, the device described in Patent Document 2 is a device that uniformly winds the fishing line up to the water surface when there is a hit, so even if the fish is not hooked, the fishing line is wound up and the angler cannot catch There is a problem of wasting time, for example, confirming that, and further unwinding the fishhook to the original depth. This problem becomes a significant problem particularly in deep sea fishing, for example, in which fishing is performed in a deep sea of 1000 m or more.

  In addition, when the device described in Patent Document 2 is used by changing to a fishing rod having various properties such as a fishing rod that is soft and well bent, or a fishing rod that is hard and does not flex very much, It is necessary to reset the threshold value for determining the presence or absence.

  Further, in the apparatus described in Patent Document 2, for example, in the prior art, the fishing line is pulled out to the electric reel in order to prevent the fishing line from being pulled out due to a large attack or the shaking of the ship while the electric reel is stopped, such as during atari monitoring. It is necessary to provide a device such as an electronic clutch for preventing this.

  Prior art reels and electric reels apply a certain load to move the fishhook to the bottom while sending the fastest speed while preventing backlash from occurring due to slack of the thread and the mechanism being swept away by the tide. The fishing line is sent out by the weight of the weight. Therefore, the angler needs to adjust a certain load that matches the weight of the weight, tidal current, viscous resistance of the device, and the like. Even when the optimum load is adjusted, the fishing rod always moves up and down due to shaking of the ship, etc., and the fishing rod always stretches and bends. There is a problem that it is impossible to always apply the load to the fishing line, and due to this problem, there is a problem that the fishing line cannot be sent out while continuously applying the optimum load.

  Also, when driving the electric reel to feed the fishing line to the preset target depth, if the bottom is shallower than the preset target depth, the fishing line will continue to be sent out and the fishing line will loosen even if it reaches the bottom There is a problem that back crash occurs, and further, when the fishing line is cut while the electric reel is driven and the fishing line is sent out, for example, when the fishing line is bitten by a sago with sharp teeth, it is detected that the line has been cut. However, there is a problem that the fishing line is slackened by continuing to feed and drive the fishing line and backlash occurs.

  In addition, when the electric reel is driven to wind up according to the prior art, there are a plurality of thresholds according to the deflection of the fishing rod, and control is performed to vary the winding speed based on the plurality of thresholds and the deflection amount of the fishing rod. There is a problem, however, when the driving speed of winding is increased, the fishing rod becomes bent due to the viscous resistance of the device, and there is a problem of slowing down the control by varying the winding speed by the amount of this bending. That is, every time the angler adjusts the hoisting speed, it is necessary to adjust all of the multiple thresholds and the hoisting speed according to the amount of deflection of the fishing rod in a balanced manner, and the angler cannot easily adjust the hoisting speed. there were.

  In addition, for example, fish species such as squid are surprised when the device is shaken harder than necessary because the ship shakes vigorously and the tip of the tip moves vigorously up and down while monitoring atari. There is a problem of running away.

Also, in general, many types of fish, such as cucumbers, pheasant groupers, gasillas, and sea breams, prefer undulating seabeds (fishing reefs), and fishing boats often aim for fish on undulating reefs. When fishing with a fishing boat that does not lower anchors on the reef, the fishing boat is swept away by the tide and the water depth always changes. Even a fishing boat that lowers the anchor to the seabed rotates with the anchor as a fulcrum by the flow of wind and tide. That is, the depth of the bottom changes constantly. In order to obtain fishing results efficiently, it is necessary to keep the fishhook at a depth that is a distance from the seabed according to the target fish from the seabed where the water depth changes.
When such bottom fishing is performed using the device described in Patent Document 2, for example, it is necessary to manually send the fishhook to the bottom once, and even if the fishhook is automatically sent to that depth from the next time, The depth is not limited to the distance from the seafloor depending on the fish you want to aim for.If the water depth becomes deeper, the fish hook will move away from the bottom and efficient fishing will not be possible, or if the water depth becomes shallower, the fishing line will be on the bottom. There is a problem that the roots are loosened.

  In addition, the depth of water changes during the monitoring of fish shin, so that the depth of the water becomes deeper and the needle moves away from the bottom, making it impossible to fish efficiently. There is a problem that roots are generated.

  In addition, when an angler detects atari in fishing, the fisherman's preference for the result of considering various things such as the size of the target fish species, the hardness of the mouth of the target fish species, and prevention of getting caught by the roots However, when the apparatus described in Patent Document 2, for example, is used, it is not possible to automatically perform the wake-up operation with the preferred force or the preferred amount.

  In addition, the depth of tana, the fish swimming layer, changes due to various factors such as the depth of the appropriate water temperature, the depth of gathering of food due to the tidal conditions, the depth of absence of natural enemies, etc. The depth of the fishhook is changed, and this tana is searched with the frequency of occurrence of clams. For example, when the device described in Patent Document 2 is used, if the depth at which the atari is monitored is not the depth of the tana, or if the depth of the tana has changed and deviated, the number of fishing results can be increased automatically and efficiently. Absent.

  Also, if fish are low in activity, they will not try to eat even if there is food in front of them. For example, when the apparatus described in Patent Document 2 is used, such shackles are not performed, so that the fishing results cannot be increased automatically and efficiently.

  In addition, the fresh bait can appeal to the fish and can invite the fish. However, when the device described in Patent Document 2 is used, the water surface is uniformly spread only when there is atari. Because it is a device that winds up fishing lines, it cannot automatically change bait when there is no attack. Therefore, it is necessary to manage the time during which the angler is using the bait and manually perform the bait changing operation, which consumes much effort of the angler.

  The present invention has been made in view of the above-mentioned problems, and by automating all the various processes such as fishing hook movement, atari monitoring, wrought, and crisp determination that are actually required when fishing or fishing, fishing is performed. Even fishing beginners can easily and reliably raise their fishing results, and can perform fishing and fishing work more efficiently than before, reducing their labor and preventing wasted time. It is an object of the present invention to provide an automatic fishing system that can prevent a malfunction even at a fishing ground that is always affected by disturbances such as a ship by various processes of the above, and can support fishing and fishing with full reliability and high accuracy.

To achieve the above objective,
An electric reel 12 for feeding and winding the fishing line;
A deflection amount detection sensor 2 attached to the fishing rod 1 to detect the deflection amount of the fishing rod 1;
A setter 46 for setting various fishing conditions;
A reel rotation detector 38 for detecting the driving amount of the electric reel 12;
Based on the detection output of the deflection amount detection sensor 2, the detection output of the reel rotation detector 38 of the electric reel 12, and various fishing conditions set by the setting device 46,
A fishing hook moving process for controlling the driving amount of the electric reel 12 to move the fishing hook to a predetermined depth;
The fish trust monitoring process, which monitors the presence of fish trust until there is fish trust
Awase treatment for winding a certain amount of fishing line,
And the process of determining whether a fishhook is hung on a fish,
The automatic fishing system characterized by including the controller 30 which performs a series of these.

To achieve the above objective,
An electric reel 12 for feeding and winding the fishing line;
A deflection amount detection sensor 2 attached to the fishing rod 1 to detect the deflection amount of the fishing rod 1;
A setter 46 for setting various fishing conditions;
A reel rotation detector 38 for detecting the driving amount of the electric reel 12;
Based on the detection output of the deflection amount detection sensor 2, the detection output of the reel rotation detector 38 of the electric reel 12, and various fishing conditions set by the setting device 46,
The fish trust monitoring process, which monitors the presence of fish trust until there is fish trust
The automatic fishing system characterized by including the controller 30 which performs.

To achieve the above objective,
An electric reel 12 for feeding and winding the fishing line;
A deflection amount detection sensor 2 attached to the fishing rod 1 to detect the deflection amount of the fishing rod 1;
A setter 46 for setting various fishing conditions;
A reel rotation detector 38 for detecting the driving amount of the electric reel 12;
Based on the detection output of the deflection amount detection sensor 2, the detection output of the reel rotation detector 38 of the electric reel 12, and various fishing conditions set by the setting device 46,
Awase treatment for winding a certain amount of fishing line,
The automatic fishing system characterized by including the controller 30 which performs.

To achieve the above objective,
An electric reel 12 for feeding and winding the fishing line;
A deflection amount detection sensor 2 attached to the fishing rod 1 to detect the deflection amount of the fishing rod 1;
A setter 46 for setting various fishing conditions;
A reel rotation detector 38 for detecting the driving amount of the electric reel 12;
Based on the detection output of the deflection amount detection sensor 2, the detection output of the reel rotation detector 38 of the electric reel 12, and various fishing conditions set by the setting device 46,
And the process of determining whether a fishhook is hung on a fish,
The automatic fishing system characterized by including the controller 30 which performs.

  In the automatic fishing system according to claim 5 of the present invention, after the wake processing is executed and a fishing line is wound up by a certain amount with the electric reel 12, the kari processing is executed to determine whether or not there is fish trust. It is characterized by having a controller 30 for performing the above.

  In the automatic fishing system according to claim 6 of the present invention, when it is determined that the fish hook has not been hung on the fish, the fishing hook moving process, A sequence of the monitoring process, the awase process, and the cracking process is executed, or the process returns to the fish monitoring process, and the sequence of the fish trust monitoring process, the wiping process, and the cracking process is executed. It is characterized by including a controller 30 that can perform at least one of the following.

In the setting device according to claim 7 of the present invention, the amount of bending is set when the amount of bending in a state where the fishing rod 1 is bent in a neutral state with a load such as a weight is set as the amount of neutral bending. The detection output of the detection sensor 2 was sampled for a certain time (for example, 100 ms for 4 seconds),
Median,
Average value,
It is characterized in that at least one of them can be set as the neutral deflection amount.

The setting device according to claim 8 of the present invention has a fish faith determination pattern of [0] to [29],
[0] When the amount of flexure is equal to or greater than the flexure amount threshold, it is determined that there is fish faith.
[1] When the neutral deflection amount difference is equal to or greater than the neutral deflection amount difference threshold value, it is determined that there is fish faith.
[2] When the bending speed is equal to or higher than the bending speed threshold value, it is determined that there is a fish trust.
[3] When the bending width is equal to or larger than the bending width threshold, it is determined that there is a fish trust.
[4] When the bending acceleration is equal to or greater than the bending acceleration threshold, it is determined that there is fish faith.
[5] A bend amount equal to or greater than a bend amount threshold value is continued for a fixed time for a predetermined time, so that it is determined that there is fish faith.
[6] A neutral deflection amount difference equal to or greater than a neutral deflection amount difference threshold value continues for a fixed time for a certain period of time, thereby determining that there is a fish trust.
[7] A bend speed equal to or greater than the bend speed threshold value continues for a fixed time, and it is determined that there is a fish trust.
[8] When the amount of bending in the specified bending direction is equal to or greater than the bending amount threshold, it is determined that there is a fish trust.
[9] When the neutral bending amount difference in the specified bending direction is equal to or greater than the neutral bending amount difference threshold value, it is determined that there is fish trust.
[10] When the bending speed in the specified bending direction is equal to or higher than the bending speed threshold, it is determined that there is fish trust.
[11] When the bending acceleration in the specified bending direction is equal to or greater than the bending acceleration threshold value, it is determined that there is fish trust.
[12] The bend amount in the specified bend direction is equal to or greater than the bend amount threshold value and continues for a fixed time, so that it is determined that there is fish trust.
[13] When the neutral bending amount difference in the specified bending direction is equal to or greater than the neutral bending amount difference threshold value and continues for a fixed time, it is determined that there is fish faith.
[14] When the bending speed in the specified bending direction is equal to or higher than the bending speed threshold and continues for a fixed time, it is determined that there is fish trust.
[15] Within a certain number of times of appearance monitoring, when the amount of change is greater than or equal to the bend amount threshold and the number of changes becomes the appearance number threshold, it is determined that there is fish trust.
[16] When the number of changes in the neutral deflection amount difference is equal to or greater than the neutral deflection amount difference threshold value within the fixed number of times of appearance monitoring time, it is determined that there is a fish trust.
[17] When the number of times of change becomes the threshold value for the number of appearances within a certain period of time, the number of times that the bending speed has changed to be greater than or equal to the threshold value of the bending speed is determined.
[18] When the number of changes within the fixed number of times of monitoring the number of appearances exceeds the bend width threshold and the number of times of change becomes the number of appearances threshold, it is determined that there is fish trust.
[19] It is determined that there is a fish trust when the number of times of change is equal to or greater than the deflection acceleration threshold value within the fixed number of times of appearance monitoring time, and the number of changes becomes the appearance frequency threshold value.
[20] In the state in which the amount of flexion is equal to or greater than the threshold value of the flexure amount and continues for a fixed time within the fixed amount of time within the monitoring time for the appearance count for a fixed time, there is a fish trust because the number of changes becomes the appearance count threshold value. To be judged.
[21] In the state where the neutral deflection amount difference is equal to or greater than the neutral deflection amount difference threshold value and continues for a fixed time for a predetermined time within the constant number of times of appearance monitoring time, It is judged that there is fish faith.
[22] In the state where the flexing speed is equal to or higher than the flexing speed threshold and continues for a fixed time within the constant number of times of appearance monitoring time, there is a fish trust because the number of times of change becomes the appearance frequency threshold. To be judged.
[23] The amount of change in the specified bending direction is greater than or equal to the bending amount threshold value within the fixed number of times of appearance monitoring time, and the number of changes becomes the appearance number threshold value.
[24] When the number of changes in the specified bending direction is equal to or greater than the neutral deflection amount difference threshold and the number of changes becomes the appearance frequency threshold within the fixed number of times of appearance monitoring time, Let them be determined.
[25] It is determined that there is a fish trust when the number of changes in the bending speed in the specified bending direction is equal to or higher than the bending speed threshold value within the monitoring time for the appearance number for a certain period of time. Let
[26] It is determined that there is a fish trust when the number of changes in the bending acceleration in the specified bending direction is greater than or equal to the bending acceleration threshold value within the fixed number of times of appearance monitoring time. Let
[27] The number of times of change in a state where the amount of bending in the specified bending direction is greater than or equal to the bending amount threshold and continues for a fixed period of time within the fixed number of times of appearance monitoring time becomes the appearance number threshold. Therefore, it is determined that there is a fish trust.
[28] The number of times the number of changes has appeared in a state where the neutral deflection amount difference in the specified flexing direction is equal to or greater than the neutral deflection amount difference threshold value and continues for a fixed time within a certain time within the monitoring time of the appearance count for a certain time. By reaching the threshold value, it is determined that there is fish faith.
[29] The number of times of change becomes the appearance number threshold value in a state in which the bending speed equal to or higher than the bending speed threshold value in the specified bending direction continues for the fixed time of the predetermined time within the monitoring time of the appearance number of the fixed time. As a result, it is determined that there is fish faith.
It is characterized in that at least one of them can be set and registered.

A setting device according to claim 9 of the present invention includes:
It is characterized in that two or more of the 30 kinds of [0] to [29] fish trust judgment patterns can be set and registered.

A setting device according to claim 10 of the present invention includes:
Confirmation time,
Appearance count monitoring time and the appearance count threshold,
Bending direction,
It is characterized in that at least one of the fish faith determination patterns using can be set and registered.

A setting device according to claim 11 of the present invention is
The deflection width threshold,
The bending speed threshold, the bending acceleration threshold, the appearance frequency monitoring time, and the appearance frequency threshold,
The confirmation time,
It is characterized in that at least one of the fish faith judgment patterns using the bending direction can be set and registered.

A setting device according to claim 12 of the present invention is:
The deflection width threshold,
It is characterized by being able to set and register at least one of the fish faith judgment patterns using the bending speed threshold and the bending acceleration threshold.

A setting device according to claim 13 of the present invention is
The neutral deflection difference threshold,
It is characterized in that the fish trust judgment pattern using can be registered.

The setting device according to claim 14 of the present invention is:
The neutral deflection difference threshold,
The deflection width threshold,
The deflection rate threshold,
The deflection acceleration threshold,
It is characterized in that it is possible to set and register at least one of the fish-trust determination patterns using and the bending coefficient.

A setting device according to claim 15 of the present invention includes:
When setting and registering, the same type (for example, [20] fish trust judgment pattern) of the fish trust judgment pattern can be duplicated and registered.

  The automatic fishing system according to claim 16 of the present invention is characterized by including a communication device 41 capable of receiving and setting a set value instead of the setter 46.

An automatic fishing system according to claim 17 of the present invention includes:
It was determined that there was no fish faith for a certain time in the fish faith judgment,
The number of times that the fish trust determination is determined to be absent and the fish trust determination is repeated is a certain number of times,
When at least one of the above is detected, a controller 30 is provided that makes it be determined that there is a false fish faith.

A setting device according to claim 18 of the present invention includes:
For example, [12] of the fish faith determination pattern,
In the bending direction, the “extending direction”
For example, 4 seconds
A constant amount of bending between the initial value and the amount of neutral bending is set as the amount of bending threshold.
It is characterized by being able to register settings.

A setting device according to claim 19 of the present invention includes:
It is characterized in that it can be set and registered by adding a fish type or the like to each of the plurality of fish confidence judgment patterns set in advance.

A setting device according to claim 20 of the present invention includes:
It is characterized in that it can be set and registered with a priority added to each of the plurality of fish trust judgment patterns set and registered in advance.

  The automatic fishing system according to claim 21 of the present invention determines whether or not there is a fish belief in the fish belief determination, and when it is determined that there is a fish beet, the Detection of the detection of the GPS 45, the depth of the fishhook determined to have a fishfish by the fishfish judgment as an event in the fishing history allocated to the memory 36 (for example, EEPROM) storing the event. A controller 30 for registering output position coordinates and the like is provided.

  According to a twenty-second aspect of the present invention, there is provided a setting device for at least one of the amount of the wase and the speed of the awase speed of the wake operation for winding and driving the electric reel 12 at a constant amount (wase speed) at a constant speed (wase speed). It can be set.

  A setting device according to a twenty-third aspect of the present invention is characterized in that it can set and register a plurality of the amount of the horseradish, the speed of the horsetail, the fish species, and the like.

An automatic fishing system according to claim 24 of the present invention provides:
In the determination of whether or not there is a fish news in the fish news judgment, when it is judged that there is a fish news, after driving the fishing line by a certain amount with the electric reel 12,
Repetitively determining for a certain period of time whether or not there is a fish trust (the fish trust determination),
Determining whether or not there is a fish trust in the crack determination (the fish trust determination) over a certain period of time;
It is determined whether or not there is a fish trust by repeating the power determination (the fish trust determination) a certain number of times.
It is characterized by including a controller 30 that performs (executes) at least one of the following.

  The automatic fishing system according to claim 25 of the present invention determines whether or not a fishhook has been hung on the fish in the cauli process, and when it is determined that a fishhook has hung on the fish, The fishing history assigned to a memory 36 (for example, EEPROM) that stores various events is regarded as an event that a fishhook has been applied to the fish. It is characterized by including a controller 30 for registering the position coordinates and the like of the detection output.

  The setting device according to claim 26 of the present invention is capable of setting a bottom detection bending amount that is a constant bending amount between the initial value state where the fishing rod 1 is extended and a neutral bending amount. It is characterized by having.

  The setting device according to claim 27 of the present invention is characterized in that a hoisting bend amount that is a constant bend amount between a neutral bend amount and a limit bend amount of the fishing rod 1 can be set.

  The automatic fishing system according to a twenty-eighth aspect of the present invention includes a controller 30 that keeps applying an electric brake or the like to a motor driver 39 or the like for driving the motor 42 of the electric reel 12 while the electric reel 12 is stopped. It is characterized by being prepared.

  The setting device according to claim 29 of the present invention is a mid-level fishing (bottom fishing setting off) for fishing at a depth based on the water surface, and a bottom fishing (bottom fishing setting on) for fishing at a depth based on the bottom. It is characterized by being able to set bottom fishing.

  An automatic fishing system according to a thirty-third aspect of the present invention uses the detected bottom bending amount (a constant bending amount between the initial value and the neutral bending amount) as the target servo bending amount. The controller 30 is configured to execute the servo deflection amount control for adjusting the deflection amount of the fishing rod 1 by controlling the driving direction and the driving speed of the electric reel 12 to the target servo deflection amount.

  An automatic fishing system according to a thirty-first aspect of the present invention uses the amount of hoisting bend (a constant amount of bend between the neutral bend amount and the limit bend amount) as the target servo bend amount. It is characterized by having a controller 30 for executing the servo deflection control for adjusting the deflection amount of the fishing rod 1 by controlling the driving direction and driving speed of the electric reel 12 to the target servo deflection amount.

  An automatic fishing system according to a thirty-second aspect of the present invention uses the neutral deflection amount as the target servo deflection amount, and controls the driving direction and the driving speed of the electric reel 12 to the target servo deflection amount. It is characterized by comprising a controller 30 that executes the servo deflection amount control to match the one deflection amount.

  A setting device according to a thirty-third aspect of the present invention is characterized in that the target servo deflection amount can be set.

  The setting device according to claim 34 of the present invention is characterized in that the servo deflection amount coefficient can be set.

The automatic fishing system according to claim 35 of the present invention uses the detected bottom bending amount (a constant bending amount between the initial value and the neutral bending amount) as the target servo bending amount. During the servo deflection amount control for adjusting the deflection amount of the fishing rod 1 by controlling the driving direction and the driving speed of the electric reel 12 to the target servo deflection amount,
That the electric reel 12 has stopped for a certain time (for example, 4 seconds);
The depth of the current depth variable has not changed for a certain period of time (eg 4 seconds),
The depth of the hook remains at a certain range of depth for a certain period of time (for example, the depth of the current depth variable remains within a range of 0.5 m, for example, for 4 seconds),
It is characterized by comprising a controller 30 for determining that it has reached the bottom by detecting at least one of them.

An automatic fishing system according to a thirty-sixth aspect of the present invention includes a bottom detection bending amount (a constant bending amount between the initial value and the neutral bending amount),
Alternatively, the amount of winding bend (a certain amount of bend between the neutral bend amount and the limit bend amount) is set as the target servo bend amount, and the drive direction of the electric reel 12 is set to the target servo bend amount. During the servo deflection amount control for adjusting the deflection amount of the fishing rod 1 by controlling the driving speed,
It is characterized by comprising a controller 30 that monitors that the depth of the current depth variable indicating the current depth of the fishhook and the depth of the moving target match, and stops the electric reel when they match.

  The automatic fishing system according to claim 37 of the present invention uses the bottom detected deflection amount (a constant deflection amount between the initial value and the neutral deflection amount) as the target servo deflection amount. During the servo deflection control, the deflection amount of the fishing rod 1 is constant for a certain period of time during the servo deflection amount control in which the driving direction and the driving speed of the electric reel 12 are controlled to match the target servo deflection amount. It is monitored that the state where the amount of bending of the fishing rod 1 is less than the detected amount of bending of the bottom (the fishing rod 1 is extended from the detected amount of bending of the bottom) continues. It is characterized by including a controller 30 that stops the electric reel 12 by detecting that the state below the detected bending amount has continued.

The automatic fishing system according to claim 38 of the present invention uses the amount of hoisting bend (a constant amount of bend between the neutral bend amount and the limit bend amount) as the target servo bend amount. During the servo deflection amount control for adjusting the deflection amount of the fishing rod 1 by controlling the driving direction and the driving speed of the electric reel 12 to the target servo deflection amount,
That the electric reel 12 has stopped for a certain time (for example, 4 seconds);
The depth of the current depth variable has not changed for a certain period of time (eg 4 seconds),
The depth of the hook remains at a certain range of depth for a certain period of time (for example, the depth of the current depth variable remains within a range of 0.5 m, for example, for 4 seconds),
It is characterized by including a controller 30 that determines that the root reel is detected by detecting at least one of them and stops the electric reel 12.

  In an automatic fishing system according to a thirty-ninth aspect of the present invention, the neutral deflection amount or the winding deflection amount (a constant deflection amount between the neutral deflection amount and the limit deflection amount) is set to the target servo deflection. A certain amount of fishing line is sent out during the servo deflection control, which adjusts the deflection direction of the fishing rod 1 by controlling the driving direction and the driving speed of the electric reel 12 to the target servo deflection amount. And a controller 30 for monitoring that the fishing line has been fed out at a predetermined speed or more.

In the automatic fishing system according to claim 40 of the present invention, while the electric reel 12 is being fed out,
The electric reel is stopped by extending the fishing rod 1 from a certain amount of deflection for a certain period of time.
The electric reel is decelerated when the fishing rod 1 extends from a certain amount of deflection for a certain period of time.
The electric reel is gradually decelerated as the fishing rod 1 extends from a certain amount of deflection for a certain period of time.
And a controller 30 for monitoring that “the fishing rod 1 is extended from a certain amount of deflection for a certain period of time”.

  According to a 41st aspect of the present invention, there is provided an automatic fishing system according to claim 41, wherein the electric reel 12 is stopped or sent out at least when the electric reel 12 is bent by a certain relatively large deflection amount during the winding drive of the electric reel 12. It is characterized by having a controller 30 that performs one.

  The automatic fishing system according to claim 42 of the present invention performs the fish faith determination for determining whether or not there is fish fish, and it is not determined that there is fish fish for a certain time, or when a certain time has passed. It is characterized by including a controller 30 that executes a tip stabilization wait process for determining that the tip is stable.

  The automatic fishing system according to claim 43 of the present invention is characterized by including a controller 30 that monitors that the tip is not determined to be stable for a certain period of time in the tip stability waiting process.

The automatic fishing system according to claim 44 of the present invention is calculated from the disturbance amount of the detection output of the disturbance sample 37 monitored by the controller 30,
Disturbance width that is the fluctuation width of the amount of disturbance during a certain time,
Disturbance change speed, which is the amount of change in the amount of disturbance for a certain time
Disturbance acceleration, which is acceleration calculated from the amount of disturbance during a certain period of time,
A preset disturbance width threshold,
Disturbance change rate threshold,
Based on the disturbance change rate threshold,
The disturbance width, which is the fluctuation amount of the disturbance amount during a certain period of time, has exceeded the disturbance width threshold,
The disturbance change rate, which is the amount of change in the disturbance amount over a certain period of time, exceeds the disturbance change rate threshold,
The disturbance acceleration, which is the acceleration calculated from the amount of disturbance during a certain period of time, has exceeded the disturbance acceleration threshold,
It is characterized by including a controller 30 that performs at least one of the determinations.

In the automatic fishing system according to claim 45 of the present invention, when harmful disturbance is detected, harmful disturbance elimination processing,
Waiting for the fish trust judgment until there is no harmful disturbance,
Canceling the judgment result of the fish trust judgment affected by harmful disturbance,
Waiting for the determination to disappear until there is no harmful disturbance,
Canceling the result of the Kakali that has been affected by harmful disturbances;
Setting an invalid value for the amount of bending;
Disabling the detection of the bending amount detection sensor;
A controller 30 that performs at least one of the above is provided.

  In the automatic fishing system according to claim 46 of the present invention, when it is determined that the fishing rod 1 has been extended more than a certain amount of deflection during a certain period of time (for example, 4 seconds) during the monitoring of the fish letter, It is characterized by including and executing a controller 30 that shifts to the fishhook movement process (predetermined depth: fish-line monitoring depth).

  In the automatic fishing system according to claim 47 of the present invention, when it is not determined that there is a fishfish in the fishfish determination for a certain period of time (re-bottoming timer, for example, 30 seconds), the fishing hook moving process (predetermined depth) is performed. The controller 30 is shifted to (Sasa: Supervision depth) and is executed.

  In the automatic fishing system according to claim 48 of the present invention, when it is not determined that there is fish for a certain time (tana search waiting time) in the fish faith determination, fish fish moved by a certain distance (search amount). The monitoring depth is set as a new fish faith monitoring depth, and the controller 30 is configured to execute the process of moving the fishhook (predetermined depth: fish fish surveillance depth).

  A setting device according to a 49th aspect of the present invention is characterized in that a tana search waiting time and a search amount can be set.

  A setting device according to claim 50 of the present invention is characterized in that a search reference depth and a search range can be set.

  In the automatic fishing system according to claim 51 of the present invention, when it is not determined that there is a fish news in a certain time (fish knowledge detection timer) in the fish knowledge determination, the fish fishing information inquired to the fish finder every certain time is determined. The depth is set as a new fish faith monitoring depth, and the controller 30 is configured to execute the process of moving the fishhook (predetermined depth: fish fish surveillance depth).

  In the automatic fishing system according to claim 52 of the present invention, when a horizontal transmission is received by the communication device 41 from another automatic fishing system in the vicinity, the horizontal depth is set as a new fish faith monitoring depth. The controller 30 is configured to execute the process of moving the fishhook (predetermined depth: fish faith monitoring depth).

  The automatic fishing system according to claim 53 of the present invention is characterized in that it is provided with a controller 30 that performs a shackle operation when it is not determined that there is a fish snail for a certain period of time (shark timer). Yes.

  The automatic fishing system according to claim 54 of the present invention includes a bait change timer set in response to the start of automatic fishing, and includes a controller 30 that moves the fishhook to the water surface when the bait change timer expires. It is characterized by that.

  The automatic fishing system of the present invention sets an electric reel 12 that feeds and winds a fishing line, a deflection amount detection sensor 2 that is attached to the fishing rod 1 and detects the deflection amount of the fishing rod 1, and sets various fishing conditions. Setting device 46, reel rotation detector 38 for detecting the driving amount of electric reel 12, detection output of deflection amount detection sensor 2, detection output of reel rotation detector 38 for electric reel 12, and setting device 46 Based on the various fishing conditions, the fish of the processing which controls the amount of driving of the electric reel 12 and moves the fishhook to a predetermined depth, and the process of monitoring the presence of the fishfish until there is fishfish A controller that executes a series of sequence of a watch monitoring process, an awase process for winding a fishing line by a certain amount, and a process for determining whether or not a fishhook has been hung on a fish It is equipped with a 0.

  The automatic fishing control executed by the controller 30 will be described with reference to the flowchart of FIG. In addition, the code | symbol S in description of each flowchart below means each process step.

  The automatic fishing control of the series of sequences executed by the controller 30 shown in the flowchart of FIG. 1 is started, for example, when the angler presses, for example, an automatic fishing start button of the operating device 32, and when started, the controller 30 The movement of the fishing hook is controlled in S2101 to move the fishhook to a predetermined depth (fishfish monitoring depth) by controlling the driving amount of the electric reel 12, and then the presence or absence of fishfish is monitored until the fishfish is present. S2102 fish bean monitoring process is executed, and when the fish bean monitoring process is detected in S2102, S2103 awase process of winding a certain amount of fishing line is executed. When the S2104 click process of determining whether or not a fishhook has been applied is executed, and it is determined that a fishhook has been applied to the fish in this S2104 click process, the electric reel Fishhook a predetermined depth by controlling the second driving amount to perform the process of moving the S2105 hook processing of moving up (water depth), a control to execute these series of sequences.

  If it is determined that no fishhook has been applied to the fish in S2104, the process returns to S2101 to move the fishhook again. The fishhook movement process in S2101, the S2102 fish bean monitoring process, the S2103 wakese process, the S2104 cauli process, A series of sequences is executed.

That is, the automatic fishing system of the present invention has an electric reel 12 that feeds and winds a fishing line, a deflection amount detection sensor 2 that is attached to the fishing rod 1 and detects the deflection amount of the fishing rod 1, and various fishing conditions. A setting device 46 for setting, a reel rotation detector 38 for detecting the driving amount of the electric reel 12, a detection output of the deflection amount detection sensor 2, a detection output of the reel rotation detector 38 for the electric reel 12, and a setting device 46 Based on the various fishing conditions set by, the process of moving the fishhook to a predetermined depth by controlling the driving amount of the electric reel 12, the process of monitoring the presence of fishfish until there is fishfish This is a sequence that executes a series of the following sequence of fish monitoring processing, wake processing for winding a certain amount of fishing line, and processing for determining whether or not a fish hook has been hung on the fish. By providing the controller 30,
It is possible to automate all the processes that are actually necessary for fishing and fishing, such as the movement of the fishhook, the monitoring of fish belief, and the wakese, and further determination of crispness.

  Furthermore, the automatic fishing system of the present invention executes the wake processing and winds up a predetermined amount of fishing line with the electric reel 12, and then executes the crisp processing (after-mentioned crisp determination) to determine whether or not there is fish trust. By including the controller 30 that performs the determination, it is possible to automatically determine whether or not the fishhook is caught on the fish in a short time without moving the fishhook to the water surface.

  Furthermore, when the automatic fishing system of the present invention determines that the fishhook has not been caught by executing the cracking process, the process returns to the fishhook movement process, the fishhook movement process, the fish faith monitoring process, By including a controller 30 for executing a series of the awase process, the crackling process, or returning to the fishtrust monitoring process and executing the sequence of the fishtrust monitoring process, the awase process, and the crackling process, When a series of sequences (the automatic fishing control) is started, the series of sequences can be automatically repeated until it is determined that the fishhook is securely hooked on the fish. In other words, once started, the automatic fishing system performs full-automatic fishing until the fish is caught.

  Next, the S2102 fish faith monitoring process of FIG. 1 will be described. The S2102 fish faith monitoring process is composed of the deflection amount history clear of S2110 and the S2111 fish faith judgment, and the deflection amount history clear of S2110 and S2111 The explanation of the fish trust judgment will be given below.

First, here, the hardness coefficient that will be explained later,
default value,
Deflection amount,
Neutral deflection amount,
Neutral deflection amount difference,
Bending amount history,
Bending width,
Bending speed,
Flexural acceleration,
Confirmation time,
Appearance count monitoring time and appearance count threshold,
Bending direction,
Will be described in order.

The hardness coefficient is a coefficient at which the angler sets in advance the hardness of the fishing rod 1 at the position where the deflection amount detection sensor 2 is attached to the fishing rod 1 with the setting device 46. The hardness coefficient and the deflection amount detection sensor For example, the bending of the fishing rod 1 at the position where the bending amount detection sensor 2 is attached is converted into a bending force such as Kg or a fishing line tension based on the detection output 2. Further, the hardness coefficient is not limited to a coefficient, and may be a form using, for example, a conversion rule or a conversion table. Further, an embodiment without this hardness coefficient may be used.
By providing the hardness coefficient in this way, it is possible to calculate the bending amount of the fishing rod 1 by a bending amount converted into, for example, a bending force such as Kg or the tension of the fishing line, and the angler can imagine various threshold values. It can be set in units such as Kg that can be shared by all anglers.

  The initial value is a value that the angler preliminarily (measures) the detection output of the deflection amount detection sensor 2 (for example, the detection output of the deflection amount detection sensor 2 is sampled for a certain period of time when the fishing rod 1 is extended without load). Median or average value). Further, for example, an embodiment in which an initial value of the bending amount detection sensor 2 itself is used or an embodiment without an initial value may be used.

The amount of bending is determined by, for example, multiplying the value obtained by subtracting the initial value from the output detected by the bending amount detection sensor 2 by the controller 30 with the hardness coefficient, for example, every 100 ms. And the value is stored in the memory 36. That is, the amount of bending is a value indicating the amount of bending of the current fishing rod 1, and the amount of bending at this time is stored in the memory 36.
Further, the raw value detected by the bending amount detection sensor 2 or the value obtained by subtracting the initial value from the detection output of the bending amount detection sensor 2 may be used as the bending amount.
The output value detected every 100 ms from the deflection amount detection sensor 2 is preferably smoothed electrically or arithmetically by the controller 30 (for example, an average value or a median value detected every 10 ms).

The neutral bend amount is the bend amount in a state where the fishing rod 1 is bent in a neutral state under a load such as a weight. The value is set (measured) in advance by the angler with the setting device 46 as necessary (for example, a median value or an average value obtained by sampling the detection output of the bending amount detection sensor 2 for a certain time, for example, 10 seconds). By providing the neutral deflection amount in this way, it is possible to calculate the deflection amount only of the influence exerted by the fish.
Further, an embodiment in which the controller 30 automatically resets (measures) the neutral deflection amount at regular time intervals (for example, every 5 minutes) during the automatic fishing control to automatically adjust to the disturbance situation is desirable.

  The neutral deflection amount difference is a difference between the deflection amount and the neutral deflection amount. This neutral bend amount difference is the bend amount of only the influence exerted by the fish. By providing the neutral deflection amount difference as described above, various processes such as the fish faith monitoring process can be performed with the neutral deflection amount difference only due to the influence exerted by the fish.

  The bend amount history is, for example, a history of the bend amount detected every 100 ms. For example, 500 bend amounts dating back from the present are held in an area allocated in the memory 36. In this way, by having the bending amount history that is the history of the bending amount of, for example, 50 seconds going back from the present time, the presence or absence of fish belief is determined using the bending amount from the past to the present. Further, it is useful when, for example, determining the presence or absence of fish belief using a plurality of later-described fish belief determination patterns, and further simplifies processing such as fish belief determination described later.

  The bend width is, for example, the difference between the maximum and minimum of the bend amount detected by the controller 30 every 100 ms, for example, during 0.5 s of a fixed time. By determining whether or not there is a fish sign based on the relative bending width of the relative change that does not depend on the change in the neutral deflection of the fishing rod 1, it is ensured that the fish signal can be obtained even in a fishing ground with disturbance. It can be judged.

  The bending speed is a difference between two bending amounts at a constant interval (for example, an interval of 0.5 seconds). Alternatively, for example, the difference between the maximum and minimum two points of the bending amount detected by the controller 30 every 100 ms, for example, for every 5 seconds, for example, is divided by the difference between the detection times of the maximum and minimum points. Value. Based on the relative bending speed of the fishing rod 1 that does not depend on the change in the neutral deflection, it is determined whether or not there is a fish signature in the fish signature determination, so that the fish signature is determined even in a fishing ground with disturbance. I can do it.

  The bending acceleration is an acceleration calculated based on the bending amount detected by the controller 30 every 100 ms, for example.

  The fixed time is a fixed time for determining that there is a fish trust when a state where the determination conditions such as various thresholds are satisfied continues for a fixed time (determined time). In 46, the setting is registered in advance by adding to a fish trust determination pattern, which will be described later. In this way, setting and registration can be performed by adding a fixed time depending on the fish faith and disturbance situation, for example, a situation where the fishing boat 1 shakes and the fishing rod 1 stretches and bends every 2 seconds, or vibration noise caused by the ship's engine. Even in the situation where it occurs, it is possible to detect fish news by keeping the fishing rod 1 bent for a fixed time, for example, for 4 seconds. I can do it.

“Appearance count monitoring time and appearance count threshold” indicates that the number of times that a judgment condition such as various thresholds appears (changes to a condition that satisfies the judgment condition) within a certain time (appearance count monitoring time) is a certain number of times (appearance count threshold). It is the appearance count monitoring time for a certain period of time and a certain number of occurrence count threshold for determining that there is a fish belief, and is added to the fish belief determination pattern to be described later by the angler in advance using the setter 46 as necessary. To register the settings.
In this way, by adding the “appearance count monitoring time and appearance count threshold” according to the fish faith and the disturbance situation, it is possible to set and register the situation so that the fishing rod 1 stretches and bends every two seconds due to the ship shaking. Even in a situation where vibration noise is generated by the ship's engine, there is a fish trust by detecting twice a 0.5 second bend in, for example, 2 seconds of the “appearance count monitoring time and appearance count threshold”. It is possible to determine the presence or absence of fish faith by eliminating the disturbance even at fishing grounds where there is a constant disturbance.

The bend direction is obtained by adding the direction of bending of the fishing rod 1 and the direction of bend to the determination conditions in the fish sign determination described later, and adding the bending direction to the fish trust determination condition. As necessary, the setting device 46 adds and registers in advance a fish trust determination pattern, which will be described later.
In this way, setting and registration with the bending direction can be added, so that disturbances in the direction in which the fishing rod 1 jumps up and extends can be eliminated even in a situation where the fishing rod 1 jumps up every two seconds because the ship sways violently. It is possible to accurately determine the presence or absence of fish faith by eliminating disturbance even in fishing grounds where there is always disturbance.

  From here, explanation will be given of clearing the deflection amount history in S2110 and determining the fish faith in S2111.

  The bend amount history clear in S2110 is a process for clearing (initializing with an invalid value) the noise stored as the bend amount in the bend amount history generated when the needle movement process in S2101 is executed. Yes, by executing the clearing of the flexure amount history in S2110, it is possible to prevent erroneous determination in the fish trust determination in S2111 performed next. In the embodiment in which the bending amount history is not used or in the embodiment in which the bending amount is not stored in the bending amount history during the needle movement processing in S2101, the bending amount history clear in S2110 is not necessary.

  The fish trust determination of S2111 includes the deflection amount, the neutral deflection amount difference, the deflection width, the deflection speed, the deflection acceleration, and various threshold values preset by the angler with the setting device 46. This is processing for determining whether or not there is a fish trust based on the fish trust determination pattern.

  The fish faith determination pattern will be described below.

The fish faith judgment pattern is preset and registered in the setting device 46 (for example, EEPROM of the memory 36, etc.). Registered and held within)
Deflection amount threshold,
Neutral deflection amount difference threshold,
Deflection width threshold,
Deflection threshold,
Deflection acceleration threshold,
Various thresholds, and if necessary, the confirmation time,
The appearance count monitoring time and the appearance count threshold,
The bending direction,
It is a pattern for determining the fish Shin that is set and registered with
The type of the fish faith judgment pattern is
[0] When the amount of bending becomes equal to or greater than the amount of bending threshold, it is determined that there is fish sacred.
[1] When the neutral deflection amount difference is equal to or greater than the neutral deflection amount difference threshold value, it is determined that there is fish trust.
[2] When the bending speed is equal to or higher than the bending speed threshold, it is determined that there is a fish trust.
[3] When the bending width is equal to or greater than the bending width threshold value, it is determined that there is a fish bean.
[4] When the bending acceleration is equal to or greater than the bending acceleration threshold value, it is determined that there is a fish shin.
[5] The bend amount that is equal to or greater than the bend amount threshold value continues for the fixed time for a predetermined time, thereby determining that there is a fish trust.
[6] When the neutral deflection amount difference equal to or greater than the neutral deflection amount difference threshold value continues for the fixed time for a predetermined time, it is determined that there is fish trust.
[7] The bend speed equal to or higher than the bend speed threshold is continued for the fixed time for a predetermined time, so that it is determined that there is a fish trust.
[8] When the bending amount in the specified bending direction is equal to or greater than the bending amount threshold value, it is determined that there is fish trust.
[9] When the neutral deflection amount difference in the specified bending direction is equal to or greater than the neutral deflection amount difference threshold value, it is determined that there is fish trust.
[10] When the flexing speed in the designated flexing direction is equal to or greater than the flexing speed threshold, it is determined that there is fish trust.
[11] When the bending acceleration in the specified bending direction is equal to or greater than the bending acceleration threshold value, it is determined that there is fish trust.
[12] The bend amount in the specified bend direction is equal to or greater than the bend amount threshold value and continues for the fixed time for a predetermined time, so that it is determined that there is fish trust.
[13] The neutral bend amount difference in the designated bend direction is equal to or more than the neutral bend amount difference threshold value and continues for the fixed time for a predetermined time, thereby determining that there is fish trust.
[14] The bend speed in the specified bend direction is equal to or greater than the bend speed threshold value and continues for a fixed time for a predetermined time, thereby determining that there is fish trust.
[15] It is determined that there is a fish trust when the amount of change is equal to or more than the threshold value of the amount of bending and the number of times of change becomes the threshold value of the number of appearances within the time of monitoring the number of times of appearance.
[16] It is determined that there is fish trust when the neutral deflection amount difference is equal to or more than the neutral deflection amount difference threshold value and the number of changes becomes the appearance frequency threshold value within the appearance frequency monitoring time of a predetermined time. Let
[17] It is determined that there is a fish trust when the number of times of change is equal to or more than the bending speed threshold value within the appearance frequency monitoring time of a predetermined time and the number of times of change becomes the appearance frequency threshold value.
[18] The bend width is determined to be greater than or equal to the bend width threshold value within the fixed number of times monitoring time, and the number of times of change becomes the appearance number threshold value, thereby determining that there is a fish trust.
[19] It is determined that there is a fish trust when the flexing acceleration becomes equal to or greater than the flexing acceleration threshold value and the number of changes becomes the appearing frequency threshold value within the appearance frequency monitoring time of a predetermined time.
[20] By the number of times of change becoming the threshold value for the number of appearances in the state where the amount of flexion is equal to or greater than the threshold value of the flexure amount and continuing for the fixed time within the constant amount of time within the monitoring time for the number of appearances. Let's judge that there is fish faith.
[21] Within the appearance count monitoring time for a fixed time, the neutral flexure amount difference is equal to or greater than the neutral flexure amount difference threshold value and continues for the fixed time for a fixed time, and the number of changes is the appearance count threshold value. It becomes to be judged that there is fish faith by becoming.
[22] When the number of times of change becomes the threshold value for the number of appearances in a state in which the bending speed is equal to or greater than the threshold value for the bending speed and continues for the fixed time within the fixed time within the monitoring time for the number of appearances. Let's judge that there is fish faith.
[23] The amount of change in the specified bending direction is greater than or equal to the deflection amount threshold value and the number of times of change becomes the appearance number threshold value within the appearance frequency monitoring time of a predetermined time.
[24] That the number of changes in the specified bending direction is greater than or equal to the neutral deflection amount difference threshold within the predetermined number of appearance monitoring time, and the number of changes is the appearance frequency threshold. To determine that there is a fish trust.
[25] When the number of changes in the specified bending direction is equal to or greater than the bending speed threshold within the monitoring time of the number of appearances for a certain period of time, the number of changes becomes the appearance frequency threshold. It is determined that there is confidence.
[26] When the number of changes of the bending acceleration in the specified bending direction is greater than or equal to the threshold value of the bending acceleration within the monitoring time of the number of times of appearance for a certain period of time, It is determined that there is confidence.
[27] The number of times of change to a state in which the amount of bending in the specified bending direction is equal to or greater than the bending amount threshold and continues for the fixed time within the fixed time within the appearance count monitoring time for a fixed time. By determining the appearance frequency threshold, it is determined that there is fish faith.
[28] The state in which the difference in the neutral bending amount in the specified bending direction is equal to or greater than the neutral bending amount difference threshold value and continues for the fixed time for the predetermined time within the appearance count monitoring time for a predetermined time. When the number of times of occurrence becomes the appearance frequency threshold, it is determined that there is a fish trust.
[29] The number of times that the bending speed equal to or greater than the bending speed threshold value in the specified bending direction has continued for the fixed time for a predetermined time within the monitoring time of the appearance count for a certain time. Becomes the appearance frequency threshold value, it is determined that there is fish faith.
There is.

  In the S2102 fish bean monitoring process, if it is determined that there is no fish belief in S2111, the fish belief determination in S2111 is repeated until the fish belief is present. If it is determined that there is a fish trust, the S2102 fish trust monitoring process is terminated, and the process proceeds to the next S2103 awase process.

  Further, each time the controller 30 detects the amount of bend from the bend amount detection sensor 2 at regular intervals (for example, 100 ms), the fish bean determination is performed, and the determination result of the fish bean determination is allocated to the memory 36. In another embodiment, the flag may be set, and based on the determination result of the fish bean determination set in this flag, the presence or absence of the fish belief may be determined by the fish bean determination in S2111.

  That is, the automatic fishing system of the present invention is provided with a setting device 46 that can set and register two or more of the 30 kinds of [0] to [29] fish faith judgment patterns, for example. The presence or absence of a plurality of fish beliefs according to the plurality of fish bean determination patterns can be simultaneously determined by the fish belief determination based on the plurality of fish bean determination pattern bases.

  Furthermore, the automatic fishing system of the present invention has a setting device 46 that can set and register two or more fish confidence judgment patterns having a small amount of information [0] to [29] (no need to have a database or the like), for example, of 30 types. With this fish belief determination, it is possible to determine the presence or absence of various fish species based on the fish belief determination pattern with a small amount of information registered (not required to have a database or the like).

In addition, the fish faith judgment pattern includes
[0] [5] [8] [12] [15] [20] [23] [27] of the fish faith determination pattern using the deflection amount threshold,
[3] [18] of the fish faith judgment pattern using the deflection width threshold,
[1] [6] [9] [13] [16] [21] [24] [28] of the fish faith judgment pattern using the neutral deflection amount difference threshold,
[3] [18] of the fish faith judgment pattern using the deflection width threshold,
[2] [7] [10] [14] [17] [22] [25] [29] of the fish faith determination pattern using the bending speed threshold,
[3] [8] [14] [19] of the fish faith judgment pattern using the deflection acceleration threshold,
[15] [16] [17] [18] [19] [20] [21] [22] [23] [24] of the fish faith judgment pattern using the appearance frequency monitoring time and the appearance frequency threshold value [25] [26] [27] [28] [28]
[5] [6] [7] [12] [13] [14] [20] [21] [22] [27] [28] [29] of the fish faith determination pattern using the fixed time,
[8] [9] [10] [11] [12] [13] [14] [23] [24] [25] [26] [27] [ 28] There is [29].

That is, the automatic fishing system of the present invention is
The confirmation time,
The appearance count monitoring time and the appearance count threshold,
The bending direction,
Is provided with a setting device 46 that can set and register at least one of the fish-trust determination patterns, and the situation where the fishing rod 1 swings and bends every two seconds or vibrations caused by the ship's engine. Even in situations where noise is generated, disturbance factors can be eliminated in advance.

In addition, the automatic fishing system of the present invention,
The deflection width threshold,
The bending speed threshold, the bending acceleration threshold, the appearance frequency monitoring time, and the appearance frequency threshold,
The confirmation time,
By providing a setting device 46 capable of setting and registering at least one of the fish belief determination patterns using the bending direction, the fish hook can be hooked on the fish from the set and registered fish signals. The presence or absence of the fish trust can be determined by the fish trust determination based on the fish trust determination pattern that can be determined to have the fish trust.

In addition, the automatic fishing system of the present invention,
The deflection width threshold,
By providing a setting device 46 capable of setting and registering at least one of the fish pattern determination patterns using the bending speed threshold value and the bending acceleration threshold value, The presence or absence of fish bean can be determined by the fish belief determination based on the fish bean determination pattern that can determine the presence or absence of fish.

In addition, the automatic fishing system of the present invention,
The neutral deflection difference threshold,
By using the setting unit 46 that can set and register the fish-trust determination pattern using the setting registration that can determine the presence or absence of fish-trust only by the influence exerted by the fish almost independent of the properties of the fishing rod 1 to be used. Based on the fish belief determination pattern, it is possible to determine the presence or absence of fish beliefs in the fish belief determination.

In addition, the automatic fishing system of the present invention,
The neutral deflection difference threshold,
The deflection width threshold,
The deflection rate threshold,
The deflection acceleration threshold,
By providing a setting device 46 capable of setting and registering at least one of the fish-trust determination patterns and the deflection coefficient, the influence of the fish that does not depend on the properties and the bending characteristics of the fishing rod 1 that has been set and registered. The fish trust judgment pattern can be set with a threshold value of a value converted into a unit of bending force or fishing line tension, such as Kg, which unifies only the influence, so that the characteristics of the fishing rod 1 and the characteristics of the fish are completely independent. The fish trust judgment pattern having a threshold value converted into a unit such as Kg, for example, in which only the effect is exerted, and the bending force in a unit such as Kg, etc., where the detection output is unified by the deflection amount detection sensor 2 of the fishing rod 1 Alternatively, it is possible to determine the presence or absence of fish bream by the fish bream determination based on the amount of flexure converted to the fishing line tension.

The automatic fishing system of the present invention is
By providing a setting device 46 that can duplicate and register the same type of fish faith judgment pattern (for example, [20] fish faith judgment pattern) when setting and registering, for example, 3 seconds or more and 2 kilos in 5 seconds. Detecting the amount of bending twice,
Detecting the bending amount of 1 kilometer or more for 1 second in 15 seconds,
In this way, it is possible to determine whether or not there is a fish trust based on the fish trust determination pattern that has been set and registered in duplicate.

  The automatic fishing system of the present invention includes a communication device 41 that can receive and set a setting value instead of the setting device 46, so that the fish faith determination pattern is transmitted from the external terminal via the communication device 41. Etc. can be received and set and registered. Moreover, the embodiment in which the automatic fishing system of the present invention does not have the communication device 41 may be used.

  In addition, the automatic fishing system of the present invention determines that there is no fish beet for a certain period of time in S2111, or repeats the determination of fish in S2111. It is desirable to include a controller 30 that makes it be determined that there is a pseudo-fish in any of the cases where the number of times has reached a certain number. An embodiment in which the fishhook does not move may be used), and the fish trust determination can be performed.

In addition, the automatic fishing system of the present invention,
For example, [12] of the fish faith determination pattern,
In the bending direction, the “extending direction”
For example, 4 seconds
A constant amount of bending between the initial value and the amount of neutral bending is set as the amount of bending threshold.
It is desirable to have a setting device 46 that can register settings.
As a result, when the water depth becomes shallow and the fishhook comes to the bottom, it is determined that there is a fishfish pseudo in the fishfish judgment in S2111, and the series of sequences is executed to execute the awaze, the fishhook movement, and the It is possible to make a fish trust judgment.

  Moreover, it is desirable that the automatic fishing system of the present invention includes a setting device 46 that can add and register a fish type or the like to each of a plurality of preset fish belief determination patterns. Based on the fish species or the like added to the fish faith determination pattern determined to have fish fish, the fish species or the like of fish fish can be specified.

  In addition, it is desirable that the automatic fishing system of the present invention includes a setting device 46 that can set and register a plurality of fish trust judgment patterns that are set and registered in advance by adding a priority order. For example, during the fixed time in the fish belief determination pattern with the higher priority, the result determined to be fish belief in the fish belief determination based on the fish belief determination pattern with the lower priority is suspended or discarded Regardless of whether the fish belief is present or not, the result determined by the fish belief determination can be suspended or discarded according to the priority added to the fish belief determination pattern intended by the angler. .

  In addition, the automatic fishing system of the present invention determines whether or not there is a fish news in the fish news judgment, and when it is judged that there is a fish news, a memory for storing various events generated in the automatic fishing system In the fishing history assigned to 36, the fact that there is a fish news is registered as an event, and the date and time, the depth of the fish hook that is judged to have fish knowledge in the fish knowledge judgment, the position coordinates of the detection output of GPS 45, etc. It is desirable to include a controller 30 so that the angler can suck up these data from the external terminal via the communication device 41.

  Next, the S2103 awaze process of the process of winding the fishing line of FIG. 1 by a certain amount will be described.

  The S2103 awase process is composed of a S2112 awase operation. In the awase operation of S2112, the controller 30 performs a wurse operation in which the controller 30 winds up and drives the electric reel 12 at a constant amount (awase amount) at a constant speed (awase speed). It is. It should be noted that the amount of erasing may be either a fixed distance for driving up by the electric reel 12 or a fixed time for driving up by the electric reel 12.

  That is, the automatic fishing system of the present invention includes the controller 30 that executes the S2103 awaze process and drives the electric reel 12 to wind up a certain amount, so that the fishhook can be efficiently hung on the fish. It is possible to determine whether or not a fishhook has been hung on the fish by a later-described crisp determination without winding up to the surface of the water.

  Furthermore, it is desirable that the automatic fishing system of the present invention includes a setting device 46 that can set at least one of the amount of wiping and the wiping speed. As a result, the controller 30 can wind up the electric reel 12 at a predetermined amount and speed of the wake to be set according to the fish aimed by the angler, and perform the wake operation.

  In addition, it is desirable that the automatic fishing system of the present invention includes a setting device 46 that can set and register a plurality of the amount of the horseradish, the speed of the horsetail, the fish type, and the like. As a result, based on the fish species and the like added to the fish confidence determination pattern determined to have a fish trust in the fish trust determination, a plurality of pre-set and registered amounts of the horseradish amount, the horseradish speed, the fish species, etc. It is possible to search for the amount of the horsetail and the speed of the horsetail from the inside, and to drive the electric reel 12 by winding the searched amount of the horsetail at the speed of the horsetail.

  Next, a description will be given of the cracking process of S2104, which is a process of determining whether or not a fishhook is hung on the fish of FIG.

  The click processing of S2104 is composed of S2113, S2114, S2115, and S2116. These will be described in turn below.

  The bend amount history clear of S2113 is a process of clearing the bend amount history in which the bend amount of noise generated when the S2112 awaze operation is executed, and the bend amount history clear of S2113 is executed. Therefore, it is possible to prevent erroneous determination in the next S2115 power determination. Further, in the embodiment in which the bending amount history is not used or in the embodiment in which the bending amount is not stored in the bending amount history during the S2112 awaze operation, the bending amount history clear in S2113 is not necessary.

  In the next S2114 power timer set, the power timer assigned with the internal timer of the controller 30 is initialized (for example, a power determination time of 10 seconds). Then, the crisp determination (fish trust determination) of S2115 is performed. The Kakari determination (fish trust determination) in S2115 is the same determination as the fish trust determination, and is a process for determining the presence or absence of fish trust. If it is determined in S2115 that the fishfish is present, it is determined that the fish has a fishhook, the fact is notified by the notification device 34, and the process in S2104 is terminated. . Then, the target depth moving process of S2117 is executed to catch the fish.

  If it is determined in S2115 that there is no fish trust, it is determined in S2116 whether or not the time is up. If the time is not up in S2116, the process returns to S2115. If it is detected in S2116 that the time has elapsed, it is determined that no fishhook has been applied to the fish, and the process goes to S2101.

That is, after the automatic fishing system of the present invention determines that there is a fish beet in the fish bean determination and determines that there is a fish bean, after driving the fishing line by a certain amount with the electric reel 12,
Repetitively determining for a certain period of time whether or not there is a fish trust (the fish trust determination),
Determining whether or not there is a fish trust in the crack determination (the fish trust determination) over a certain period of time;
It is determined whether or not there is a fish trust by repeating the power determination (the fish trust determination) a certain number of times.
By including a controller 30 that performs (executes) at least one of the following:
When it is continuously determined that there is no fish trust in the repeated determination of the potash (the fish trust determination), it is possible to determine that a fish hook has not been hung on the fish, although the fish guard is detected and wrought.

  In addition, the automatic fishing system of the present invention determines whether or not a fishhook has been hung on the fish by the caulking process, and stores various events occurring in the automatic fishing system when it is determined that the fishhook has hung on the fish. The fishing history assigned to the memory 36 (e.g., EEPROM) is used as an event that a fish hook is hung on the fish, and the depth of the fish hook determined by the fish trust determination and the position coordinates of the detection output of the GPS 45 By providing the controller 30 for registering etc., the angler can suck up these data from the external terminal via the communication device 41.

  In addition, the automatic fishing system of the present invention uses the unique fish pattern determination (fish trust determination) of S2115 for determining whether or not there is a fish trust in the determination of S2115 (fish trust determination). For example, an embodiment may be provided that includes a controller 30 that performs the crisp determination with a crisp determination pattern (equivalent to the fish trust determination pattern) of the determination pattern for use. As a result, the crisp determination (fish trust determination) can be performed with the crisp determination pattern having a determination pattern different from the fish credential determination pattern.

  In addition, it is desirable that the automatic fishing system of the present invention includes a setting device 46 that can set the power determination time. This makes it possible to determine whether or not a fishhook has been hung on the fish in a time corresponding to the fish type (for example, 5 seconds for squid, 2 seconds for horse mackerel).

  Further, each time the automatic fishing system of the present invention detects from the bending amount detection sensor 2 at regular intervals (for example, 100 ms), the determination of the crack is made (fish trust determination), and the determination of the crack determination (fish trust determination) is performed. An embodiment including a controller 30 that sets a result to a flag assigned to the memory 36 may be used. As a result, it is possible to determine the presence or absence of fish faith based on the judgment result (fish trust judgment) of S2115 based on the judgment result of the crack judgment (fish trust judgment) set in this flag.

  Next, the fishing hook moving process of S2101 and S2105, which is executed by the controller 30 of the automatic fishing system of the present invention and controls the driving amount of the electric reel 12 to move the fishing hook to a predetermined depth, will be described.

First, here is the current depth variable,
Driving speed,
Bottom detection deflection,
Winding amount,
Fish faith monitoring depth,
Will be described in order, and further, the description will be given of the electric reel 12 being stopped.

  The current depth variable is allocated to the memory 36 that holds the accumulated value, for example, by adding or subtracting based on the drive amount and drive direction of the electric reel 12 detected by the reel rotation detector 38 monitored by the controller 30. There are variables. That is, the current depth variable is a variable in which a value indicating the depth at which the current fishhook is present is stored. The current depth variable is initialized (set to zero) in a state where the fisherman is on the water surface when the angler starts fishing.

  The drive speed is, for example, a speed and drive for driving the electric reel 12 such as a low speed (speed 1) to a high speed (speed 10) in the winding direction and a low speed (speed-1) to a high speed (speed-10) in the feeding direction. In the automatic fishing system of the present invention, the controller 30 can be driven by switching the driving direction and the driving speed of the electric reel 12 (controlling the driving amount) (for example, a motor). A driver 39).

  As shown in FIG. 4 of the deflection image of the fishing rod 1, the bottom detection deflection amount is a predetermined constant deflection amount between the initial value state where the fishing rod 1 is stretched and the neutral deflection amount. is there. As described above, the automatic fishing system of the present invention includes the setting device 46 that can set the bottom detection deflection amount, so that the speed of moving the fishing hook in the bottom direction and the tension of the fishing line can be adjusted simultaneously.

  The winding deflection amount is a certain deflection amount set in advance between the neutral deflection amount and the limit deflection amount of the fishing rod 1 as shown in FIG. As described above, the automatic fishing system of the present invention includes the setting device 46 that can set the amount of winding deflection, so that the speed at which the fishing hook is moved in the water surface direction and the tension of the fishing line can be adjusted.

  The fish supervision monitoring depth is a depth indicating the depth at which the current fish supervision is monitored in middle-level fishing (the bottom fishing setting is off), and this fish supervision monitoring depth is held in an area allocated to the memory 36. . For example, the angler has two types of start buttons, for example, an automatic fishing start button of the operating device 32, one type is a start button for starting the automatic fishing control using the fish faith monitoring depth as it is, and the other type is There is a start button for setting the depth of the current depth variable to the fish faith monitoring depth and starting the automatic fishing control.

  First, the stopped electric reel 12 will be described here.

An embodiment in which the automatic fishing system of the present invention includes a controller 30 that continuously applies an electric brake or the like to a motor driver 39 or the like for driving the motor 42 of the electric reel 12 while the electric reel 12 is stopped is desirable. Thereby, it is possible to prevent the fishing line from being pulled out due to a large attack or the shaking of the ship.
In addition, for example, an embodiment that prevents the fishing line from being pulled out by inserting a screw gear or the like instead of an electric brake or the like, and an apparatus such as an electronic clutch or an actuator that can be controlled by the controller 30 on the electric reel 12 are provided. For example, an embodiment that prevents the fishing line from being pulled out or an embodiment that does not prevent the fishing line from being pulled out may be used.

  A description will now be given of the movement processing (predetermined depth: fish faith monitoring depth) of the S2101 fishhook, which is performed by the automatic fishing control of FIG. S2101 fishhook movement processing (predetermined depth: fish faith monitoring depth) includes S2106, S2107, S2108, and S2109 as shown in FIG. These details are described in turn below.

  When the fish hook moving process at S2101 with the fish-breeding monitoring depth set to a predetermined depth is started, it is determined whether or not the bottom fishing setting is turned on at S2106. This bottom fishing setting depends on the fish that the angler aims at. Thus, ON is set in advance when bottom fishing is performed with reference to the bottom depth, and OFF is set in advance when middle-layer fishing is performed with reference to the depth of the water surface.

  If it is determined in S2106 that the bottom fishing setting is ON, it is determined that the bottom fishing setting is not ON, the target movement process (movement target depth ← fish trust monitoring depth) in S2107 is executed. The target movement process (movement target depth ← fish faith monitoring depth) in S2107 is a process of driving the electric reel 12 to move the fishhook to the fish faith monitoring depth of the movement target depth passed as a parameter when executed. is there.

  If it is determined in S2106 that the bottom fishing setting is ON, if the bottom fishing setting is ON, the bottom movement process in S2108 of the process of driving the electric reel 12 and moving the fishing hook to the bottom is executed. The fishhook is moved to the bottom, and then S2109 bottoming processing is executed.

  The bottoming process in S2109 is a process of performing a bottoming operation by driving the electric reel 12 to wind up a predetermined amount of bottoming amount set in advance. The bottom cut-off amount may use either a distance for driving up the electric reel 12 or a time for driving up the electric reel 12.

  That is, the automatic fishing system of the present invention includes the controller 30 that executes the target movement process (movement target depth ← fish-fish monitoring depth) in S2107, so that the fish-fish monitoring depth of a predetermined depth based on the water surface is electrically driven. The fishing hook can be moved by controlling the drive amount of the reel 12.

  In addition, the automatic fishing system of the present invention includes the controller 30 that executes the bottom movement process of S2108 and the bottoming process of S2109, so that the bottom or a predetermined amount of bottom cut-off based on the bottom can be obtained. The fishing hook can be moved to the wound depth by controlling the driving amount of the electric reel 12.

  Next, description will be given of the movement processing (predetermined depth: depth of water surface) of the S2105 fishing hook, which is performed in the automatic fishing control of FIG. 1, according to the flowchart of FIG.

  The S2105 fishing hook moving process (predetermined depth: depth of water surface) is constituted by, for example, S2117 as shown in FIG.

  This S2117 target movement process “movement target depth ← zero (water surface depth)” moves the fishing hook by driving the electric reel 12 to “movement target depth ← zero (water surface depth)” passed as a parameter when executed. It is a process to make.

  That is, the automatic fishing system of the present invention includes the controller 30 for executing the target movement process “movement target depth ← zero (water surface depth)” in S2117, thereby moving the fishing hook by controlling the driving amount of the electric reel 12 to the water surface. It can be made.

  That is, the automatic fishing system of the present invention includes the controller 30 that executes the processing of moving the fishhook in S2101 and S2105, so that the depth based on the water surface, the depth based on the bottom, the depth based on the bottom, and the electric reel to the water surface. The fishing hook can be moved by controlling the drive amount of 12.

  Further, the automatic fishing system of the present invention is suitable for middle-level fishing (the bottom fishing setting off) for fishing at a depth based on the water surface and bottom fishing (the bottom fishing setting on) for fishing at a depth based on the bottom. By providing the setting device 46 capable of setting bottom fishing, the controller 30 switches between middle-layer fishing and bottom fishing by automatic fishing control based on the bottom fishing setting set according to the fish aimed by the angler, and fully automatic fishing. Can be done.

  Next, the details of the S2107 target movement process (movement target depth ← fish faith monitoring depth) and the S2108 bottom movement process of FIG. 1 will be described.

  Before explaining the details of the S2107 target moving process (moving target depth ← fish faith monitoring depth) and the S2108 bottom moving process, the controller 30 of the automatic fishing system of the present invention first moves when the fishing hook is moved by the electric reel 12. The servo deflection amount control will be described with reference to FIG. 2, FIG. 3, and FIG.

The servo deflection amount control means that the controller 30 controls the driving direction and the driving speed of the electric reel 12 by setting the deflection amount of the fishing rod 1 to the target servo deflection amount that is the target deflection amount. It is a process to match.
When the servo deflection amount control is started as shown in the flowchart showing the servo deflection amount control in FIG. 3, first, the target constant deflection amount is set as the target servo deflection amount (S2301).

Next, in S2302,
The amount of deflection of the fishing rod (the amount of deflection);
The target servo deflection amount of the constant deflection amount;
Based on the constant servo deflection coefficient,
For example, the servo deflection amount conversion formula shown in FIG.
Electric reel drive speed = (fishing rod deflection amount−target servo deflection amount) × servo deflection amount coefficient The sign is the driving direction (for example, + winding up, −feeding out)
Is used to calculate the driving direction and driving speed of the electric reel 12,
In next S2303, the electric reel 12 is driven with the driving direction and the driving speed calculated by the servo deflection amount conversion formula.

  Next, in S2304 end determination, it is determined whether an end condition (for example, the target depth has been reached, the bottom has been reached, etc.) is satisfied. If it is determined that the end condition is not satisfied, S2302, S2303, and S2304 are repeated. Control.

The graph of FIG. 2A is a graph showing the servo deflection amount conversion formula, and the X axis of the graph of FIG. 2A is the deflection amount of the fishing rod (input side) (the deflection amount). The Y axis indicates the drive speed and drive direction of the electric reel 12 calculated by the (output side) servo deflection amount conversion formula.
Thus, the servo deflection amount conversion formula first calculates the difference between the current deflection amount and the target servo deflection amount by subtracting the target servo deflection amount from the current deflection amount. In order to calculate the speed of the electric reel 12 according to the difference between the calculated current deflection amount and the target servo deflection amount, the drive speed is calculated by multiplying the servo deflection amount coefficient. The ± sign of the calculated value is the driving direction of the electric reel 12. The servo deflection amount conversion formula is not limited to the formula shown in FIG. 2A, and may be an embodiment using other formulas, a conversion table, a conversion rule, or the like. Further, an embodiment using the servo deflection amount conversion formula that does not calculate the stop 0 of the electric reel 12 may be used.

  That is, the automatic fishing system of the present invention uses, for example, the bottom detected bending amount (a constant bending amount between the initial value and the neutral bending amount) shown in FIG. 4 as the target servo bending amount. By providing the controller 30 for controlling the amount of deflection of the fishing rod 1 by controlling the driving direction and the driving speed of the electric reel 12 to the target servo deflection amount, the controller 30 is always electrically driven. By controlling the driving speed and driving direction (driving amount) of the reel 12, the deflection amount of the fishing rod 1 can be matched with the target servo deflection amount (the bottom detection deflection amount), and the tension of the fishing line can be adjusted. The fishhook can be moved toward the bottom while adjusting it to a certain level.

  Further, the automatic fishing system of the present invention uses, for example, a winding deflection amount (a constant deflection amount between the neutral deflection amount and the limit deflection amount) shown in FIG. 4 as the target servo deflection amount. By providing the controller 30 for controlling the amount of deflection of the fishing rod 1 by controlling the driving direction and the driving speed of the electric reel 12 to the target servo deflection amount, the controller 30 is always electrically driven. By controlling the driving speed and driving direction (driving amount) of the reel 12, the deflection amount of the fishing rod 1 can be matched with the target servo deflection amount (the winding deflection amount), and the fishing line tension is kept constant. The fishhook can be moved in the direction of the water surface while adjusting.

  Further, the automatic fishing system of the present invention controls the driving direction and the driving speed of the electric reel 12 by using the neutral deflection amount shown in FIG. 4 as the target servo deflection amount, for example. By including the controller 30 that executes the servo deflection amount control for adjusting the deflection amount of the fishing rod 1, the controller 30 always controls the driving speed and the driving direction (driving amount) of the electric reel 12 and controls the fishing rod 1. The amount of bending can be matched with the target servo bending amount (the neutral bending amount), and the fishing hook can be stopped while adjusting the tension of the fishing line to be constant.

  Further, as shown in FIG. 2B, the automatic fishing system of the present invention includes a setting device 46 that can set the target servo deflection amount, thereby simultaneously adjusting the moving speed of the fishhook and the tension of the fishing line. It will be possible.

  Further, as shown in FIG. 2C, the automatic fishing system of the present invention includes a setting device 46 that can set the servo deflection coefficient, so that the current deflection amount of the fishing rod 1 and the target servo are set. The servo bend amount coefficient for calculating the drive speed and drive direction of the electric reel 12 according to the bend amount difference can be adjusted.

  From here, an example of the bottom movement process in S2108 (S2501) will be described.

  The bottom moving process in S2108 (S2501) is a process in which the controller 30 moves the fishhook to the bottom while controlling the driving direction and driving speed of the electric reel 12, and the bottom moving process in S2108 (S2501) is shown in FIG. This will be described below with reference to the flowchart.

The flowchart showing the S2501 bottom movement process of FIG. 5 which is the same process as S2108 is the same process as the flowchart of the servo deflection amount control of FIG.
With the target deflection amount set as the target servo deflection amount in S2301, the bottom detection deflection amount in S2502 is set.
Further, the process uses the bottom determination in S2505 as the end determination in S2304.

And the bottom judgment of this S2505 is
That the electric reel 12 has stopped for a certain time (for example, 4 seconds);
The depth of the current depth variable has not changed for a certain period of time (eg 4 seconds),
The depth of the hook remains at a certain range of depth for a certain period of time (for example, the depth of the current depth variable remains within a range of 0.5 m, for example, for 4 seconds),
It is the process which determines with having arrived at the bottom using at least one.

That is, the automatic fishing system of the present invention is
The detected bottom bending amount (a constant bending amount between the initial value and the neutral bending amount) is used as the target servo bending amount, and the driving direction and driving of the electric reel 12 are driven to the target servo bending amount. During the servo deflection control that controls the speed to match the deflection of the fishing rod 1,
That the electric reel 12 has stopped for a certain time (for example, 4 seconds);
The depth of the current depth variable has not changed for a certain period of time (eg 4 seconds),
The depth of the hook remains at a certain range of depth for a certain period of time (for example, the depth of the current depth variable remains within a range of 0.5 m, for example, for 4 seconds),
By having a controller 30 for determining that it has arrived at the bottom by detecting at least one of
It is possible to reliably detect that the fishhook has arrived at the bottom.

  Next, an example of the target movement process in S2107 (S2601) and S2117 (S2601) will be described.

  Next, the target movement process of S2107 (S2601) and S2117 (S2601) executed by the controller 30 will be described with reference to the flowchart of FIG.

  In the target movement process in S2107 (S2601) and S2117 (S2601), the controller 30 moves the fishing hook to the movement target depth passed as a parameter when the target movement process is executed while controlling the driving direction and the driving speed of the electric reel 12. This process is described below with reference to the flowchart of FIG. 6 showing the target movement process of S2601, which is the same process as S2107 and S2117.

The flowchart of FIG. 6 showing the target movement process of S2601 is the same process as the flowchart of FIG. 3 showing the servo deflection amount control.
With the target deflection amount set as the target servo deflection amount in S2301,
If the determination result of the moving direction in S2602 is a movement in the feed-out direction, the bottom detection deflection amount is set in S2603, and if the movement is in the winding direction, the winding deflection amount is set in S2604.
And as an end determination of S2304,
If it is determined in S2607 that the fishing hook has moved to the movement target depth in the process using the determination of the movement target depth = current depth variable in S2607, the electric reel 12 is stopped and terminated in S2608.

  That is, the automatic fishing system according to the present invention can detect the bottom detected deflection amount (a constant deflection amount between the initial value and the neutral deflection amount) or the winding deflection amount (the neutral deflection amount to the limit deflection). The amount of deflection of the fishing rod 1 is adjusted by controlling the driving direction and the driving speed of the electric reel 12 to the target servo deflection amount. A controller 30 is provided that monitors whether the depth of the current depth variable indicating the depth of the current fishhook coincides with the depth of the moving target during the servo deflection amount control, and stops the electric reel when they match. Thus, it is possible to detect and stop the fishhook reaching the target depth during the servo deflection amount control.

  Next, refer to the flowchart of FIG. 7 in which the thread breakage monitoring process and the bottom / root cracking monitoring process are further added to the flowchart of FIG. 6 showing the target movement process of S2107 (S2601) and S2117 (S2601) executed by the controller 30. However, the thread breakage monitoring process and the bottom and root cracking monitoring process will be described.

  The thread breakage monitoring process is performed when the state in which the deflection amount is equal to or less than the bottom detection deflection amount (the fishing rod is extended from the bottom detection deflection amount) for a certain period of time during the servo deflection control. Then, it is determined that the fishing line has been cut, and this is notified to the angler and the electric reel 12 is stopped.

That is, the automatic fishing system of the present invention uses the detected bottom deflection amount (a constant deflection amount between the initial value and the neutral deflection amount) as the target servo deflection amount. During the servo bending amount control for adjusting the bending amount of the fishing rod 1 by controlling the driving direction and driving speed of the electric reel 12,
It is monitored that the amount of bending of the fishing rod 1 continues for a certain period of time, which is equal to or less than the detected bottom bending amount (the fishing rod 1 extends from the detected bottom bending amount). By including a controller 30 that stops the electric reel 12 by detecting that the amount of bending of 1 continues for a certain period of time, the state below the bottom detected bending amount.
When it is detected that the fishing rod 1 has extended beyond a certain amount of deflection for a certain time during the servo deflection amount control for moving the fishhook in the water surface direction, the electric reel 12 is stopped (the servo deflection amount control is terminated). I can do it.

In the bottom and root cracking monitoring process, the electric reel 12 is stopped for a certain time during the servo deflection amount control, or the depth of the fishing hook (current depth of the current depth variable) is within a certain range (for example, a range of 0.5 m). In S2707, it is detected and determined that the user has stayed for a certain period of time (for example, 4 seconds),
If the determination in S2707 is true while the fishhook is moving in the bottom direction, it is determined that the bottom is shallower than the target depth, the bottoming process in S2712 is executed, and a certain amount of bottoming is finished. Further, an embodiment may be adopted in which the electric reel is stopped and terminated without executing the bottoming process in S2712.
If the determination in S2707 becomes true during movement in the water surface direction, it is determined that the root is crisp, and the angler is informed to that effect, and the electric reel 12 is stopped and the process is terminated.

That is, the automatic fishing system of the present invention is
The winding deflection amount (a constant deflection amount between the neutral deflection amount and the limit deflection amount) is set as the target servo deflection amount, and the driving direction and driving of the electric reel 12 are driven to the target servo deflection amount. During the servo deflection control that controls the speed and adjusts the deflection of the fishing rod 1,
That the electric reel 12 has stopped for a certain time (for example, 4 seconds);
The depth of the current depth variable has not changed for a certain period of time (eg 4 seconds),
The depth of the hook remains at a certain range of depth for a certain period of time (for example, the depth of the current depth variable remains within a range of 0.5 m, for example, for 4 seconds),
By detecting at least one of them, it is determined that the root is crisp and the electric reel 12 is stopped.
The electric reel 12 can be stopped (the servo deflection amount control is ended) when the root crack is detected or when the root crack is detected.

  Next, a description will be given of the tempered fish faith monitoring process of S2801, which is executed by the controller 30 in place of the fish faith monitoring process of S2102 at a fishing ground where the influence of disturbance is particularly large.

  For example, in the situation in which the ship constantly shakes greatly due to aging, and the fishing rod 1 always stretches and bends greatly, the neutral bending amount is set to the target servo bending amount. By controlling the amount of servo deflection, it is determined whether or not there is a fish letter based on the fishing line feed amount and fishing line feed speed while keeping the fishing line tension constant.

8 is the same process as the flowchart of FIG. 3 showing the servo deflection amount control.
Assuming that the target deflection amount is set as the target servo deflection amount in S2301, the neutral deflection amount is set as the target servo deflection amount in S2802,
Then, as the end determination in S2303, the process uses the determination of fishing line fish faith determination in S2805.

  If it is determined in S2805 that the fish line is present and it is determined that there is a fish line, the electric reel 12 is stopped in S2806 and the process is terminated.

  The fishing line / fishing determination in S2805 is a process for determining that there is a fishline when it is detected that a certain amount of fishing line has been pulled out or that a fishing line has been pulled out at a certain speed or higher.

  In the case of squid fishing or the like, the target deflection amount is set as the target servo deflection amount in S2301, and in S2802, the winding deflection amount is set to the target servo deflection amount and the fishing line fish in S2805 is wound up. It is desirable to perform the determination of the belief, and this makes it possible to determine the belief while winding the fishing line (squid) while applying a certain tension. In this embodiment, when it is determined that there is a fish shin, it is desirable that the alarm 34 notifies the fact and winds up to the surface as it is.

That is, the automatic fishing system of the present invention is
The neutral bend amount or the hoist bend amount (a constant bend amount between the neutral bend amount and the limit bend amount) is set as the target servo bend amount. 12. Controlling the driving direction and driving speed of 12 to match the amount of bending of the fishing rod 1 During the servo bending amount control, that a certain amount of fishing line has been sent out, that the fishing line has been sent out at a certain speed or more. By having a controller 30 to monitor,
It can be determined that there is a fish letter when a certain amount of fishing line is sent out or when the fishing line is sent out at a certain speed or higher.

  Next, an embodiment in which the controller 30 of the automatic fishing system of the present invention executes a non-servo bottom movement process that does not use the servo deflection control instead of the bottom movement process. The non-servo bottom movement process will be described below with reference to FIG.

  The non-servo bottom moving process of S4001 is a process in which the controller 30 drives the electric reel 12 to send out and moves the fishing hook to the bottom. First, in S4002, the electric reel 12 starts to feed the fishing line at a slightly faster speed -7. Then, in S4003, it is determined whether or not the amount of bending has become a certain amount, for example, the bottom detection bending amount threshold or not (whether the fishing rod has extended beyond the bottom detection bending amount threshold). If it is determined, S4003 is repeated. If it is determined to be true in S4003, the electric reel 12 is stopped (S4004), and the bottom determination timer is initialized in 4 seconds in S4005. In step S4006, it is determined whether or not the bottom determination timer has expired after 4 seconds have elapsed. If the bottom determination timer has not expired, the amount of bending in step S4007 is a fixed amount, for example, the bottom detection bending. It is determined whether or not the amount has become equal to or less than the threshold value (whether the fishing rod extends beyond the bottom detection deflection amount threshold value). If it is determined to be true, the process returns to S2006.

  If it is determined in S4006 that 4 seconds have elapsed and the bottom determination timer has expired, it is determined that a fishhook has arrived at the bottom and the process ends. If the determination in S4007 is false, it is determined that the electric reel 12 has sent the fishing line at a speed higher than the speed at which the weight sinks, the electric reel 12 is sent out in S4008, and the drive speed is started one step later, and the process proceeds to S4003. Return. Further, in the process of stopping the electric reel 12 in S4004, an embodiment in which the electric reel 12 is delayed and stopped for a certain time, an embodiment in which the electric reel 12 is gradually decelerated and stopped, or an embodiment in which the driving is continued at a low speed and is not stopped may be used.

That is, while the automatic fishing system of the present invention feeds and drives the electric reel 12,
The electric reel is stopped by extending the fishing rod 1 from a certain amount of deflection for a certain period of time.
The electric reel is decelerated when the fishing rod 1 extends from a certain amount of deflection for a certain period of time.
The electric reel is gradually decelerated as the fishing rod 1 extends from a certain amount of deflection for a certain period of time.
And a controller 30 that monitors whether the fishing rod 1 has been stretched from a certain amount of deflection for a certain period of time.
Further, since the fishing rod 1 extends from a certain amount of deflection for a certain period of time, it is possible to reliably detect that the fishing line has come to the bottom and the fishing line has slackened while the electric reel 12 is fed out and driven. Further, since the fishing rod 1 does not extend from a certain amount of deflection for a certain period of time, it can be detected that the electric reel 12 has been fed and driven at a speed higher than the weight sinking speed.

  Further, as the non-servo fishing line delivery process, for example, a determination as to whether the fishhook has reached the target depth is inserted in a loop that repeats S4003 when it is determined to be false in S4003 in the flowchart of FIG. If it is determined to be false, the process goes to S4003. If it is determined to be true in this determination, the electric reel may be stopped and the process may be terminated.

  In other words, the automatic fishing system of the present invention includes the controller 30 that executes the non-servo fishing line feeding process, so that the electric reel 12 can be driven to move the fishing hook to the target depth in the bottom direction, and the tuna sinks. The driving speed of the electric reel can be automatically adjusted to the speed, and the electric reel 12 can be stopped when it is detected that the fishing line has unexpectedly reached the bottom.

  Next, the controller 30 of the automatic fishing system of the present invention will be described with reference to FIG. 21 showing a non-servo winding process in which the electric reel 12 is driven to move the fishing hook in the winding direction.

  In the S4101 non-servo winding process, first, in step S4102, the electric reel 12 is started to wind in the winding direction, for example, at a driving speed of 5, and then in step S4103, it is determined whether or not the fishing hook has reached the target depth. If it is determined to be true in S4103, the electric reel is stopped in S4105 and the process is terminated. If it is determined to be false in S4103, it is determined whether or not the fishing rod 1 is bent excessively based on the bending amount and the threshold value in S4106. If it is determined to be true in S4106, in order to protect the oversized bent fishing rod 1, the electric reel starts to be driven in the feed-out direction at a speed 2 in S4107, and the process returns to S4103. If it is determined to be false in S4106, the process proceeds to S4108.

  It is determined whether or not the fishing rod 1 is greatly bent based on the bending amount and the threshold value in S4108. If it is determined to be true in S4108, in order to wait for the large deflection of the fishing rod 1 or to prevent breakage of the electric reel 12 at the time of root cracking, this is notified by an alarm device, and the electric reel 12 Is stopped (S4109) and the process returns to S4103. If it is determined to be false in S4108, the process proceeds to S4110.

  It is determined whether or not the fishing rod 1 is bent in the middle based on the bending amount and the threshold value in S4110. If it is determined to be true in S4110, driving of the electric reel that is slightly slower than the normal winding speed is started in the winding direction at speed 3 (S4111), and the process returns to S4103. If it is determined to be false in S4110, it is determined that the reel can be wound at the normal winding speed, and the electric reel starts to be driven in the winding direction at a speed of 5 (S4112), and the process returns to S4103.

That is, the automatic fishing system of the present invention is
While winding up the electric reel 12,
By including a controller 30 that performs at least one of stopping or sending out the electric reel 12 when the fishing rod 1 is bent from a certain relatively large bending amount,
While the electric reel 12 is driven to wind up, the electric reel 12 can be stopped or sent out because the fishing rod 1 is bent by a certain relatively large bending amount.

  Next, in order to eliminate the influence of disturbance and prevent the fish faith judgment and the cracking judgment, an explanation of the tip stabilization waiting process which is performed before the fish faith judgment and the cracking judgment and waits until the influence of the disturbance is settled is illustrated. This will be described with reference to the flowchart of FIG.

  FIG. 9 shows the tips of S2910 and S2914 that wait until the influence of the disturbance subsides before the fish faith monitoring process of S2102 (S2902) and the cracking process of S2104 (S2904) of the flowchart of the automatic fishing control of FIG. It is the flowchart which added stability waiting processing.

  The details of the tip stability waiting process will be described with reference to the flowchart of FIG. 10 showing the tip stability waiting process.

  As shown in FIG. 10, when starting the tip stability waiting process, the controller 30 first initializes the tip stability timer in S3003 (for example, 4 seconds). Then, it is confirmed whether or not the S3004 tip stability timer has timed up, and if it is determined in S3004 that the tip stability timer has timed out, the tip is determined to be stable and the process ends.

  If it is not determined that the time is up in S3004, the process proceeds to the tip stability determination in S3002. The tip stability determination in S3002 is the same process as the fish faith determination, and it is determined whether or not there is a fish faith. If it is determined in S3002 that the tip stability is determined, the tip stability timer is initialized (for example, 4 seconds) in S3003.

  That is, in the tip stability waiting process, as shown in FIG. 10, it is determined that the tip is stable because it is not determined for a certain period of time (for example, 4 seconds) if there is a fish trust.

  That is, the automatic fishing system of the present invention performs the fish faith determination to determine whether or not there is a fish fish, and it is determined that there is no fish fish for a certain period of time, or that the tip is stabilized after a certain time has passed. By including the controller 30 that executes the tip stability waiting process to be determined, it is possible to execute the tip stability waiting process and eliminate the tip vibration.

  Next, FIG. 11 is obtained by adding S3105 and S3106 of the fish faith forced confirmation process to the flowchart showing the tip stability waiting process of FIG. As shown in FIG. 11, a fish faith forced determination timer (for example, 10 seconds) is set according to the start, and during this 20 seconds, for example, it is determined that there is a fish faith in the S3102 tip stability determination, and the trap of S3104 If the time of the S3106 fish faith compulsory confirmation timer is up without the time-up of the pre-stabilization timer, it is possible to determine that the fish has already been hooked before performing the tip stability waiting process.

That is, by providing the automatic fishing system of the present invention with the controller 30 that monitors that the tip is not stable for a certain time in the tip stability waiting process,
Since it is not determined that the tip has been stabilized for a certain period of time in the tip stability waiting process, it is possible to detect that a fish has already been caught on the fishhook before the tip stability waiting process is performed.

  Next, harmful disturbance elimination processing executed by the controller 30 of the automatic fishing system of the present invention will be described below.

  The automatic fishing system of the present invention includes a disturbance detector such as an inclinometer that detects the amount of disturbance received by the fishing rod 1, and the controller 30 is a disturbance whose value is the detection output of the disturbance detector, for example, every 50 ms. The amount of the disturbance and the amount of disturbance for the latest fixed time (for example, 5 seconds) are stored and held in a disturbance amount history allocated in the memory as a history. By having the disturbance amount history in this way, it is useful for determining the presence or absence of harmful disturbances using various harmful disturbance determination patterns, and the processing can be further simplified.

  And this harmful disturbance elimination process (S3212 harmful disturbance judgment, S3214 harmful disturbance judgment, S3219 harmful disturbance judgment, S3222 harmful disturbance judgment) was added to the flowchart which added the tip stability waiting process to the automatic fishing control of FIG. This will be described with reference to the embodiment of the flowchart of FIG.

  The harmful disturbance determinations of S3212, S3214, S3219, and S3222 are set in advance according to the disturbance amount of the disturbance amount history allocated in the memory, the disturbance width calculated based on the disturbance amount, the disturbance speed, and the disturbance acceleration. Based on the disturbance amount threshold value, disturbance width threshold value, disturbance speed threshold value, and disturbance acceleration threshold value, it is determined whether there is a harmful disturbance. The disturbance width, disturbance speed, and disturbance acceleration will be described below.

  The disturbance width is, for example, the difference between the maximum and the minimum of the amount of disturbance detected by the controller 30 every 100 ms, for example, during a fixed time of 0.5 s, for example. By determining whether there is a harmful disturbance in the harmful disturbance determination based on the disturbance width of the relative change that does not depend on the change in the neutral disturbance amount (for example, the neutral inclination amount) of the fishing rod 1, for example, the ship Disturbances that occur by shaking slowly every 2 seconds can be eliminated, and only excessive harmful disturbances can be detected.

  The disturbance speed is a difference between two disturbance amounts at a constant interval (for example, 0.5 second interval). Alternatively, for example, a value obtained by dividing the difference between the maximum and minimum two points of the amount of disturbance detected by the controller 30 every 100 ms, for example, for one second of a certain time, by the difference between the detection times of the maximum and minimum two points. It is. By determining whether there is a harmful disturbance in the harmful disturbance determination based on the disturbance speed of the relative change that does not depend on the change in the neutral disturbance amount (for example, the neutral inclination amount) of the fishing rod 1, for example, the ship Disturbances that occur by shaking slowly every 2 seconds can be eliminated, and only excessive harmful disturbances can be detected.

  The disturbance acceleration is an acceleration calculated based on the amount of disturbance detected by the controller 30 every 100 ms, for example. By determining whether there is a harmful disturbance in the harmful disturbance determination based on the disturbance acceleration of the relative change that does not depend on a change in the neutral disturbance amount (for example, the neutral inclination amount) of the fishing rod 1, for example, the ship Disturbances that occur by shaking slowly every 2 seconds can be eliminated, and only excessive harmful disturbances can be detected.

  If it is determined in S3212 that there is a harmful disturbance, the determination in S3212 can be made to wait until there is no harmful disturbance by going to S3210. If it is determined that there is a harmful disturbance in the harmful disturbance determination of S3214, by going to S3210, it is possible to cancel the determination result of the fish trust determination of S3213 that has been affected by the harmful disturbance. If it is determined that there is a harmful disturbance in the determination of harmful disturbance in S3219, the determination in S3219 can be made to wait until there is no harmful disturbance by going to S3216. If it is determined that there is a harmful disturbance in the harmful disturbance determination in S3222, the determination result of the determination in S3220 affected by the harmful disturbance can be canceled by going to S3216.

  Further, as another embodiment, while it is determined that there is a harmful disturbance, an embodiment in which the detection of the bending amount detection sensor that is performed at regular intervals is not performed, or is performed at regular intervals. For example, an invalid value may be set for the deflection amount of the detection output of the deflection amount detection sensor.

  Further, the controller 30 makes this harmful disturbance determination at a timing detected from the disturbance detection body at regular intervals, and sets the determination result in a flag assigned to the memory, and based on the state of this flag, S3212, S3214, S3219. In the harmful disturbance determination of S3222, an embodiment in which it is determined whether there is a harmful disturbance may be used.

That is, the automatic fishing system of the present invention was calculated from the disturbance amount of the detection output of the disturbance sample 37 monitored by the controller 30.
Disturbance width that is the fluctuation width of the amount of disturbance during a certain time,
Disturbance change speed, which is the amount of change in the amount of disturbance for a certain time
Disturbance acceleration, which is acceleration calculated from the amount of disturbance during a certain period of time,
A preset disturbance width threshold,
Disturbance change rate threshold,
Based on the disturbance change rate threshold,
The disturbance width, which is the fluctuation amount of the disturbance amount during a certain period of time, has exceeded the disturbance width threshold,
The disturbance change rate, which is the amount of change in the disturbance amount over a certain period of time, exceeds the disturbance change rate threshold,
The disturbance acceleration, which is the acceleration calculated from the amount of disturbance during a certain period of time, has exceeded the disturbance acceleration threshold,
By including the controller 30 that performs at least one of the determinations, harmful disturbance can be detected.

Further, when harmful disturbance is detected by the automatic fishing system of the present invention, as harmful disturbance elimination processing,
Waiting for the fish trust judgment until there is no harmful disturbance,
Canceling the judgment result of the fish trust judgment affected by harmful disturbance,
Waiting for the determination to disappear until there is no harmful disturbance,
Canceling the result of the Kakali that has been affected by harmful disturbances;
Setting an invalid value for the amount of bending;
Disabling the detection of the bending amount detection sensor;
By including a controller 30 that performs at least one of
It is possible to prevent an erroneous determination in the determination of the fish faith or the determination of the crack.

  Next, bottom monitoring processing executed by the controller 30 provided in the automatic fishing system of the present invention will be described with reference to FIG.

  FIG. 13 is a flowchart in which the determination of S3318 bottom monitoring on and bottom detection in the bottom monitoring process and a constant amount of winding in S3319 are added to the flowchart showing the automatic fishing control of FIG. These will be described in turn below.

  The determination of S3318 bottom monitoring on and bottom detection is a determination made while waiting for fishfish in the S3302 fishfish monitoring process, and the determination condition in S3318 is that the angler is set to perform the bottom monitoring process in advance. It is determined to be true when bottom monitoring ON is set and the state in which the deflection amount of the detection output of the deflection amount detection sensor extends beyond a certain value continues for a certain time, for example, 4 seconds. .

  If it is determined that the S3318 bottom monitoring is ON and the bottom is detected as false, the process goes to S3311 to continue the process of waiting for the fish trust by going to the fish trust determination. If the determination in S3318 is true, for example, it is determined that the boat has been washed away and the water depth has become shallow and the fishing hook has reached the bottom. In S3319, a certain amount is wound up by the electric reel 12, and the fishing hook is firmly attached from the bottom. After releasing, go to S3306. This moves the fishhook to a depth that is a certain distance away from the bottom. Further, an embodiment may be adopted in which the process goes to S3306 without winding up a certain amount in S3319.

  In other words, when the automatic fishing system of the present invention determines that the fishing rod 1 has been stretched more than a certain amount of deflection during a certain period of time (for example, 4 seconds) during the monitoring of the fish letter, the movement of the fishhook. By executing the processing with the controller 30 that shifts to the processing (predetermined depth: fish faith monitoring depth), it is possible to automatically detect that the fishhook has reached the bottom and regain the bottom.

  Next, re-bottoming processing executed by the controller 30 provided in the automatic fishing system of the present invention will be described with reference to FIG.

  FIG. 14 added to the flowchart showing the automatic fishing control of FIG. 1 the initialization of the re-bottoming S3418 re-bottoming timer and the determination of S3419 re-bottoming on and re-bottoming timer time-up. It is a flowchart. These will be described in turn below.

In S3418 re-bottoming timer initialization, for example, a re-bottoming timer, for example, 30 seconds, is set in response to the movement of the fishhook to the fish faith monitoring depth.
Then, the determination of S3419 re-bottoming on and the re-bottoming timer time-up is a determination made while waiting for fishfish in the fishfish monitoring process of S3402, and the judgment condition of S3419 is that the angler has previously It is determined to be true when it is detected that the re-bottoming is set to perform the bottoming process and the re-bottoming timer is up.

  If it is determined that the re-bottoming is on and the re-bottoming timer is timed up in S3419, the processing for waiting for the fish is continued by going to the fish trust determination in S3411. If the determination in S3419 is true, for example, the flow goes to S3406 in order to prevent the boat from being washed away and the water depth deepening and the fishhook leaving the bottom. This allows the fishhook to be moved to a depth that is a certain distance away from the bottom.

  That is, if the automatic fishing system of the present invention does not determine that there is fishfish in the fishfish determination for a certain period of time (re-bottoming timer, for example, 30 seconds), the fishhook movement process (predetermined depth: fishfish) By performing the operation with the controller 30 that shifts to the (monitoring depth), the bottom can be retaken automatically to return the fishhook to a certain distance from the bottom.

  Next, a tana search process that is performed by the controller 30 included in the automatic fishing system of the present invention and performs a tana search that automatically matches the fishhook to match the fish swimming layer will be described with reference to FIG. .

  FIG. 15 is a flowchart showing the automatic fishing control of FIG. 1, in which the S3518 tana search timer initialization of the tana search process, the determination of S3519 tana search on and the tana search timer time-up, and the fish faith monitoring depth of S3520 = Fooshin monitoring depth-Flowchart with added search amount. These will be described in turn below.

In S3518 tana search timer initialization, for example, 1 minute is set in the tana search timer according to the movement of the fishhook to the fish faith monitoring depth,
The determination of S3519 tana search ON and the tana search timer time-up is a determination made while waiting for fish in the fish detection monitoring process of S3502. It is determined to be true when the tana search on setting for performing processing is set and it is detected that the tana search timer has timed out.

  If it is determined that the tana search is turned on and the tana search timer time is up in S3519, the process proceeds to the fish trust determination in S3511 to continue the process of waiting for the fish trust. If it is determined to be true in the determination in S3519, a depth obtained by moving a certain distance in the water surface direction by subtracting, for example, a search distance of a certain distance from the fish faith monitoring depth of the depth monitoring the fishfish in S3520 is newly set. The process of S3520 which sets to a deep fish faith monitoring depth is performed, and it goes to S3507. Until it is determined that there is fish faith, the depth of the fish swimming layer can be automatically searched and the fishhook can be aligned with the fish swimming layer.

  That is, if the automatic fishing system of the present invention does not determine that there is a fishfish for a certain time (tana search waiting time) in the fishfish determination, the fishfish monitoring depth moved by a certain distance (search amount) is newly set. By setting and executing as a fish fish monitoring depth and having the controller 30 shift to the fishhook movement process (predetermined depth: fishfish monitoring depth), the fishhook automatically matches the fish swimming layer. You can adjust the hook as you can.

  Further, it is desirable that the tana search on setting is turned off when it is determined in S3515 that the fish has been caught, so that at the next start of the automatic fishing control, the controller 30 performs the tana search processing. The fishhook can be moved to the fish watching depth of the fish swimming layer found, and the fish fish stayed in the fish swimming layer found in this fish catching tana search process can be monitored. As a result, fishing results can be obtained with certainty.

  Furthermore, when it is determined that there is a fish belief in S3511 determination, it is desirable to extend the time for initialization of the next tana search timer. This prevents the fishhook from catching the fish in the Kakakari determination in S3515. If it is determined that the fish is in the next S3511 determination, it is possible to confirm whether the fish has the depth of the layer in which the fish swims reliably at the depth of the fish trust. Thereby, it is possible to prevent the fish swimming layer from being overlooked.

  Furthermore, it is preferable that the automatic fishing system of the present invention includes the setter 46 that can set the tana search waiting time and the search amount, thereby reducing the time interval for performing the tana search and the amount by which the fishhook is moved during the tana search. Angler can set.

Furthermore, it is desirable that the automatic fishing system of the present invention includes a setting device 46 that can set a search reference depth and a search range. Etc.), it will be possible to perform a tana search that automatically matches the fishhook to match the fish swimming layer.
At this time, when it is determined that the search is outside the search range and the bottom is set in the search reference depth, the process proceeds to S3508 bottom movement processing.

  Next, see FIG. 16 for the fish detection process in which the controller 30 provided in the automatic fishing system of the present invention executes the process of setting the fish depth inquired to the fish detector at regular intervals as the fish faith monitoring depth. However, it will be explained.

  FIG. 16 is a flowchart showing the automatic fishing control of FIG. 1. In step S3618, the fish detection timer initialization of the fish detection processing, the determination of S3619 fish detection detection on and the fish detection timer time-up, and the fish of S3620 It is the flowchart which added the process which sets the depth of the fish faith acquired from the fish detector to the confidence monitoring depth. These will be described in turn below.

In S3618 fish detection timer initialization, for example, in response to moving the fishhook to the fish detection monitoring depth, a fish detection timer, for example, 5 minutes is set,
The determination of S3519 fish detection detection on and the fish detection timer time-up is a determination performed while waiting for the fish notification in the fish notification monitoring process, and the determination condition of S3519 is that the angler performs the fish detection process in advance. When it is detected that the fish detection detection ON to be set is set and it is detected that the fish detection timer has expired, it is determined to be true.

  If it is determined in S3619 that the fish detection detection is on and the fish detection timer time is up, the process proceeds to S3611 and the process of waiting for the fish notification is continued. If it is determined to be true in the determination in S3619, a process of setting the depth of the fish school acquired from the fish detector to the fish faith monitoring depth in S3620 is executed, and the process goes to S3606. This allows the fishhook to be aligned with the fish swimming layer.

  That is, if the automatic fishing system of the present invention does not determine that there is a fishfish for a certain period of time (fishfish detection timer) in the fishfish determination, the depth of the fish school inquired to the fishfinder every new time is updated. The fish which automatically inquires the fish finder for the fishhook by executing the controller 30 which is set as the fishfish surveillance depth and is shifted to the fishhook movement process (predetermined depth: fishtrust monitoring depth). It can be moved to the depth of the fish and can be monitored.

  In addition, in the fish detection detection setting, if it is determined in S3611 that the fish notification is present, the fish detection detection setting is turned off, and the next fish detection timer initialization time is extended. This embodiment may be used, so that the fishhook can be kept on the swimming layer. An embodiment in which the fish detection timer time can be set by the setting device is desirable.

  Next, the threading process executed by the controller 30 provided in the automatic fishing system of the present invention will be described with reference to FIG.

  FIG. 17 is a flowchart showing the automatic fishing control of FIG. 1, in which the on-pass and on-pass determination of S3718 is received by the communication device provided in the automatic fishing system at the fish faith monitoring depth of S3719. It is the flowchart which added the process which sets the depth traversed from other nearby automatic fishing systems. These will be described in turn below.

  In S3718, the determination that the horizontal reception is on and the horizontal reception is received is a determination that is performed while waiting for a fish signal in the fish signal monitoring process, and the determination condition in S 3718 is that the angler is set to perform the process in advance. If the horizontal on is set and the communication device 41 provided in the automatic fishing system further receives a horizontal from other nearby automatic fishing systems, it is determined to be true.

  If it is determined that the horizontal reception is ON and the horizontal reception is present in S3718, the process proceeds to S3711 to continue the process of waiting for fish. If the determination at S3718 is true, the communication device 41 provided in the automatic fishing system at S3719 sets the threaded depth received from other nearby automatic fishing systems. Execute and go to S3706. This allows the fishhook to align with the fish swimming layer found by other nearby automatic fishing systems.

  That is, when the automatic fishing system of the present invention receives a horizontal passage by the communication device 41 from another automatic fishing system in the vicinity, the horizontal penetration depth is set as a new fish faith monitoring depth, By running with a controller 30 that transitions to a moving process (predetermined depth: fish-line monitoring depth), the fishfish swimming depth found by other nearby automatic fishing systems is automatically passed through the fishhook by passing through the fishhook. It can be moved to and the fish faith monitoring can be performed.

  In addition, it is desirable to determine whether or not to receive crossing based on the fish species crossed along with the depth and the target fish species when crossing from other nearby automatic fishing systems. . Only when the traversed fish species matches the target fish species can the fishhook be aligned with the fish swimming layer found by other nearby automatic fishing systems.

  Next, a description will be given, with reference to FIG.

  FIG. 18 is a flowchart in which the automatic fishing control of FIG. 1 is added with the S3818 Shakuri timer initialization of the shakku process, the determination of S3819 Shaklion and Shakuri timer time-up, and the shakling operation process of S3820. is there. These will be described in turn below.

In S3818 Shakuri Timer initialization, for example, before starting the Fish Trust monitoring process in S3802, a Shakki timer, for example 10 seconds, is set.
The determination of S3819 Shaklion and Shakuri timer time-up is a determination made while waiting for the fish belief in the fish belief monitoring process. The determination condition of S3819 is that the angler is pre-set to perform the shackle process. Is set, and it is determined to be true when it is further detected that the time of the shadow timer has expired.

  If it is determined to be false in S3819, the process of waiting for fish faith is continued. If it is determined to be true in S3819, a shackle operation (which may be performed several times) is performed to drive the electric reel 12 in S3820 to wind up the fishing line by a certain distance and feed a certain distance, and the process goes to S3818. .

  In other words, the controller 30 provided in the automatic fishing system of the present invention executes the shackle processing provided for the automatic fishing control, so that the fish can be shaved and invited to the fish. In addition, an embodiment in which the brush timer time can be set by the setting device 46 is desirable.

  In other words, if the automatic fishing system of the present invention does not determine that there is a certain amount of time (shakuri timer) fish belief in the fish belief determination, it is provided with a controller 30 that performs a shackle operation so that When there is not, it is possible to perform a shaving operation.

  Next, the bait change process which the controller 30 with which the automatic fishing system of this invention was equipped performs is demonstrated, referring FIG.

  FIG. 19 is a flowchart obtained by adding the initialization of the S3918 feed change timer of the bait change process and the determination of S3919 bait change on and the bait change timer time-up to the flowchart showing the automatic fishing control of FIG. These will be described in turn below.

S3918 bait change timer initialization, for example 20 minutes of bait change timer is set in response to the start of the automatic fishing control,
And the determination of S3919 bait change ON and the bait change timer time-up is a determination made while waiting for the fish belief in the fish belief monitoring process, and the determination condition of S3919 is a setting in which the angler performs the bait change process in advance. Is determined to be true when it is detected that feed change on is set and the feed change timer time is up.

  If it is determined that the feed change is on and the feed change timer time is up in S3919, the process goes to S3911 to continue the process of waiting for the fish. If the determination at S3919 is true, the target movement process at S3917 is executed to move the fishhook to the water surface.

  That is, the automatic fishing system of the present invention includes a bait change timer that is set in response to the start of automatic fishing, and includes a controller 30 that moves the fishhook to the surface of the water when the bait change timer expires. With the feed change timer, you can change the feed.

The automatic fishing system of the present invention sets an electric reel 12 that feeds and winds a fishing line, a deflection amount detection sensor 2 that is attached to the fishing rod 1 and detects the deflection amount of the fishing rod 1, and various fishing conditions. Setting device 46, reel rotation detector 38 for detecting the driving amount of electric reel 12, detection output of deflection amount detection sensor 2, detection output of reel rotation detector 38 for electric reel 12, and setting device 46 Based on the various fishing conditions, the fish of the processing which controls the driving amount of the electric reel 12 and moves the fishing hook to a predetermined depth, and the processing of monitoring the presence of the fish faith until there is a fish faith. A controller that executes a series of sequence of a watch monitoring process, an awase process for winding a fishing line by a certain amount, and a process for determining whether or not a fishhook has been hung on a fish By providing the 0,
Because it is possible to automate all the processes that are actually necessary for fishing and fishing, moving fish hooks, fish faith monitoring, awase, and further crisp determination,
Even beginners of fishing can easily and surely raise the fishing results, and can perform fishing and fishing work more efficiently than before, thereby reducing the labor and raising the fishing results efficiently.

The automatic fishing system of the present invention includes a controller 30 that executes the wake processing and winds up a certain amount of fishing line with the electric reel 12, and then executes the cracking processing to determine whether or not there is a fish trust. Therefore, it is possible to automatically determine whether or not the fishhook has been applied to the fish in a short time without moving the fishhook to the water surface.
If there is a fish beetle but the fish does not have a fishhook, automatic fishing can be resumed efficiently and in a short time without moving the fishhook to the surface of the water. It is possible to prevent a problem that the fishhook is wound up to the surface of the water even though the fishhook is not hung on the fish, and the problem of wasting time can be prevented.

When the automatic fishing system of the present invention determines that a fishhook has not been applied to the fish by executing the caulking process, the process returns to the fishhook movement process, the fishhook movement process, the fish faith monitoring process, and the horsetail process. The controller 30 is configured to execute a series of the Kakari process, or to return to the fish faith monitoring process, and to execute the sequence of the fish faith monitoring process, the awase process, and the Kakari process. When the sequence (the automatic fishing control) is started, the series of sequences can be automatically repeated until it is determined that the fishhook is securely hooked on the fish.
Just by the angler's operation to start automatic fishing control, everything can be done fully automatically until the fish is securely hooked and fished, and fishing and fishing work can be performed more efficiently than before, reducing labor. In addition, since it can be performed fully automatically, it is possible to easily use a large number of automatic fishing systems of the present invention at the same time and improve the fishing results.

When the automatic fishing system of the present invention sets the amount of bending when the fishing rod 1 is bent in a neutral state with a load such as a weight as a neutral amount of bending, the detection of the bending amount detection sensor 2 The output was sampled for a certain time (for example, 100 ms for 4 seconds),
Median,
Average value,
By providing a setting device 46 that sets at least one of the two as a neutral deflection amount,
Even in a situation where the boat swings from side to side in a cycle of 2 seconds and the fishing rod 1 extends and bends in a cycle of 2 seconds, the angler can easily and accurately set the neutral deflection amount.

The automatic fishing system of the present invention is provided with a setting device 46 that can set and register two or more types of [0] to [29], for example, 30 types of [0] to [29]. Since it is possible to simultaneously determine the presence or absence of a plurality of fish beliefs according to the plurality of fish belief determination patterns in the fish belief determination based on a plurality of fish belief determination pattern bases,
At the same time, it is possible to monitor fish fish according to fish fish of a plurality of fish species, and it is possible to efficiently monitor a wide variety of fish fish.

The automatic fishing system of the present invention has a setting device 46 that can set and register two or more fish confidence judgment patterns of 30 types [0] to [29] with a small amount of information (no need to have a database etc.). By preparing, it is possible to determine the presence or absence of fish trust of various fish species based on the fish trust determination pattern of a plurality of settings registered small amount of information (no need to have a database etc.),
While it is possible to determine the presence or absence of a wide variety of fish trusts of various fish species, it is possible to perform simple processing such as fish trust judgments with simple equipment that does not need to have a database etc. , Equipment and processing can be simplified.

The automatic fishing system of the present invention is
The confirmation time,
The appearance count monitoring time and the appearance count threshold,
The bending direction,
By providing a setting device 46 that can set and register at least one of the fish-trust determination patterns using the above, the situation where the fishing boat 1 swings left and right at a cycle of 2 seconds and the fishing rod 1 stretches and bends at a cycle of 2 seconds. The disturbance factor can be eliminated in advance even in situations where vibration noise is generated by the engine of the ship or the ship, or in situations where, for example, small horse mackerel in the live bait vibrates. The result can be made even more reliable.

The automatic fishing system of the present invention is
The deflection width threshold,
The bending speed threshold, the bending acceleration threshold, the appearance frequency monitoring time, and the appearance frequency threshold,
The confirmation time,
By providing a setting unit 46 that can set and register at least one of the fish-trust determination patterns using the bending direction, it is possible to hook a fish on the fish from among the fish-fishes that have been set and registered. Because it is possible to determine the presence or absence of fish trust based on the fish trust determination pattern that can be determined that there is a fish trust,
It is possible to perform the wakese operation by performing the awaze process at a timing at which the fishhook can be hung on the fish from among the fish trusts, so that the fishhook can be hung on the fish efficiently and the number of fish can be increased.

The automatic fishing system of the present invention is
The deflection width threshold,
By providing a setting device 46 capable of setting and registering at least one of the fish pattern determination patterns using the bending speed threshold value and the bending acceleration threshold value, Because it can determine the presence or absence of fish trust based on the fish trust determination pattern based on the fish trust determination pattern that can determine the presence or absence of
For example, even if the speed of the tidal current changes slowly, the viscous resistance received by the device changes slowly, and the amount of neutral deflection of the fishing rod 1 changes slowly (drift), disturbance factors such as this slowly changing disturbance Can be eliminated in advance, so that the results of the fish trust determination and the crack determination can be made more reliable.

The automatic fishing system of the present invention is
The neutral deflection difference threshold,
By using the setting device 46 that can set and register the fish identification pattern using Since it is possible to determine the presence or absence of fish trust in the fish trust determination based on the fish trust determination pattern,
It is possible for anglers to share the fish belief determination pattern using the neutral deflection amount difference threshold value, and therefore the neutral deflection amount difference threshold value for all anglers using the automatic fishing system of the present invention. It is possible to share the fish faith judgment pattern using.

The automatic fishing system of the present invention is
The neutral deflection difference threshold,
The deflection width threshold,
The deflection rate threshold,
The deflection acceleration threshold,
By providing a setting device 46 capable of setting and registering at least one of the fish trust judgment patterns and the deflection coefficient, the influence of the fish that does not depend on the characteristics and the deflection characteristics of the fishing rod 1 registered and registered. By setting the value of the fish trust judgment pattern with a threshold value converted into the bending force of the unit such as Kg or the tension of the fishing line in which only the influence is unified, the “property and the bending characteristic of the fishing rod 1 can be completely set. Unifying only the influence of the fish that does not depend, for example, the fish trust judgment pattern of the threshold value of the value converted into the bending force of the unit such as Kg or the tension of the fishing line, and the detection output of the bending amount detection sensor 2 are unified. For example, it is possible to determine the presence or absence of fish faith in the fish faith judgment based on the deflection amount of the value converted into the bending force of the unit such as Kg or the tension of the fishing line,
For all fishing rods with various properties and characteristics, this “Fishin judgment of the threshold value of the value converted into a unit such as Kg, etc., which unifies only the influence of the fish that does not depend on the properties and deflection characteristics of the fishing rod 1 at all. The pattern "can be shared, i.e., all anglers who use the automatic fishing system of the present invention can centralize only the influence of the fish that does not depend on the nature and deflection characteristics of the fishing rod 1 for example. It is possible to share the fish trust judgment pattern “with a threshold value converted into a unit such as Kg.

The automatic fishing system of the present invention is
By providing a setting device 46 that can duplicate and register the same type of fish faith judgment pattern (for example, [20] fish faith judgment pattern) when setting and registering, for example, 3 seconds or more and 2 kilos in 5 seconds. Detecting the amount of bending twice,
Detecting the bending amount of 1 kilometer or more for 1 second in 15 seconds,
Since it becomes possible to determine the presence or absence of fish trust in the fish trust determination based on the fish trust determination pattern that has been set and registered in duplicate,
Furthermore, it becomes possible to express a wide variety of fish beliefs of many fish species, and based on the fish belief determination pattern that represents a wide variety of fish beliefs of many fish species, It becomes possible to determine the presence or absence of communication.

The automatic fishing system of the present invention includes a communication device 41 that can receive and set a setting value instead of the setting device 46, so that the fish faith determination pattern is transmitted from the external terminal via the communication device 41. Can receive settings and register settings, etc.
For example, the fisherman can download the fish pattern judgment pattern of the fish species to be targeted from an internet vendor site in advance via an external terminal, and can easily set and register it. Even fishing amateurs who do not know can be able to make the same fish trust judgment as an expert, can perform an awase operation at the same timing as an expert, and can obtain fishing results equivalent to an expert It becomes possible.

The automatic fishing system of the present invention is
It was determined that there was no fish faith for a certain time in the fish faith judgment,
The number of times that the fish trust determination is determined to be absent and the fish trust determination is repeated is a certain number of times,
In the embodiment, the controller 30 is provided to determine that there is a fish fish when it detects at least one of the above, and thus, by executing the series of sequences, the movement of the horsetail and the fishing hook (the movement without the fishing hook may be performed). ) And because the fish trust judgment can be performed, it is possible to perform the scorching action with the empty wake, improve the fishing results by attracting the fish efficiently, and generate less fish faith even if hooked on the fishhook You can catch fish species.

The automatic fishing system of the present invention is
For example, [12] of the fish faith determination pattern,
In the bending direction, the “extending direction”
For example, 4 seconds
A constant amount of bending between the initial value and the amount of neutral bending is set as the amount of bending threshold.
It is desirable to have a setting device 46 that can register settings.
As a result, when the water depth becomes shallow and the fishhook comes to the bottom, it is determined by the fish belief that there is a false fish bean, and the series of sequences is executed to execute the wake, movement of the fishhook, and the fish. Because it can make a judgment
It becomes possible to remove the bottom automatically when the water depth becomes shallow during the monitoring of the fish and the fishhook reaches the bottom, and it is possible to prevent the occurrence of root crackles.

Further, the automatic fishing system of the present invention includes a setting device 46 that can add and register a fish type or the like to each of a plurality of preset fish fish judgment patterns. Based on the fish species and the like added to the fish belief determination pattern determined to have, it is possible to specify the fish species of fish trust,
It is possible to perform, for example, an urchin operation according to the fish type and the like specified in the subsequent processing, and the fish hook can be efficiently hung on the fish.
Further, in the fishing history that records various events that occur in the automatic fishing system in the memory 36, for example, an event that is determined to have been caught by the Kakari process, In addition to the date and time, the depth of the fishhook, and the position coordinates of the detection output of the GPS 45, for example, the specified fish species can be registered. For example, the fisherman can easily place these histories in the external terminal, for example, on the screen of the external terminal such as a chart on the computer screen or on a map where the fish trust is found or where the fish is caught. Can be displayed, and the angler can refer to it as a fishing diary. Further, it may be expressed in 3D.

The automatic fishing system of the present invention includes a setting device 46 that can further set and register a priority by adding a priority to each of the plurality of fish faith judgment patterns that have been set and registered in advance. (During the determination time with the high fish belief determination pattern, it is possible to hold or discard the result determined by the fish belief determination based on the fish belief determination pattern with low priority) Regardless of whether or not according to the priority added to the fish belief determination pattern intended by the angler, the result determined that there is fish belief in the fish belief determination can be suspended or discarded,
For example, “priority → high fish faith judgment pattern 2.5Kg (the deflection amount threshold value) over 4 seconds (determined time): fish type A” and “priority → low 1Kg (the (Bending amount threshold) or more is detected twice in 5 seconds (appearance count monitoring time) (appearance count threshold): in the situation where the fish faith is monitored simultaneously with the fish species B ” When the condition of the fish belief determination pattern of the fish species B is satisfied in a state in which the output of the output of the detected deflection amount sensor 2 is 3Kg, the monitored deflection amount detection sensor 2 Since the detected deflection amount is 3 kg which is equal to or higher than the priority order → high fish species A threshold of 2.5 kg (the deflection amount threshold), it is suspended that fish species B has been determined It becomes possible to do.
In this way, for example, regardless of the magnitude of the deflection amount threshold or the like, it is possible to give priority to the determination of the fishery intended by the angler. As a result, when it is determined in the fish bean determination that, for example, there is a fish bean according to the small horse mackerel fish bean determination pattern, the electric reel is driven to move the fishhook to the bottom, and It is possible to automatically do things such as aiming.

The automatic fishing system according to the present invention determines whether or not there is a fish belief in the fish belief determination, and when it is determined that there is a fish belief, a memory 36 (stores various events generated in the automatic fishing system ( For example, in the fishing history assigned to EEPROM, etc., registering the depth of the fishhook, the position coordinates of the detection output of GPS45, etc. Since the angler can suck up these data from the external terminal via the communication device 41 by providing the controller 30 to be
It is possible to automatically create a fishing diary. For example, the depth, fish type, etc., where the fish faith is determined are displayed at a position where it is determined that there is a fish chart on the computer screen or a map. It is possible to refer to and save data such as how the ship moved and at which depth and at what depth the fish faith was judged, which allows the angler to Can learn for.

  The automatic fishing system of the present invention has a setting device capable of setting at least one of the amount of the wase and the speed of the wase for the hoist operation of winding up the electric reel 12 at a constant speed (the amount of the wase) provided. 46, because the controller 30 can wind up and drive the electric reel 12 with the amount of awaze set in advance according to the fish targeted by the angler and the speed of the ace, and perform the urase operation. By using a small or low speed, you can prevent the fishhook from being broken and the fishhook coming off. For example, for fish with a hard mouth, use a large or high speed to fasten the fishhook firmly on the fish mouth. Can be prevented, and it is possible to prevent the fish from being missed.

The automatic fishing system according to the present invention includes the setting device 46 that can set and register a plurality of the amount of the horseradish, the speed of the horseradish, the fish type, and the like, so that the fish faith determination pattern determined to have a fish trust in the fish trust determination. Based on the fish species and the like added to the above, the amount of awase and the awase speed of the fish species can be searched from the awase amount and the awase speed and the fish species registered in advance. The rewase operation can be performed by winding up and driving the electric reel 12 at the rewase speed with the searched amount of rewase.
Even if you are aiming for a soft-mouthed fish species and a hard-mouthed fish species at the same time, it is possible to perform the appropriate wakese action according to the fish species, and the soft-mouthed fish species will break the mouth and the fishhook will come off. It can be prevented, and a fish species having a hard mouth can prevent a fishhook from being hung on the fish mouth.

In the automatic fishing system of the present invention, when it is determined whether or not there is a fish beet in the fish belief determination, when it is determined that there is a fish beet, a fishing line is wound up by a certain amount on the electric reel 12,
Repetitively determining for a certain period of time whether or not there is a fish trust (the fish trust determination),
Determining whether or not there is a fish trust in the crack determination (the fish trust determination) over a certain period of time;
It is determined whether or not there is a fish trust by repeating the power determination (the fish trust determination) a certain number of times.
By including a controller 30 that performs (executes) at least one of the following:
When it is not determined that there is a fish belief in the crisp determination (the fish belief determination), the fish bean is detected and wrought, but it can be determined that no fishhook has been applied to the fish.
When it is determined that the fishhook has not been hung on the fish, the process returns to the fishhook movement process, and a series of the fishhook movement process, the fish belief monitoring process, the scouring process, and the cracking process is executed, or Returning to the fish trust monitoring process, it becomes possible to execute a series of sequences of the fish trust monitoring process, the awase process, the cracking process,
As a result, the angler can start the automatic fishing control, for example, by simply pressing an operation start button, it is possible to fish fully automatically until the fish is hooked and fished.

A memory 36 for storing various events generated in the automatic fishing system when the automatic fishing system of the present invention determines whether or not a fishhook has been hung on the fish in the caulking process. The fishing history assigned to (for example, EEPROM, etc.) is the event that the fishhook is hung on the fish, and the depth of the fishhook determined to have fishfish by the fishfish judgment, the position coordinates of the detection output of GPS 45, etc. By providing the controller 30 to be registered, the angler can suck up these data from the external terminal via the communication device 41,
It is possible to automatically create a fishing diary, and for example, arrange and display the depth, fish type, etc., where the fish trust was determined at the position where the fish on the nautical chart on the computer screen or the map hooked the fishhook It is possible to refer to and save data such as how the ship moved and at which depth and how many fish were caught, so that the angler can prepare for the next fishing You can learn.

  The automatic fishing system of the present invention includes a setting device 46 that can set the bottom detection deflection amount that is a constant deflection amount between the initial value state where the fishing rod 1 is stretched and the neutral deflection amount. Thus, it becomes possible to simultaneously adjust the speed of moving the fishhook in the bottom direction and the tension of the fishing line, and the speed of easily moving the fishhook in the bottom direction and the tension of the fishing line can be adjusted simultaneously.

  The automatic fishing system of the present invention includes a setter 46 that can set the hoisting bend amount that is a constant bend amount between the neutral bend amount and the limit bend amount of the fishing rod 1. Since the speed of moving the fishing line in the water surface direction and the tension of the fishing line can be adjusted simultaneously, the speed at which the angler easily moves the fishing hook in the water surface direction and the tension of the fishing line can be adjusted simultaneously.

  The automatic fishing system of the present invention includes a controller 30 that continues to apply, for example, an electric brake or the like to a motor driver 39 or the like for driving the motor 42 of the electric reel 12 while the electric reel 12 is stopped. The controller 30 can be controlled by the controller 30, for example, without providing a device such as an electronic clutch or an actuator, the fishing line can be prevented from being pulled out due to a large attack or a ship's shaking, thereby reducing the size and cost. It becomes possible to do.

  The automatic fishing system of the present invention includes the controller 30 that executes the processing of moving the fishhook, so that the depth relative to the water surface, the bottom, the depth relative to the bottom, and the driving amount of the electric reel 12 to the water surface. The fishing hook can be moved by controlling the angle, so that it is possible to easily detect bottom fishing by reliably detecting the arrival at the bottom, and it is possible to easily move to the depth based on the water surface, so that mid-level fishing is easy. And the fishhook can be moved to the water surface with certainty.

The bottom of intermediate fishing (the bottom fishing setting off) in which the automatic fishing system of the present invention performs fishing at a depth based on the water surface and bottom fishing (the bottom fishing setting on) in which fishing is performed at a depth based on the bottom. By providing a setting device 46 that can perform fishing settings, the controller 30 switches between mid-level fishing and bottom fishing by automatic fishing control based on the bottom fishing settings that are set according to the fish that the angler aims at, and performs full-automatic fishing. Because you can
Full-automatic bottom fishing and full-automatic mid-level fishing can be performed, and full-automatic fishing can be performed by switching between bottom fishing and mid-level fishing according to the fish aimed by the angler.

The automatic fishing system of the present invention uses, for example, a bottom detected deflection amount (a constant deflection amount between the initial value and the neutral deflection amount) shown in FIG. 4 as the target servo deflection amount. By including the controller 30 for controlling the amount of servo deflection to control the amount of deflection of the fishing rod 1 by controlling the driving direction and the driving speed of the electric reel 12, the controller 30 always has the electric reel 12. By controlling the driving speed and driving direction (driving amount) of the fishing rod 1, it becomes possible to match the amount of bending of the fishing rod 1 with the target servo bending amount (the amount of bottom detecting bending), and to keep the fishing line tension constant. Because the fishhook can be moved to the bottom while adjusting,
The feeding speed of the electric reel 12 can be automatically adjusted to the speed at which the fisher sinks arbitrarily, and it is always automatically adjusted to the minimum fishing line tension (the bottom detection deflection). This makes it possible to move the fishhook toward the bottom at the fastest speed while preventing the occurrence of back crashes, shortening the movement time, and further, when the fishhook reaches the bottom, By being able to stop or stay in a certain range, it is possible to prevent root crackle, and if the fishing line is loose at the bottom, it becomes possible to wind up the slack of the fishing line and prevent root crackle, Furthermore, it becomes possible to eliminate unpredictable fishing line tension and slack due to the expansion and bending of the fishing rod 1 caused by the tip of the fishing rod moving up and down due to the influence of disturbance such as a ship shaking. In can be prevented that the back crash, also possible to prevent the problem of slowing down the rate at which the sinking of the weights in the tension of the fishing line.

The automatic fishing system of the present invention uses, for example, the amount of winding deflection (a certain amount of deflection between the neutral deflection amount and the limit deflection amount) shown in FIG. 4 as the target servo deflection amount. By including the controller 30 for controlling the amount of servo deflection to control the amount of deflection of the fishing rod 1 by controlling the driving direction and the driving speed of the electric reel 12, the controller 30 always has the electric reel 12. By controlling the driving speed and driving direction (driving amount) of the fishing rod 1, it becomes possible to match the deflection amount of the fishing rod 1 with the target servo deflection amount (the winding deflection amount), and adjust the tension of the fishing line to be constant. However, since the fishhook can be moved in the water surface direction,
It is possible to eliminate unpredictable fishing line tension and slack due to the expansion and bending of the fishing rod 1 caused by the tip of the rod moving up and down due to disturbances such as the fish being caught wild or the ship shaking. It is possible to prevent the needle from coming off and the mouth of the fish from being torn. Furthermore, it becomes possible to stop the electric reel 12 at the time of root cracking, and it is possible to prevent the fishing line from being cut and the power from being wasted.

The automatic fishing system of the present invention uses the neutral deflection amount shown in FIG. 4 as the target servo deflection amount, for example, and controls the driving direction and the driving speed of the electric reel 12 to the target servo deflection amount. By providing the controller 30 for executing the servo deflection amount control for adjusting the deflection amount of the fishing rod 1, the controller 30 always controls the driving speed and the driving direction (driving amount) of the electric reel 12 and the deflection of the fishing rod 1. The amount can be adjusted to the target servo deflection amount (the neutral deflection amount), and the fishing hook can be stopped while adjusting the tension of the fishing line to be constant.
It becomes possible to eliminate the tension and slack of the fishing line due to the expansion and bending of the fishing rod 1 caused by the drooping of the tip of the fishing rod due to unpredictable disturbance effects such as swaying the ship violently due to aging. It is possible to stop at a depth. For example, when a boat sways violently due to aging and the fishhook moves up and down, it is possible to prevent the fish from being surprised and escaping. Furthermore, when the depth becomes shallower and the fishing hook reaches the bottom, the slack of the fishing line can be taken up automatically, and root cracking can be prevented.

As shown in FIG. 2 (b), the automatic fishing system of the present invention includes a setting device 46 that can set the target servo deflection amount, so that the moving speed of the fishing hook and the tension of the fishing line can be adjusted simultaneously. Because you can
The angler just makes this setting,
Setting the speed of moving the fishhook in the water surface direction and the tension of the fishing line,
Setting the speed to move the fishhook to the bottom and the tension of the fishing line,
Setting to keep the fishing line tension constant by stopping the fishhook,
Can be set easily.

As shown in FIG. 2 (c), the automatic fishing system of the present invention includes a setting device 46 that can set the servo deflection amount coefficient, so that the current deflection amount of the fishing rod 1 and the target servo deflection are set. Since the servo deflection amount coefficient for calculating the driving speed and the driving direction of the electric reel 12 according to the difference in the amount of rotation can be adjusted,
By adjusting the servo deflection amount coefficient, the angler adjusts the moving speed of the fishing hook in accordance with the deflection amount of the fishing rod 1 which is easily used. Will be able to.

The automatic fishing system of the present invention is
The detected bottom bending amount (a constant bending amount between the initial value and the neutral bending amount) is used as the target servo bending amount, and the driving direction and driving of the electric reel 12 are driven to the target servo bending amount. During the servo deflection control that controls the speed to match the deflection of the fishing rod 1,
That the electric reel 12 has stopped for a certain time (for example, 4 seconds);
The depth of the current depth variable has not changed for a certain period of time (eg 4 seconds),
The depth of the hook remains at a certain range of depth for a certain period of time (for example, the depth of the current depth variable remains within a range of 0.5 m, for example, for 4 seconds),
By having a controller 30 for determining that it has arrived at the bottom by detecting at least one of
During the servo deflection control, it is possible to reliably detect that the fishhook has arrived at the bottom.
By using the servo deflection control, bottom fishing for fishing at a depth based on the bottom can be performed automatically.

The automatic fishing system of the present invention is
Bottom detected bending amount (a constant bending amount between the initial value and the neutral bending amount),
Alternatively, the amount of winding bend (a certain amount of bend between the neutral bend amount and the limit bend amount) is set as the target servo bend amount, and the drive direction of the electric reel 12 is set to the target servo bend amount. During the servo deflection amount control for adjusting the deflection amount of the fishing rod 1 by controlling the driving speed,
By monitoring the fact that the depth of the current depth variable indicating the depth of the current fishhook and the depth of the moving target coincide with each other, and by providing a controller 30 that stops the electric reel when they coincide, the servo deflection amount is being controlled. In addition, it can detect and stop the fishhook reaching the target depth,
By using the servo deflection amount control, mid-level fishing for fishing at a depth based on the water surface can be performed automatically.

The automatic fishing system of the present invention uses the detected bottom bend amount (a constant bend amount between the initial value and the neutral bend amount) as the target servo bend amount. During the servo deflection amount control in which the deflection direction of the fishing rod 1 is adjusted by controlling the driving direction and the driving speed of the reel 12, the bottom amount in which the deflection amount of the fishing rod 1 is constant for a certain period of time. It is monitored that the state where the detected deflection amount is below (the fishing rod 1 is extended from the bottom detected deflection amount) continues, and the state where the fishing rod 1 is bent below the detected bottom deflection amount for a certain period of time. By providing the controller 30 that stops the electric reel 12 by detecting that it has continued, the fishing rod 1 has been extended beyond a certain amount of deflection for a certain period of time during the servo deflection control that moves the fishhook in the direction of the water surface. If this is detected, the electric reel 12 is stopped (the servo deflection amount control is terminated). Since the can,
It is possible to automatically detect that the fishing line has been cut off, and to notify the angler of that fact. Further, when it is detected that the fishing line has been cut, the electric reel 12 can be stopped, and the broken fishing line. Can be prevented from being wound up by the electric reel 12.

The automatic fishing system of the present invention is
The winding deflection amount (a constant deflection amount between the neutral deflection amount and the limit deflection amount) is set as the target servo deflection amount, and the driving direction and driving of the electric reel 12 are driven to the target servo deflection amount. During the servo deflection control that controls the speed and adjusts the deflection of the fishing rod 1,
That the electric reel 12 has stopped for a certain time (for example, 4 seconds);
The depth of the current depth variable has not changed for a certain period of time (eg 4 seconds),
The depth of the hook remains at a certain range of depth for a certain period of time (for example, the depth of the current depth variable remains within a range of 0.5 m, for example, for 4 seconds),
By detecting at least one of them, it is determined that the root is crisp and the electric reel 12 is stopped.
It is possible to automatically detect root cracks and notify the angler of that fact, and further, it is possible to stop the electric reel 12 (end the servo deflection control) and prevent waste of power. In addition, the electric reel 12 can be prevented from being damaged.

The automatic fishing system of the present invention is
The neutral bend amount or the hoist bend amount (a constant bend amount between the neutral bend amount and the limit bend amount) is set as the target servo bend amount. 12. Controlling the driving direction and driving speed of 12 to match the amount of bending of the fishing rod 1 During the servo bending amount control, that a certain amount of fishing line has been sent out, that the fishing line has been sent out at a certain speed or more. By having a controller 30 to monitor,
Because it is possible to determine that there is a fish trust by sending a certain amount of fishing line, or by sending fishing line at a certain speed or higher,
When the neutral deflection amount is set as the target servo deflection amount, for example, it is possible to prevent the fishing hook from moving up and down due to the ship swinging due to aging and the tip of the fishing rod 1 moving up and down. Can prevent fish from escaping in surprise. Furthermore, it becomes possible to automatically relax the tension of the fishing line generated by the fish pulling the bait, preventing the fish from feeling uncomfortable and spitting out the bait (fishhook), and eating the bait (fishhook) efficiently into the fish In addition, it becomes possible to identify fish faith even in the aging, and it is possible to raise the fishing results in the aging.
When the amount of winding deflection is the target servo deflection amount, the influence of disturbance such as ship swaying is eliminated, and the presence or absence of fish faith is judged while winding the fishing line (squid) with a certain tension. This makes it possible to perform squid fishing efficiently and improve fishing results.

While the automatic fishing system of the present invention feeds and drives the electric reel 12,
The electric reel is stopped by extending the fishing rod 1 from a certain amount of deflection for a certain period of time.
The electric reel is decelerated when the fishing rod 1 extends from a certain amount of deflection for a certain period of time.
The electric reel is gradually decelerated as the fishing rod 1 extends from a certain amount of deflection for a certain period of time.
And a controller 30 for monitoring that “the fishing rod 1 is stretched from a certain amount of deflection for a certain period of time”.
“Further, the fishing rod 1 extends from a certain amount of deflection for a certain period of time”, so that it is possible to reliably detect that the fishing line has come to the bottom and the fishing line has loosened while the electric reel 12 is being fed out. Even when 12 is fed out and driven, it is possible to reliably detect that the fishing hook has reached the bottom, and to prevent root cracks.
Further, since the fishing rod 1 does not extend more than a certain amount of deflection for a certain period of time, it can be detected that the electric reel 12 has been fed and driven at a speed higher than the weight sinking speed. Can be driven one step later to match the speed at which the weight sinks.

The automatic fishing system of the present invention is
While winding up the electric reel 12,
By including a controller 30 that performs at least one of stopping or sending out the electric reel 12 when the fishing rod 1 is bent from a certain relatively large bending amount,
While the electric reel 12 is being driven to wind up, the electric reel 12 can be stopped or sent out by being bent by the fishing rod 1 from a certain relatively large deflection amount.
When the electric reel 12 is stopped because the fishing rod 1 is bent by a certain relatively large deflection amount while the electric reel 12 is driven to wind up, the thread breakage or the caught fish may be broken or the fishing rod may be broken. 1 can be prevented from being damaged, and furthermore, the electric reel can be stopped at the time of root cracking. Therefore, it is possible to prevent wasteful consumption of electric power and to prevent the electric reel 12 from being damaged.
In addition, when the electric reel 12 is driven to be driven out due to the fishing rod 1 being bent from a certain relatively large bending amount during the winding operation of the electric reel 12,
Since the strong tension of the fishing line generated when the fish is pulled strongly can be eliminated, it is possible to prevent the thread from being broken or the fish that has been caught from falling apart.

The automatic fishing system of the present invention performs the fish belief determination to determine whether or not there is a fish shin, and it is determined that there is no fish bream for a certain period of time, or that the tip has been stabilized after a certain time has elapsed. By providing the controller 30 that executes the tip stability waiting process, the tip stability waiting process can be executed and the tip vibration can be eliminated.
Since it is possible to reliably wait until the tip vibration caused by the influence of the disturbance is settled and stabilized, it is possible to prevent erroneous judgments in the fish trust judgment and the crack judgment performed after executing the tip stabilization waiting process. I can do it.

The automatic fishing system of the present invention includes a controller 30 that monitors that the tip is not determined to be stable for a certain time in the tip stability waiting process.
Since it is not determined that the tip has been stabilized for a certain time in the tip stabilization waiting process, it is possible to detect that a fish has already been caught on the fishhook before performing the tip stabilization waiting process. You can move to the process, or you can move to the fish trust monitoring process to check again.

The automatic fishing system of the present invention was calculated from the disturbance amount of the detection output of the disturbance sample 37 monitored by the controller 30.
Disturbance width that is the fluctuation width of the amount of disturbance during a certain time,
Disturbance change speed, which is the amount of change in the amount of disturbance for a certain time
Disturbance acceleration, which is acceleration calculated from the amount of disturbance during a certain period of time,
A preset disturbance width threshold,
Disturbance change rate threshold,
Based on the disturbance change rate threshold,
The disturbance width, which is the fluctuation amount of the disturbance amount during a certain period of time, has exceeded the disturbance width threshold,
The disturbance change rate, which is the amount of change in the disturbance amount over a certain period of time, exceeds the disturbance change rate threshold,
The disturbance acceleration, which is the acceleration calculated from the amount of disturbance during a certain period of time, has exceeded the disturbance acceleration threshold,
By providing the controller 30 that performs at least one of the determination, harmful disturbance can be detected.
It is possible to perform harmful disturbance elimination processing for preventing erroneous judgments in the fish-trust judgment and the crispness judgment.

When the automatic fishing system of the present invention detects harmful disturbances in the automatic fishing system of the present invention,
Waiting for the fish trust judgment until there is no harmful disturbance,
Canceling the judgment result of the fish trust judgment affected by harmful disturbance,
Waiting for the determination to disappear until there is no harmful disturbance,
Canceling the result of the Kakali that has been affected by harmful disturbances;
Setting an invalid value for the amount of bending;
Disabling the detection of the bending amount detection sensor;
By including a controller 30 that performs at least one of
It is possible to prevent an erroneous determination in the determination of the fish faith or the determination of the crack.

If the automatic fishing system of the present invention determines that the fishing rod 1 has been stretched more than a certain amount of deflection during a certain period of time (for example, 4 seconds) during the monitoring of the fish letter, the process of moving the fishhook ( By executing with the controller 30 that shifts to a predetermined depth (fishing depth monitoring depth), it is possible to automatically detect that the fishhook has arrived at the bottom and re-take the bottom,
Root crackling can be prevented reliably, and the fishhook can be returned to the depth where the target fish is located at a certain distance from the bottom while monitoring the fish trust, so that the fish can be obtained reliably.

When the automatic fishing system according to the present invention does not determine that there is a fishfish in the fishfish determination for a certain period of time (for example, 30 seconds), the fishhook movement process (predetermined depth: fishfish monitoring depth) ), The bottom of the fishing hook can be automatically returned to a certain distance from the bottom,
Even when the water depth becomes deeper and the fishhook moves away from the depth where the fish is aimed at a certain distance from the bottom, it can be automatically returned to the depth where the fish is aimed, so that the fishing results can be obtained reliably. Furthermore, since the fishhook is moved, it is possible to move the bait and invite the fish to eat and improve the fishing results.

If the automatic fishing system of the present invention does not determine that there is a fishfish for a certain time (tana search waiting time) in the fishfish determination, the fishfish monitoring depth moved by a certain distance (search amount) is set to a new fish. The fishing hook is automatically set to match the swimming layer of the fish by executing with the controller 30 which is set as the confidence monitoring depth and is transferred to the fishhook moving process (predetermined depth: fish faith monitoring depth). Because it can be matched,
Even if there is a fish in any swimming layer, it is possible to surely obtain the fishing results.

The automatic fishing system of the present invention includes the setter 46 that can set the tana search waiting time and the search amount, so that the angler can set the time interval for performing the tana search and the amount by which the fishhook is moved during the tana search. Because
The fisherman can perform a tana search according to the fishing situation, such as performing a rough tana search or a close tana search, and can efficiently find a layer of fish swimming from a wide range of depths, You will be able to find it reliably without overlooking the swimming layer.

The automatic fishing system of the present invention preferably includes a setter 46 that can set the search reference depth and the search range, and the characteristics of the fish to be aimed at (fish at the bottom, fish that likes the water surface, fish at any depth, etc.) You will be able to perform a tana search that automatically matches the fishhook to match the level of fish swimming,
The search range (for example, 10m from the bottom to the surface of the water) with the reference reference depth as the reference depth according to the characteristics of the fish that the angler is aiming for (fish at the bottom, fish that likes the water surface, fish at any depth) Range, for example, a range from a depth of 50 m to a depth of 45 m in the direction of the water surface).

  If the automatic fishing system of the present invention does not determine that there is a fishfish for a certain period of time (fishfish detection timer) in the fishfish determination, the depth of the fish school inquired to the fishfinder every certain time is set as a new fish. The depth of the fish that automatically inquires the fish finder for the fishhook by executing the controller 30 which is set as the confidence monitoring depth and is transferred to the fishhook movement process (predetermined depth: fishtrust monitoring depth). It is possible to move to the fish and monitor the fish faith, so that it is possible to reliably obtain the results regardless of the swimming layer.

  When the automatic fishing system of the present invention receives a horizontal passage by the communication device 41 from another automatic fishing system in the vicinity, the horizontal depth is set as a new fish faith monitoring depth, and the processing for moving the fishhook is performed. By running with a controller 30 that transitions to (predetermined depth: fish faith monitoring depth), the fishhook automatically moves to the traversed depth of the swimming pool of fish found by other nearby automatic fishing systems. Since it is possible to monitor the fish faith, it will be possible to adjust the fishhook to the depth of the fish by being automatically passed from the neighboring ship and the position where the conversation is not possible on the back of the cabin of the ship. The fishing results can be obtained efficiently and easily.

  In the case where the automatic fishing system of the present invention does not determine that there is fish for a certain period of time (shakuri timer) in the fish belief determination, it is provided with the controller 30 that performs the shakuri operation, and when there is no fish bean for a certain period of time. It is possible to perform the fishing operation in a short time, so that the fish bait can be efficiently danced, the fish can be attracted by the fish, the fish can be eaten by the fish hook, and the fishing results can be improved. It can be made.

  The automatic fishing system of the present invention includes a bait change timer that is set in response to the start of automatic fishing, and includes a controller 30 that moves the fishhook to the water surface when the bait change timer expires, thereby automatically feeding bait. Since the bait change work can be performed in the time of the change timer, the effort of the angler can be reduced without worrying about the bait change time. In addition, fish species that do not generate fish faith can be caught.

  22 (a) and 22 (b) are schematic diagrams of the automatic fishing system.

  For example, as shown in FIGS. 22A and 22B, the automatic fishing system of the present invention includes a fishing rod 1, an electric reel 12 mounted on the fishing rod 1, a fishing line 10 wound up or sent out by the electric reel 12, A deflection amount detection sensor 2 for detecting the deflection amount of the fishing rod 1 attached to the fishing rod 1, for example, a power supply unit 13 for driving the electric reel 12, and the fishing line 10 of the electric reel 12 in FIG. It is equipped with a handle 11 for manually winding up. The automatic fishing system of the present invention is not limited to the deflection amount detection sensor 2 of the present invention, but may be a configuration using another deflection amount detection sensor, a configuration using a sensor for detecting the tension of a fishing line, or the like.

  The electric reel 12 is, for example, a coaxial reel, which is a standard function for manually operating the coaxial reel, and a handle 11 that can rotate the spool of the bobbin winding portion to wind up the fishing line 10 by rotating, A spool-free switch that allows the spool of the bobbin winding portion to freely rotate in order to send out the device with a weight, and a lock switch dedicated for winding that turns the handle 11 only in the winding direction are equipped.

  The electric reel 12 is not limited to the coaxial reel, and may be a spinning reel in which a spool of a bobbin winding portion is rotated by a motor 42 described later. Thereby, for example, it is possible to automate pull fishing or the like in throw fishing.

  FIG. 23 is a block diagram of the automatic fishing system of the present invention.

  In the automatic fishing system of the present invention, the electric reel 12 feeds and winds the fishing line 10, and includes a motor 42 that drives the reel and a motor driver 39 that drives the motor 42 under the control of a controller 30 described later. I have. Further, the driving speed of the electric reel 12 can be switched in each of the feeding direction and the winding direction in, for example, 10 stages from low speed (speed 1) to high speed (speed 10). The motor driver 39 preferably has a function of applying an electric brake.

  The reel rotation detector 38 detects the amount and direction of rotation of the thread winding portion (spool) of the electric reel 12, and is composed of, for example, a rotary encoder. The detection output of the reel rotation detector 38 is captured by a controller 30 described later.

  The bending amount detection sensor 2 is, for example, for detecting the bending amount of the fishing rod 1 and is attached to a portion where the fishing rod 1 bends. And the detection output of the bending amount detection sensor 2 is taken into the controller 30 mentioned later via the bending detection part 31 comprised by the bridge circuit, the operational amplifier, etc., for example. Note that the automatic fishing system of the present invention is not limited to the deflection amount detection sensor 2 of the present invention, but may be a configuration that uses another deflection amount detection sensor or a sensor that detects the tension of the fishing line.

  The disturbance detector 37 detects a large amount of harmful disturbance generated in the fishing rod 1 due to disturbance such as wave wind. For example, an inclinometer, a vibration meter, an accelerometer, a gyroscope, a strain gauge, A thermometer or the like can be applied, and the detection output of the disturbance detector 37 is taken into the controller 30 (to be described later) via a disturbance detection unit 44 constituted by, for example, a bridge circuit or an operational amplifier. . Further, the number of disturbance detectors 37 may be one, but for example, a configuration in which various types of disturbance detectors 37 detect multi-directional and various types of disturbances may be used. This embodiment will be described on the assumption that an inclinometer is used for the disturbance detector 37 as an example.

The controller 30 is constituted by, for example, a microcomputer, and in accordance with a predetermined program previously installed in a memory 36 described later, the detection output of the deflection amount detection sensor 2, the detection output of the reel rotation detector 38, and a setting device described later Based on the various fishing conditions set by 46, the target depth movement process (moving target depth ← target depth variable) for controlling the driving amount of the electric reel 12 to move the device to the depth of the target depth is effective for fish trust judgment. Until it is determined that there is a fresh fish, a fish trust determination process that repeatedly repeats the fish trust determination, an awase operation that drives the electric reel 12 to wind up the fishing line by a fixed amount, and a crack until it is determined that the fish hook has been caught by the crack determination for a certain period of time. Kakakari determination process that repeats the determination, controlling the drive amount of the electric reel 12 to move the device up and catch the fish Harmful to prevent misjudgment of fish faith judgment processing and crisp judgment processing by executing automatic fishing processing (with initial movement) as a sequence of target depth movement processing (movement target depth ← 0) and monitoring harmful disturbances Execution of disturbance determination processing, execution of disturbance correction processing for excluding (correcting) the amount of bending due to the influence of the disturbance from the amount of bending detected by the amount of bending detection sensor 2 based on the detection output of the disturbance detector 37, Execution of processing related to various option modes to be described later using the fish information received from the communication device 41 from the fish finder, the traversing information from other nearby automatic fishing systems, etc. It is. The controller 30 has an internal timer 43 for performing timed processing, and a clock 40 for adding date and time information to fishing histories in an automatic fishing system held in the memory 36 described later. I have.
In this embodiment, for example, the controller 30 controls the value obtained by multiplying the detection output of the deflection amount detection sensor 2 at regular intervals by the hardness coefficient of the fishing rod 1, for example, and converting it into a deflection force such as kg. It is the amount of bending at.

  The operation device 32 performs various operations in the automatic fishing system. For example, a start button for automatic fishing processing (without initial movement) for automatic fishing at the current depth, or a mechanism is moved to a preset target depth. Start button for automatic fishing process (with initial movement) to perform automatic fishing later, end of automatic fishing process, start of target depth movement process (moving target depth ← 0) to wind up the mechanism, and auto tension function to be described later The angler manually moves the device up or down, operates the auto tension threshold to adjust the speed, or does not use the auto tension function described later. This is a manual switch for driving the electric reel 12, driving for feeding, and adjusting the driving speed. And consisting later communication device 41 and the like.

  The notification device 34 determines that there is a valid fish bean in the fish bean determination process, has determined that the fish hook has been caught in the hook determination process, has passed the automatic feed change time, This is to notify the outside of various events in the automatic fishing system, such as detecting a relatively large deflection with the fishing rod 1 with the deflection amount detection sensor 2 while winding the fishing line 10 with the electric reel 12. A sound circuit that generates sound, a speaker, a communication device 41, which will be described later, and the communication device 41 further includes a depth of a device for which it is determined that there is an effective fish communication in the fish communication determination process, and an effective fish. Position coordinates detected by a later-described GPS 45 that has been determined to have confidence, a fish type that has been determined to have valid fish information, or a determination condition that has been determined to have effective fish confidence (a fish confidence determination pattern that will be described later) ) Coordinates or detected in GPS45 described later it is determined that the fish caught in the hook in the process, is to inform the like fish determination condition (take determination pattern will be described later) that it is determined that the applied (transmitted) to the hook.

  For example, the indicator 35 detects that a valid fish signal has been detected, a fish has been hung on a fishing hook, a bait exchange time has elapsed, a device has reached the bottom, or a device is moved. It is for displaying various events that occur in the automatic fishing system such as the fishing rod 1 being greatly bent, various setting menus, various setting contents, a list of various setting contents, etc. with images and characters. For example, a liquid crystal panel or the like is provided.

  The memory 36 is, for example, an EEPROM in which data set by the setting device 46, fishing history in an automatic fishing operation, a control program for the controller 30 or the like is registered in advance, or data or control program set by the setting device 46. There is provided a RAM for temporarily storing various variables to be used, a history of deflection amount, a history of disturbance amount, a deflection amount detection sensor 2, a disturbance detector 37, a reel rotation detector 38, and a GPS 45. .

The communication device 41 includes fishing information obtained by the present automatic fishing system including display information on the display 35 and notification information on the notification device 34, setting information on the setting device 46, and fishing held in the memory 36. For example, history information, information passing through other automatic fishing systems, etc. from an antenna via an ad hoc network such as WiMAX or Bluetooth, such as a mobile phone, game machine, other automatic fishing system, personal computer, etc. It is transmitted to a terminal or the like, and further, an external terminal is used instead of the setting device 46 to receive a set value, and an operation command is received using the external terminal instead of the operating device 32. Other automatic fishing systems To receive the horizontal information from the fish, receive the fish information from the fish detector, receive the latest program of the controller 30 from the external terminal, It is.
As a result, for example, it is possible to receive and set various settings with the communication device 41 from the Internet via an external terminal, for example, a fish fish that quantifies the complex fish fish created by a professional fisherman, for example. It is possible to receive and set with a judgment pattern or the like, and it is possible to automatically perform fishlike judgment equivalent to a professional fisherman even for fishfish that the angler has not learned. Furthermore, it becomes possible for the angler to learn a fisherman judgment method of a professional fisherman with a quantified clear fishtrust judgment pattern. In addition, fishermen who used an unspecified number of automatic fishing systems in locations where conversation could not be performed (for example, behind the cabin or other nearby ships), the depth at which fish were caught, etc. It is possible to improve the fishing results by immediately passing the various fishing information. The communication device 41 may have a mobile phone function.

  The GPS 45 is used to add position coordinate information to the fishing history of the automatic fishing system held in the memory 36, and to add position coordinate information to the passing information transmitted to other automatic fishing systems. is there. Thus, even if the angler is not conscious, for example, it is possible to automatically leave a history of, for example, how many days and months on which reef (positional coordinates), and at what depth, the anglerfish was caught. Also, for example, in fishing where the ship is caught in the tide without taking the anchor down, the angler will not know exactly where the fish was caught or where the fish could be caught later because the ship always moves by the tide. There is a problem, but even in such a case, it is possible to automatically keep a record of what was caught at what time, where and at what depth. This allows the angler to go home and capture the fishing history with a personal computer via the communication device 41 to create a fishing diary, or display such information on a map, chart, etc. on the personal computer screen to check the history. It becomes possible to do. Further, instead of the GPS 45, for example, the position coordinate information may be received from the fish finder of the ship via the communication device 41.

  The setting device 46 sets various fishing conditions (for example, initial settings, basic operation settings, various determination pattern settings, option mode settings, support settings, auto tension settings, etc.). A selection button, a setting / cancellation button, a setting volume, a display 35 (for example, a menu or setting results can be displayed on a liquid crystal panel), and the like. It is also possible for the communication device 41 to receive a setting value from an external terminal such as a mobile phone, another automatic fishing system in the vicinity, or a game machine, and perform similar settings. Details of setting various fishing conditions with the setting device 46 will be described below in order.

  First, the initial setting will be described. Initial settings include 0 depth setting, target depth reference mode setting, target depth setting, deflection reference value setting, fishing rod hardness setting, auto tension setting, no-load value setting, harmful disturbance detection mode setting, disturbance correction mode There are 10 types of setting and non-karikari determination time setting, which will be described in order below.

  The initial 0 depth setting is for setting the current depth variable in the memory 36 to zero (0 depth) at a position where the device is on the water surface (0 depth) in advance when the angler starts fishing. . Here, the current depth variable is a variable indicating the depth at which the current device is present, and is based on the rotation direction and the rotation amount output from the reel rotation detector 38 according to the rotation of the spool of the electric reel 12 by the controller 30. Addition / subtraction is performed.

The initial target depth reference mode setting is to set a target depth reference mode. The target depth reference mode includes a bottom mode for bottom fishing and a middle layer mode for fishing in the middle layer. When the reel 12 is driven and the mechanism is moved to the depth at which the fish belief determination is performed, the bottom mode is performed by performing a bottom cutting operation of winding up a certain amount after moving to the bottom, that is, using the depth from the bottom as a reference. Thus, it is the middle layer mode that moves the device directly to the target depth, that is, based on the depth from the water surface.
By setting the target depth reference mode, the bottom fishing can be automatically performed from the bottom to the ideal position even when the water depth changes due to the boat being swept by the tide when the bottom fishing is performed on the boat. .

  The initial target depth setting is to set a depth for performing fishfish determination processing for monitoring the presence or absence of valid fishfish as a target depth variable in the memory 36.

The default deflection amount reference value setting is for setting a deflection amount reference value that is the deflection amount of the neutral fishing rod 1 with a weight or device suspended from the tip, for example, for a certain period of time. The bend amount detected by the bend amount detection sensor 2 is sampled (for example, for 5 seconds), and the sampled average value, for example, is set as the bend amount reference value in the memory 36.
By performing the deflection amount reference value setting, for example, even when an angler exchanges weights and devices and the deflection amount reference value changes, by performing this setting, various threshold values relating to the deflection amount (for example, described later) This eliminates the need for resetting the fish trust judgment pattern and the like. In addition, by sampling the bend amount detected by the bend amount detection sensor 2 for a certain time (for example, 5 seconds), it is possible to set the correct bend amount reference value even in a ship that is constantly shaken by disturbances such as waves. Become.

The initial setting of the fishing rod hardness is based on the deflection amount detected by the deflection amount detection sensor 2 by the controller 30 and the force that is deflecting the fishing rod 1 in the vicinity of the deflection amount detection sensor 2 attached. Is for setting a hardness coefficient for converting the pressure into a bending force such as kg, and the hardness coefficient is set. Further, for example, when detecting the amount of bending of the fishing rod 1 or the like that is bent by the whole fishing rod, a plurality of bending amount detection sensors 2 are attached at intervals in the longitudinal direction of the fishing rod 1, and the controller 30 is connected to the fishing rod 1. Each bending force is calculated from the bending amount detected at each of the plurality of locations and the hardness coefficient set in advance, and all the calculated bending forces at each of the plurality of locations of the fishing rod 1 are added to the whole fishing rod 1 The stiffness coefficient is set for each position of the fishing rod 1 to which a plurality of deflection amount detection sensors 2 are attached, for the purpose of calculating the bending force, that is, the tension of the fishing line in kg or the like. It is also possible. Further, the hardness setting of the fishing rod is not limited to the hardness coefficient, and any setting may be used as long as it is a setting of means for converting into a bending force such as kg or a fishing line tension. In addition, the angler performs this setting in a state where the weight of the reference weight is hung on the fishing rod 1, and the controller 30 samples the bending amount by the bending amount detection sensor 2 for a certain period of time and learns based on, for example, an average value. It is also possible to calculate and set the thickness coefficient. In the case of a fishing rod having a dedicated model number, the setting may be performed collectively from previously registered fishing rod information by setting the model number of the fishing rod.
By setting the hardness of the fishing rod, the bending force (of the fishing line) of the fishing rod 1 in units of kg, for example, based on the deflection amount detected by the deflection amount detection sensor 2 by the controller 30 and the hardness coefficient. Tension) can be calculated, and the controller 30 uses the calculated bending force of the fishing rod 1 as a bending amount to perform the automatic fishing processing, for example, a body tone that bends the whole fishing rod, etc. The fishing rod 1 can be detected by the deflection amount detection sensor 2 with the fishing line tension accurately as the deflection amount, and various characteristics of the fishing rod can be absorbed by the hardness coefficient. In addition, it is possible to share the deflection amount detection sensor 2 by replacing it with various fishing rods including various threshold values such as the fish-trust determination pattern.

The initial auto tension setting is based on the amount of deflection of the detection output of the deflection amount detection sensor 2 when the controller 30 drives the electric reel 12 to move the device upward or downward. This is a setting related to an auto tension function that adjusts the driving direction and driving speed of the electric reel 12 and keeps the amount of bending of the fishing rod 1 constant. Auto-tension upward threshold for setting the movement speed when moving the device upward, auto-tension downward threshold for setting the movement speed for moving the device downward during automatic fishing processing And the setting of an auto tension coefficient for adjusting the sensitivity for keeping the bending amount constant.
Since the auto tension coefficient of the auto tension setting can be set, the sensitivity to keep the tension of the fishing line constant can be adjusted according to the type of the fishing rod 1, for example, the hardness and the repulsive force. It becomes possible to set the moving speed and fishing line tension when moving the device upward during automatic fishing processing by setting the auto tension upward threshold of the auto tension setting, Furthermore, since the auto tension lower threshold of the auto tension setting can be set, it is possible to specify the moving speed and the fishing line tension when moving the device downward during the automatic fishing process. .

The initial no-load value setting is for setting the initial value of the deflection amount detection sensor 2 as the no-load value. For example, when the fishing rod 1 is extended in the no-load state, the controller 30 operates for a certain time ( For example, the bending amount detected by the bending amount detection sensor 2 is sampled and, for example, an average value of the sampled bending amounts is set as the no-load value. However, this setting is not necessary when the initial value is zero of the bending amount detection sensor 2 itself.
By setting the no-load value, for example, it is possible to solve the problem that the long and soft fishing rod 1 bends by its own weight even in the no-load state and an error occurs in the initial value (the no-load value). Further, it is possible to create (calculate) a threshold value for detecting the bottom in the bottom detection process based on the no-load value.

The default harmful disturbance detection mode setting is performed when the controller 30 detects a harmful disturbance by a harmful disturbance determination described later for determining whether or not there is a harmful disturbance based on the detection output of the disturbance detector 37. In the setting of whether or not to perform the harmful disturbance determination process for canceling the result and canceling the fish faith determination and the cracking determination performed based on the bending amount of the fishing rod 1 detected by the bending amount detection sensor 2. is there.
By performing the harmful disturbance detection mode setting, it is possible to prevent an erroneous determination in a fish faith determination or a crack determination at a fishing ground where there is a disturbance.

The initial disturbance correction mode setting is performed by sampling the deflection amount of the fishing rod 1 detected by the deflection amount detection sensor 2 by the controller 30 and the disturbance amount detected by the disturbance detector 37 for a predetermined time (for example, 5 seconds). Based on the sampled deflection amount and disturbance amount, for example, a regression analysis is performed to calculate a correlation coefficient, a regression coefficient, an intercept, and the like, and a corrected correlation coefficient is stored in the memory 36. Consists of disturbance correction regression coefficient setting and disturbance correction intercept setting.
By setting the disturbance correction mode, the disturbance detector 37 detects the corrected correlation coefficient stored in the memory 36, the disturbance correction regression coefficient, the disturbance correction intercept, and the like at a fishing ground with disturbance. Based on the amount of disturbance, it is possible to predict and calculate the amount of bending of the fishing rod 1 caused by the disturbance, and the amount of bending of the fishing rod 1 due to the predicted and calculated disturbance is detected by the bending amount detection sensor 2. By subtracting from the amount, it is possible to perform a disturbance correction process for calculating the amount of bending without the disturbance.

The initial non-karii determination time is set by setting the non-kakari determination time of the maximum time (fixed time) during which the controller 30 repeats the kakari determination until the controller 30 determines that the fishhook has been caught in the kakari determination process. Is what you do.
By setting the non-kakari determination time, for example, it is possible to determine (determine) that no fish has finally been caught on the fishing hook in a time corresponding to a fishing ground with different disturbances or a time corresponding to a fish species, When it is determined (determined) that no fish has finally been caught on the fishhook, it is possible to automatically restart the fish trust judgment, preventing the problem of hoisting the device up even though no fish are caught on the fishhook. I can do it. Further, it is desirable to restart the fish faith determination after moving the device to the original depth where the fish faith judgment was performed when the fish faith judgment was automatically resumed.

  Next, basic operation settings will be described. There are two types of basic operation settings, awaze amount setting and bottom cut amount setting, which will be described in order below.

The basic amount setting of the amount of wrinkles is for the controller 30 to perform the wurse operation at a constant amount of wrinkles and a constant speed of wurse. Moreover, the form which registers and sets the awase pattern which added the setting of the fish type to these settings to a plurality of awase movement aggregations may be used.
By performing the setting of the amount of wiping, the controller 30 can perform the wiping operation of the amount of wiping and the wiping speed set in advance according to the fish aimed by the angler. Also, by registering and setting the awase pattern to which the fish species setting is added to the multiple awase motion aggregation, based on the fish species added to the atari determination pattern determined to have a valid fish credibility in the fish credibility determination, It is possible to search for a plurality of the rewase patterns registered in the ensemble action aggregation, and to perform the asease action with the asease amount and the asease speed of the searched acese pattern, and automatically the fish species (fish with a hard mouth, It will be possible to perform the optimum awase movement according to the fish whose mouth is torn immediately, large fish, small fish).

  Next, the bottom cut amount setting in the detailed operation setting will be described.

The bottom cut amount setting of the basic operation setting is performed because the controller 30 performs the fish faith judgment at a depth at which the device is wound up and driven by the electric reel 12 by a predetermined amount from the bottom intended by the angler. In addition, the bottom cut amount is set. The bottom cut-off amount may be either a winding driving amount or a winding driving time.
By setting the bottom cut amount, it becomes possible to perform the fish trust judgment by separating the bottom cut amount intended by the fisherman according to the fish type and the bottom situation from the bottom. It is possible to adjust the device to the optimal depth where the root fish are located.

  Next, various determination pattern settings will be described. In the various determination pattern settings, determination patterns used for various determinations performed by the controller 30 are set and registered in advance. The various determination pattern settings further include a tip stability determination pattern aggregation setting and a fish faith determination pattern, which will be described later. There are four types of settings, an aggregation setting, an edge determination pattern aggregation setting, and a harmful disturbance determination pattern aggregation setting. These four types of settings will be described in order below.

  First, the tip stability determination pattern aggregation setting of the various determination pattern settings will be described.

  The tip stability determination pattern aggregation setting of the various determination pattern settings is a condition that is determined by the controller 30 to determine that the deflection amount of the output of the deflection amount detection sensor 2 being monitored and the tip is stable. Based on the tip stability determination pattern, the tip stability determination pattern used in the tip stability determination for determining whether or not the tip of the fishing rod 1 being performed is stable is, for example, the tip stability determination pattern template 1-1. The tip stability determination pattern template 7 is created and registered in the tip stability determination pattern aggregation, and the plurality of tip stability determination patterns registered in the tip stability determination pattern aggregation in the tip stability determination. In order to determine that the tip is stable when any one of the tips is determined to be true, a plurality of tip stability determination patterns including those created with the same tip stability determination pattern template are included in the tip stability. Judgment pattern aggregation It is those that can be set and registered.

  The tip stability determination pattern template 1 to the tip stability determination pattern template 7 for creating the tip stability determination pattern will be described in order below.

  The tip stability determination pattern template 1 of the tip tip stability determination pattern aggregation setting is, for example, the tip for determining that the tip is stable when a certain point of tip stability time elapses. This is for creating a tip stability determination pattern, and includes setting of the tip stabilization time and setting of a group ID, which will be described later, which is optionally set. (For example, it is effective for fishing on a quay without disturbance, for example, by determining that the tip is stable when 5 seconds have passed)

  The tip stability determination pattern template 2 of the tip stability determination pattern aggregation setting is determined by, for example, the tip stability time of a certain time, the deflection width of the fishing rod 1 (detected by the deflection amount detection sensor 2). This is for creating the tip stability determination pattern for determining that the tip is stable when the difference between the maximum and minimum deflections of the fishing rod 1 is equal to or less than the stable deflection width threshold. , The setting of the tip stabilization time, the setting of the stable deflection width threshold, and the setting of the group ID, the setting of the detection frequency threshold, and the setting of the detection frequency monitoring time, which will be described later and optionally. (For example, it is effective for fishing, for example, by determining that the tip of the fishing rod 1 is stable when the bending width of the fishing rod 1 is 30 g or less for 2 seconds)

  The tip stability determination pattern template 3 of the tip stability determination pattern aggregation setting is, for example, a case where the detection direction is a direction in which the fishing rod 1 bends in the tip stability determination. For creating the tip stability determination pattern for determining that the tip is stable when the detected amount of deflection of the fishing rod 1 is equal to or less than the stable deflection amount threshold, and setting the detection direction; It consists of setting a stable deflection amount threshold value, setting a group ID, setting a detection frequency threshold value, and setting a detection frequency monitoring time, which will be described later. (For example, when the amount of deflection of the fishing rod 1 is 0.3 kg or less, it is determined that the tip of the rod is stable.

  The tip stability determination pattern template 4 of the tip stability determination pattern aggregation setting is, for example, a case where the detection direction is the direction in which the fishing rod 1 bends in the tip stability determination. In order to create the tip stability determination pattern for determining that the tip is stable when the detected amount of deflection of the fishing rod 1 is less than the stable deflection amount threshold and continues for a fixed tip tip stabilization time. The detection direction setting, the tip stabilization time setting, the stable deflection amount threshold setting, and the group ID setting, the detection frequency threshold setting, and the detection frequency setting, which will be described later and optionally, will be described later. Consists of monitoring time settings. (For example, it is effective in, for example, fishing rods, by determining that the rod tip is stable when the deflection amount of the fishing rod 1 continues for 3 seconds in a state of 0.3 kg or less)

  The tip stability determination pattern template 5 of the tip stability determination pattern aggregation setting is, for example, the case where the detection direction is the direction in which the fishing rod 1 bends in the tip stability determination. The tip stability determination pattern for determining that the tip is stable when the deflection rate, which is the change rate calculated from the detected amount of the fishing rod 1 and the detected time, is equal to or less than the stable deflection rate threshold. It is for creation, setting of detection direction, setting of stable bending speed threshold value, setting of group ID, setting of detection frequency threshold value, and setting of detection frequency monitoring time, which will be described later and more arbitrarily Consists of. (For example, it is effective for fishing rods, for example, by determining that the rod tip is stable when the bending speed of the fishing rod 1 in the bending direction is 50 g or less per second)

  The tip stability determination pattern template 6 of the tip stability determination pattern aggregation setting is, for example, the case where the detection direction is the direction in which the fishing rod 1 bends in the tip stability determination. The tip of the fishing rod 1 is stable when the deflection rate, which is the rate of change calculated from the detected amount of time and the detected time, continues for a fixed tip stability time in a state below the stable deflection rate threshold. This is for creating the tip stability determination pattern for determination, setting of the detection direction, setting of the tip stabilization time, and setting of the stable bending speed threshold, and further setting as described later, It consists of a group ID setting, a detection frequency threshold setting, and a detection frequency monitoring time setting. (For example, it is effective for boat fishing, for example, by determining that the rod tip is stable when the bending rate of the fishing rod 1 in the bending direction continues for 1 second with a speed of 50 g or less per second)

  The tip stability determination pattern template 7 of the tip stability determination pattern aggregation setting is, for example, the case where the detection direction is the direction in which the fishing rod 1 bends in the tip stability determination. The tip of the fishing rod 1 is stable when the tip of the tip is stabilized for a certain time in a state where the deflection acceleration, which is the change acceleration calculated from the detected amount of the fishing rod 1 and the detected time, is equal to or less than the stable deflection acceleration threshold. This is for creating the tip stability determination pattern for determination, setting of the detection direction, setting of the tip stabilization time, and setting of the stable bending acceleration threshold, and further setting as described later, It consists of a group ID setting, a detection frequency threshold setting, and a detection frequency monitoring time setting. (For example, it is effective in fishing for boats, for example, by determining that the rod tip is stable when the deflection acceleration in the bending direction of the fishing rod 1 continues for 3 seconds in a state of 0.05 g / s 2 or less)

  Next, group ID setting and detection that is arbitrarily set as the tip stability determination pattern template 1 to the tip stability determination pattern template 7 of the tip stability determination pattern aggregation setting described above The setting of the frequency threshold and the setting of the detection frequency monitoring time will be described in order below.

  The group ID that is arbitrarily set is, for example, for creating a group with the same group ID that is arbitrarily set in the plurality of tip stability determination patterns registered in the tip stability determination pattern aggregation. By creating a group, the tip is stable when all of the plurality of tip stability determination patterns having the same group ID registered in the tip stability determination pattern aggregation are determined to be true. It is for making it possible to determine that it has occurred.

  By setting the group ID, for example, it is possible to determine whether the tip is more severely stabilized on a ship with constant disturbance.

  The setting of the detection frequency threshold value and the detection frequency monitoring time that are set arbitrarily are performed for the arbitrarily set tip stability determination pattern, and the detection count monitoring time for a certain time is used for the tip stability determination. In order to determine that the tip is stable when the number of times that the tip stability determination pattern (excluding the detection count threshold and the detection count monitoring time) that is arbitrarily set to is greater than the detection count threshold is determined. belongs to. As a result, it is possible to determine whether or not the tip of the ship is more stable, for example, even in a ship with a disturbance at all times.

  By performing the tip stability determination pattern aggregation setting, the vibration of the tip generated by the controller 30 performing the target depth movement process and the awaze operation is surely stabilized. It is possible to determine that the vibration of the tip generated by a temporary large shake is surely stable, and further, the tip stability determination pattern [ The deflection amount of the fishing rod 1 detected by the deflection amount detection sensor 2 continues for a certain period of time in the state where the deflection amount of the fishing rod 1 is equal to or less than the stable deflection amount threshold value. The number of times that the amount of bending of the fishing rod 1 detected by the amount detection sensor 2 is less than or equal to the threshold value of the stable amount of bending is greater than or equal to the threshold value of the number of detections, the bending width, the bending speed, or the bending acceleration. Use at least one of By determining whether or not the fishing rod is periodically swaying, for example, even when the fishing rod is periodically slowly extended and bent, the fishing rod is periodically extended slowly. It is possible to determine whether the tip is stable by eliminating the bending.

  Next, the fish trust determination pattern aggregation setting of the various determination pattern settings will be described.

  In the fish pattern determination pattern aggregation setting of the various determination pattern settings, the controller 30 determines that there is an effective fish signal in the deflection amount of the output of the deflection amount detection sensor 2 being monitored and the fish trust determination process. For example, the fish trust determination pattern used in the fish trust determination for determining whether or not there is a valid fish trust based on the fish trust determination pattern of the condition for performing, for example, the fish trust determination pattern template 1 to fish Created by the trust determination pattern template 6 and set and registered in the fish trust determination pattern aggregation, and any one of the plurality of fish trust determination patterns registered in the fish trust determination pattern aggregation in the fish trust determination is true. In order to determine that there is a valid fish belief, it is determined that a plurality of fish belief determination patterns including those created with the same fish belief determination pattern template are set and registered in the fish belief determination pattern aggregation. Is possible.

  Hereinafter, the fish faith determination pattern template 1 to the fish faith determination pattern template 6 for creating the fish faith determination pattern will be described in order.

  The fish-trust determination pattern template 1 of the fish-trust determination pattern aggregation setting includes, for example, a fish-trust determination time of a certain time, a deflection width of the fishing rod 1 (a fishing rod 1 detected by a deflection detection sensor 2). The difference between the maximum and the minimum amount of deflection of the fish bend is equal to or greater than the fish bend deflection width threshold value, and is used to create the fish belief determination pattern for determining that there is an effective fish belief. Setting of judgment time and setting of fish bend width threshold and setting of group ID, setting of fish species, setting of priority, setting of detection frequency threshold, and detection frequency monitoring, which will be described later and optionally set Consists of time settings. (For example, when it is determined that there is an effective fish shin when the deflection width of the fishing rod 1 during 0.2 seconds is 0.01 kg or more, it is effective for fishing rods, for example)

  The fish bean determination pattern template 2 of the fish bean determination pattern aggregation setting is, for example, when the detection direction is the direction in which the fishing rod 1 bends in the fish belief determination. This is for creating the fish-trust determination pattern for determining that there is an effective fish-trust when the deflection amount of 1 is equal to or greater than the fish-belief-deflection amount threshold. It consists of setting a deflection amount threshold value, and setting a group ID, a fish type, a priority setting, a detection frequency threshold value, and a detection frequency monitoring time, which will be described later. (For example, when it is determined that there is an effective fish shin when the amount of deflection of the fishing rod 1 is 4 kg or more, it is effective, for example, for quay fishing, boat fishing, etc.)

  The fish bean determination pattern template 3 of the fish bean determination pattern aggregation setting is, for example, when the detection direction is the direction in which the fishing rod 1 bends in the fish belief determination. For creating the fish-belief determination pattern for determining that there is a valid fish-behind when the amount of bend of 1 is equal to or greater than the fish-belief-deflection amount threshold and continues for a certain period of time. The detection direction setting, the fish belief determination time setting, and the fish bend deflection amount threshold value setting, which will be described later, and optionally set, group ID setting, fish type setting, priority setting, It consists of setting the detection frequency threshold and setting the detection frequency monitoring time. (For example, it is effective for boat fishing etc., for example, by determining that there is an effective fish letter when the amount of deflection of the fishing rod 1 continues for 2 seconds in a state of 2 kg or more)

  The fish bean determination pattern template 4 of the fish bean determination pattern aggregation setting is, for example, when the detection direction is the direction in which the fishing rod 1 bends in the fish belief determination, for example, the fishing rod detected by the bending amount detection sensor 2. In order to create the fish belief determination pattern for determining that there is an effective fish belief when the bend rate, which is a change rate calculated from the bend amount of 1 and the detection time, is equal to or greater than the fish bend bend rate threshold. Setting of detection direction and setting of fish deflection rate threshold value, setting of group ID, setting of fish species, setting of priority order, setting of detection frequency threshold value, which will be described later and further arbitrarily , And the number of detection times monitoring time. (For example, it is effective for fishing rods, for example, when it is determined that there is an effective fish when the rate of bending of the fishing rod 1 is 0.2 kg or more per second)

  The fish trust determination pattern template 5 of the fish trust determination pattern aggregation setting is, for example, when the detection direction is a direction in which the fishing rod 1 bends in the fish trust determination, for example, a fishing rod detected by the deflection amount detection sensor 2. When the bending speed, which is the change speed calculated from the amount of bending of 1 and the detection time, is equal to or greater than the fish bend bending speed threshold and continues for a certain period of time, it is determined that there is a valid fish belief. Group ID to set the detection direction, the setting of the fish trust determination time, the setting of the fish trust deflection speed threshold, and further arbitrarily set as described later. Setting, fish type setting, priority setting, detection frequency threshold setting, and detection frequency monitoring time setting. (For example, it is effective for fishing, for example, when it is determined that there is an effective fish letter when the bending speed of the fishing rod 1 continues for 1 second at a speed of 0.1 kg or more per second)

  The fish-belief determination pattern template 6 of the fish-belief determination pattern aggregation setting is, for example, when the detection direction is the direction in which the fishing rod 1 bends in the fish-belief determination. In order to create the fish faith judgment pattern for judging that there is an effective fish faith when the deflection acceleration, which is the change acceleration calculated from the deflection amount of 1 and the detection time, is equal to or greater than the fish faith deflection acceleration threshold value. Setting of detection direction and setting of fish deflection acceleration threshold value, setting of group ID, setting of fish species, setting of priority order, setting of detection frequency threshold, which will be described later and further arbitrarily , And the number of detection times monitoring time. (For example, it is effective for boat fishing, rod fishing, etc., for example, when it is determined that there is an effective fish when the deflection acceleration in the direction in which the fishing rod 1 bends is 0.1 kg / s 2 or more)

  Next, a group ID setting, a fish type setting, which are arbitrarily set to the fish faith determination pattern in the fish faith determination pattern template 1 to the fish faith determination pattern template 6 of the fish trust determination pattern aggregation setting, The setting of the priority order, the setting of the detection frequency threshold, and the setting of the detection frequency monitoring time will be described in order below.

  The group ID that is arbitrarily set is, for example, for creating a group with the same group ID that is arbitrarily set in the plurality of fish faith determination patterns registered in the fish faith determination pattern aggregation. By determining that there is an effective fish belief when all of the plurality of fish belief determination patterns having the same group ID registered in the fish belief determination pattern aggregation are determined to be true. It is for making it possible to do.

  By setting the group ID, for example, it is possible to determine whether or not there is a more rigorous and effective fish letter, for example, on a ship with a constant disturbance.

  The optional fish type setting is, for example, to add a fish type to the fish faith determination pattern registered in the fish faith determination pattern aggregation.

  By setting the fish type, for example, a valid fish letter is displayed on the display unit 35 based on the fish type added to the fish pattern determination pattern determined by the controller 30 to be valid in the fish signature determination. It is possible to display the name of the fish species determined to be present, and further, if there is an effective fish faith in the fish confidence judgment from a plurality of awase movements (awase amount, asease speed) added with a preset fish species Based on the fish species added to the determined fish-trust determination pattern, search for the wakese motion to which the same fish species is added, and perform the wakese motion (awase amount, wakese speed) according to the retrieved fish species. In addition, it is possible to notify (pass through) the fish species in addition to the location, depth, etc., for example, where it has been determined that there is a valid fish shin, to other automatic fishing systems in the vicinity. Other automatic fishing systems in the neighborhood that have been traversed When it is possible to determine whether or not the fish species matches the target fish species, it is possible to determine whether or not to receive sideways, and for example, when it is determined that a small horse mackerel has caught the fishhook It is possible to automatically perform operations such as aiming at flounder using the small horse mackerel that is caught by moving the device to the bottom and using it as raw bait.

  The priority order that is arbitrarily set is, for example, to give priority to each of the plurality of fish trust determination patterns registered in the fish trust determination pattern aggregation.

By setting the priority, for example, [Fish species A with high priority has a fish deflection amount threshold of 4 kg or more and 30 seconds]
[Fish type B with medium priority has a fish bend amount threshold of 2 kg or more and 5 seconds]
[If fish species C with a low priority level detects the fish deflection amount threshold of 0.5 kg or more and detects 0.5 seconds twice during 5 seconds]
For example, when the fish trust determination pattern of the three kinds of fish is registered in the fish trust determination pattern aggregation and the fish trust determination is performed at the same time, for example, it is detected by the monitoring amount detection sensor 2 being monitored. If the bent amount is 5 kg and lasts for 5 seconds, it is determined that the fish species B is an effective fish belief. Since it is in the middle, it is possible to hold the result determined that there is a valid fish trust of the fish species B, and to prioritize the determination for 30 seconds with 4 kg or more of the fish species A. After that, if the deflection amount detected by the deflection amount detection sensor 2 becomes 4 kg or less of the fish bend A fish bend deflection threshold, the effective fish belief of the fish species B held at that time is confirmed. To do. In this way, it is possible to determine whether or not there is an effective fish trust of a plurality of fish types at the same time regardless of the size of the fish trust.

  The setting of the detection frequency threshold and the detection frequency monitoring time that are set arbitrarily are performed for the fish pattern determination pattern that is set arbitrarily. To determine that there is an effective fish belief when the number of times the true fish decision pattern (excluding the detection frequency threshold and the detection frequency monitoring time) set in step 4 is true is greater than or equal to the detection frequency threshold It is. As a result, for example, even a ship having a disturbance at all times can more reliably determine whether or not there is an effective fish letter.

By performing these fish faith determination pattern aggregation settings, a variety of fish trust determination patterns created in various fish trust determination pattern templates 1 to 6 can be used for countless fish species. It is possible to quantify a wide variety of complex fish faith that is difficult to express, so that it can be accurately set, clearly expressed, and accurately transmitted (sent and received by the communication device 41). Furthermore, for example, by receiving and setting the fish faith determination pattern created by a professional angler from the Internet via the external terminal, for example, by using the communication device 41, it is also effective for fish fish that the angler has not learned. It becomes possible to determine the fish faith by the fish faith judgment,
Furthermore, the fish belief determination pattern that can eliminate the disturbance by the fish belief determination performed by the controller 30 [the belief determination time lasted for a certain period of time when the amount of bend is equal to or greater than the fish bend bend amount threshold, the bend width , The bending speed, the bending acceleration, or the number of times that the bending amount detected by the bending amount detection sensor 2 during the detection frequency monitoring time for a certain time becomes equal to or greater than the fish bend amount threshold value. When the fish rod 1 is used to determine whether or not there is a valid fish wire using at least one of the above, the fishing rod 1 is periodically moved by, for example, a ship sway that occurs constantly. It is possible to determine whether there is an effective fish signal by eliminating the influence of disturbances such as slowly stretching and flexing, and effective fish signals that are always affected by disturbances such as boat fishing. It will be possible to determine whether there is,
Further, by using the fish bean determination in the fish bean determination process performed by the controller 30, whether there is an effective fish bean simultaneously at the fishing ground having various disturbances in the fish bean determination process and for various fish species at the same time. It is possible to determine whether or not, and when it is determined that there is a fish sign in the fish bean determination process, it is possible to perform an urchin action, and further, it is determined that there is a fish belief in the fish bean determination process. In such a case, it is possible to automatically register the date and time when it is determined that there is a fish news, the depth when it is determined that there is a fish news, the position coordinates based on the output of the GPS 45, etc., as fishing history in the EPROM (memory 36). It becomes like this.

  Next, the crisp determination pattern aggregation setting of the various determination pattern settings will be described.

  The caliper determination pattern aggregation setting of the various determination pattern settings is for the controller 30 to determine the amount of deflection of the output of the deflection amount detection sensor 2 being monitored and that the fishhook has been caught in the crack determination processing. Based on the crisp determination pattern of the condition, the crisp determination pattern used in the crisp determination for determining whether or not a fish is hung on the current fishing hook is created using, for example, the crisp determination pattern template 1 to the crisp determination pattern template 6 It is determined to be set and registered in determination pattern aggregation, and it is further determined that there is valid kari because any one of the plurality of the kari determination patterns registered in the kari determination pattern aggregation is determined to be true. In order to achieve this, a plurality of the crisp judgment patterns including those created with the same crisp judgment pattern template are set in the crisp judgment pattern aggregation. They are those that can be registered.

  In the following, the crack determination pattern template 1 to the crack determination pattern template 6 for creating the crack determination pattern will be described in order.

  The crisp determination pattern template 1 of the crisp determination pattern aggregation setting includes, for example, a predetermined crisp determination time and a deflection width of the fishing rod 1 (amount of deflection of the fishing rod 1 detected by the deflection amount detection sensor 2). The difference between the maximum and the minimum) is equal to or greater than the threshold value of the crisp deflection width to create the crisp determination pattern for determining that a fish has been caught on the fishhook. This is comprised of setting a threshold value, setting a group ID, setting a fish species, setting a priority, setting a detection frequency threshold, and setting a detection frequency monitoring time, which will be described later. (For example, when the deflection width of the fishing rod 1 for 0.2 seconds is 0.01 kg or more, it is determined that a fish has been caught on the fishing hook, which is effective for fishing, for example)

  The crisp determination pattern template 2 of the crisp determination pattern aggregation setting is, for example, when the detection direction is the direction in which the fishing rod 1 bends in the crisp determination, for example, the bending of the fishing rod 1 detected by the bending amount detection sensor 2. This is for creating a crisp determination pattern for determining that a fish has been caught on a fishing hook when the amount of the crisp is equal to or greater than the crisp deflection threshold, and setting the detection direction and setting the crisp deflection threshold The setting includes group ID setting, fish type setting, priority setting, detection frequency threshold setting, and detection frequency monitoring time setting, which will be described later. (For example, when the amount of deflection of the fishing rod 1 is 4 kg or more, it is determined that a fish is hung on the fishing hook, which is effective for quay fishing, fishing on a boat, etc.)

  The crisp determination pattern template 3 of the crisp determination pattern aggregation setting is, for example, when the detection direction is the direction in which the fishing rod 1 bends in the crisp determination, for example, the bending of the fishing rod 1 detected by the bending amount detection sensor 2. This is for creating the crisp determination pattern for determining that a fish has been caught on the fishing hook when the crisp determination time continues for a certain time in a state where the amount of the crisp is equal to or greater than the crisp deflection threshold, and the detection direction is set. , Setting of the crisp determination time, setting of the crisp deflection threshold value, setting of group ID, setting of fish species, setting of priority, setting of detection frequency threshold, which will be described later, further described later, And setting the number of detection times monitoring time. (For example, when it is determined that a fish has been caught on a fishing hook when the amount of deflection of the fishing rod 1 continues for 2 seconds in a state of 2 kg or more, it is effective for fishing, for example)

  The crisp determination pattern template 4 of the crisp determination pattern aggregation setting is, for example, when the detection direction is the direction in which the fishing rod 1 bends in the crisp determination, for example, the bending of the fishing rod 1 detected by the bending amount detection sensor 2. This is for creating the crisp determination pattern for determining that a fish has been caught on the fishing hook when the bending speed, which is the change speed calculated from the amount of detection and the detection time, exceeds the crisp bending speed threshold. Setting of direction and setting of threshold value of flexure bending speed and setting of group ID, setting of fish species, setting of priority, setting of detection frequency threshold, and detection frequency monitoring time to be described later and optionally Consists of settings. (For example, it is effective for fishing rods, for example, when it is determined that a fish has been caught on a fishing hook when the bending speed of the fishing rod 1 in the bending direction is 0.2 kg or more per second)

  The crisp determination pattern template 5 of the crisp determination pattern aggregation setting is, for example, when the detection direction is a direction in which the fishing rod 1 bends in the crisp determination, for example, the bending of the fishing rod 1 detected by the bending amount detection sensor 2. The crisp determination pattern for determining that a fish has been caught on a fishhook when the bending speed, which is a change speed calculated from the amount of detection and the detection time, continues for a certain period of time when the bending speed is greater than or equal to the crisp bending speed threshold. , Setting of detection direction, setting of crisp judgment time, setting of crisp deflection speed threshold, setting of group ID, setting of fish species, priority, which will be described later, and optionally set It consists of setting the order, setting the detection frequency threshold, and setting the detection frequency monitoring time. (For example, it is effective for fishing on a boat, for example, by determining that a fish has been caught on a fishing hook when the bending speed of the fishing rod 1 continues for 1 second at a speed of 0.1 kg or more per second)

  The crisp determination pattern template 6 of the crisp determination pattern aggregation setting is, for example, when the detection direction is the direction in which the fishing rod 1 bends in the crisp determination, for example, the bending of the fishing rod 1 detected by the bending amount detection sensor 2. This is for creating the crisp determination pattern for determining that the fishhook has been caught when the bending acceleration, which is the change acceleration calculated from the amount of detection and the detection time, is greater than or equal to the crisp bending acceleration threshold. Setting of direction, setting of acceleration threshold of cracking, and setting of group ID, setting of fish species, setting of priority, setting of detection frequency threshold, and detection frequency monitoring time to be described later and optionally Consists of settings. (For example, it is effective for boat fishing, carp fishing, etc., for example, when it is determined that a fish has been caught on a fishing hook when the flexural acceleration of the fishing rod 1 is 0.1 kg / s 2 or more)

  Next, the group ID setting, the fish type setting, and the priority order setting, which are arbitrarily set as the crack determination pattern in the crack determination pattern template 1 to the crack determination pattern template 6 in the aggregation determination pattern setting above. The setting of the detection frequency threshold and the setting of the detection frequency monitoring time will be described in order below.

  The group ID that is arbitrarily set is, for example, for creating a group with the same group ID that is arbitrarily set for the plurality of the determination patterns registered in the aggregation of the determination pattern. This makes it possible to determine that a fish has been caught on a fishhook when all of the plurality of the determination patterns having the same group ID registered in the recovery determination pattern aggregation are determined to be true. Is for.

  By setting the group ID, for example, it is possible to determine whether or not a fish has been caught on a fishing hook even more strictly on a ship with a constant disturbance.

  The optional fish type setting is, for example, to add a fish type to the crisp determination pattern registered in the culprit determination pattern aggregation.

  By setting the fish type, the controller 30 determines that the same fish in the cauli determination pattern aggregation is based on the fish type added to the fish pattern determination pattern determined by the fish determination to have caught the fishhook. When it becomes possible to search for the crisp determination pattern to which the species has been added, thereby making it possible to perform the crisp determination with the crisp determination pattern according to the fish species, and when it is determined that the fish has been hung on the fishing hook To display the fish species caught on the display 35, for example, automatically registering the fish history when the fishing history is registered in the EEPROM (memory 36), or, for example, other automatic fishing nearby. For example, when the communication device 41 notifies the system or the like that it has been caught by the communication device 41, a fish species can be added.

  The priority order that is arbitrarily set is, for example, to give priority to each of the plurality of the determination patterns registered in the aggregation determination pattern.

  The setting of the detection frequency threshold and the detection frequency monitoring time that are set arbitrarily are performed for the optional determination pattern, and can be set arbitrarily during the detection frequency monitoring time for a certain period of time. This is for determining that a fish has been caught on the fishhook when the number of times that the determination pattern (excluding the detection count threshold and the detection count monitoring time) is true is equal to or greater than the detection count threshold. As a result, for example, even in a ship with a constant disturbance, it is possible to more reliably determine whether or not a fish has been caught on the fishing hook.

  By setting the detection frequency threshold and the detection frequency monitoring time, it is possible to more reliably determine whether or not a fish has been caught on a fishing hook even in a ship with a constant disturbance.

  By performing these karikari determination pattern aggregation settings, it is determined that a fish has been caught on the fishing hooks of a myriad of fish species by using the various karikari determination pattern templates 1 to 6 created using the various karikari determination pattern templates 1 to 6. The ability to set conditions makes it possible to quantify the conditions for determining that a fish has hung on a wide variety of complex fishing hooks that are difficult to express, and can be set accurately, expressed clearly, and transmitted accurately ( For example, the fisherman learns by receiving and setting the Kakari determination pattern created by, for example, a professional angler from the Internet via the communication device 41 via, for example, an external terminal. Even if the condition to determine that a fish has hung on a non-fishing hook, it will be possible to determine that the fish has hung on the fishing hook Further, when the controller 30 determines that a fish has been caught on the fishhook, it automatically records the fishing history in the EPROM (memory 36), the date and time when the fish was caught, the depth at which it was determined that there was fish fish, and the position coordinates based on the output of the GPS 45. Can be automatically registered, and further, a crisp judgment pattern that can eliminate disturbance by the crisp judgment (the crisp judgment duration lasts for a certain amount of time when the sag amount is equal to or greater than the crisp bend amount threshold, The number of times that the amount of deflection of the fishing rod detected by the amount-of-deflection detection sensor becomes equal to or greater than the threshold value of the amount of deflection during the monitoring time of the detection width, the deflection rate, the deflection acceleration, or the fixed number of times. (E.g., when the fishing rod slowly bends and changes due to the shaking of the ship, etc.) It becomes possible to prevent as much as possible erroneous determination by it is possible to it is determined whether or not the fish is applied to hook with the exclusion of factors.

  Next, harmful disturbance determination pattern aggregation setting of the various determination pattern settings will be described.

  The harmful disturbance determination pattern aggregation setting of the various determination pattern settings is a condition for the controller 30 to determine that there is a disturbance amount output from the disturbance detection body 37 being monitored and that there is a harmful disturbance in the harmful disturbance determination process. Based on the harmful disturbance determination pattern, the harmful disturbance determination pattern used in the harmful disturbance determination for determining whether there is a harmful disturbance being performed is, for example, the harmful disturbance determination pattern template 1 to the harmful disturbance determination pattern template 6 It is created and registered in the harmful disturbance determination pattern aggregation, and further, any one of the plurality of harmful disturbance determination patterns registered in the harmful disturbance determination pattern aggregation is determined to be true in the harmful disturbance determination. In order to determine that there is a harmful disturbance, a plurality of the harmful disturbance determination patterns including those created with the same harmful disturbance determination pattern template are included in the harmful disturbance determination pattern. It is those that can be set and registered in the emissions-intensive.

  Hereinafter, the harmful disturbance pattern template 1 to the harmful disturbance pattern template 6 for creating the fish faith determination pattern will be described in order.

  The harmful disturbance determination pattern template 1 of the harmful disturbance determination pattern aggregation setting includes, for example, a harmful disturbance determination time of a predetermined time, a disturbance width (a difference between the maximum and minimum of the amount of disturbance detected by the disturbance detector 37). ) Is equal to or greater than the harmful disturbance width threshold, the harmful disturbance determination pattern for determining that there is a harmful disturbance is set, the harmful disturbance determination time setting, the harmful disturbance width threshold setting, , Which will be described later, and optionally set, group ID setting, detection frequency threshold setting, and detection frequency monitoring time setting. (For example, when the disturbance width for 1 second is 8 ° or more)

  The harmful disturbance determination pattern template 2 of the harmful disturbance determination pattern aggregation setting is, for example, when the detection direction is a direction inclined toward the base of the fishing rod 1 in the harmful disturbance determination, for example, the amount of disturbance detected by the disturbance detection body 37 Is to create a harmful disturbance determination pattern for determining that there is a harmful disturbance when the value is equal to or greater than a harmful disturbance amount threshold, and the detection direction setting and the harmful disturbance amount threshold setting will be described later. Further, it is optionally set, and includes group ID setting, detection frequency threshold setting, and detection frequency monitoring time setting. (For example, it is determined that there is a harmful disturbance when tilted by 8 ° or more)

  The harmful disturbance determination pattern template 3 of the harmful disturbance determination pattern aggregation setting is, for example, a disturbance detected by the disturbance detection body 37 when the detection direction is a direction inclined toward the base of the fishing rod 1 in the harmful disturbance determination. To create a harmful disturbance determination pattern for determining that there is a harmful disturbance when the amount of harmful disturbance continues for a certain period of time in a state where the amount is greater than or equal to the harmful disturbance amount threshold, and setting the detection direction , Setting of harmful disturbance determination time and setting of harmful disturbance amount threshold, and setting of group ID, setting of detection frequency threshold, and setting of detection frequency monitoring time, which will be further arbitrarily described later. (For example, if a state of 5 ° or more continues for 0.5 seconds, it is determined that there is a harmful disturbance)

  The harmful disturbance determination pattern template 4 of the harmful disturbance determination pattern aggregation setting is, for example, a disturbance detected by the disturbance detector 37 when the detection direction is a direction inclined toward the base of the fishing rod 1 in the harmful disturbance determination. It is for creating the harmful disturbance judgment pattern for judging that there is harmful disturbance when the disturbance changing speed, which is the changing speed calculated from the amount and the detection time, exceeds the harmful disturbance changing speed threshold, and is detected. It consists of setting the direction, setting the harmful disturbance change speed threshold, and setting the group ID, setting the detection frequency threshold, and setting the detection frequency monitoring time, which will be described later. (For example, if the disturbance change rate is 10 ° or more per second, it is determined that there is a harmful disturbance.)

  The harmful disturbance determination pattern template 5 of the harmful disturbance determination pattern aggregation setting is, for example, a disturbance detected by the disturbance detector 37 when the detection direction is a direction inclined toward the base of the fishing rod 1 in the harmful disturbance determination. The harmful disturbance judgment for judging that there is a harmful disturbance when the disturbance changing speed, which is the changing speed calculated from the amount and the detection time, is longer than the harmful disturbance changing speed threshold and continues for a certain period of harmful disturbance judgment time. This is for creating a pattern. Setting of detection direction, setting of harmful disturbance determination time, setting of harmful disturbance change speed threshold, setting of group ID, setting of detection frequency threshold, which will be described later, and optionally set It consists of setting and setting the number of detection times monitoring time. (For example, it is determined that there is a harmful disturbance when the disturbance change rate is 10 ° per second or more and continues for 0.2 seconds)

  The harmful disturbance determination pattern template 6 of the harmful disturbance determination pattern aggregation setting is, for example, a disturbance detected by the disturbance detector 37 when the detection direction is a direction inclined toward the base of the fishing rod 1 in the harmful disturbance determination. This is for creating a harmful disturbance determination pattern for determining that there is a harmful disturbance when the disturbance change acceleration, which is a change acceleration calculated from the amount and the detection time, is equal to or greater than a harmful disturbance acceleration threshold, and a detection direction. And a harmful disturbance acceleration threshold value, and a group ID setting, a detection frequency threshold value setting, and a detection frequency monitoring time setting, which will be described later and optionally, are set. (For example, if the change acceleration is 1 ° / s2 or more, it is determined that there is a harmful disturbance)

  Next, the harmful disturbance pattern template 1 to the harmful disturbance pattern template 6 of the harmful disturbance pattern aggregation setting is arbitrarily set to the harmful disturbance determination pattern, group ID setting, detection frequency threshold setting, and detection The setting of the number monitoring time will be described in order below.

  The setting of the group ID that is arbitrarily set is, for example, for creating a group with the same group ID that is arbitrarily set for the plurality of harmful disturbance determination patterns registered in the harmful disturbance determination pattern aggregation. To determine that there is a harmful disturbance when all of the plurality of harmful disturbance determination patterns having the same group ID registered in the harmful disturbance determination pattern aggregation are determined to be true in the harmful disturbance determination. It is for making possible.

  By setting the group ID, for example, it is possible to determine whether there is a more severe harmful disturbance even in a ship having a constant disturbance.

  The setting of the detection frequency threshold and the detection frequency monitoring time that are arbitrarily set are performed for the harmful disturbance determination pattern that is arbitrarily set. This is for determining that there is harmful disturbance when the number of times that the harmful disturbance determination pattern (excluding the detection frequency threshold and the detection frequency monitoring time) set in step 4 is true is equal to or greater than the detection frequency threshold. . As a result, for example, a ship having a disturbance at all times can more reliably determine whether there is a harmful disturbance.

  By performing these harmful disturbance determination pattern aggregation settings, the harmful disturbance can be used to determine whether or not there is a harmful disturbance in the fishing rod 1 even when fishing at any disturbance, for example, boat fishing with constant disturbance. Judgment can be made. As a result, it becomes possible to detect harmful disturbance that causes the fishing rod 1 to cause a bending amount that causes an erroneous determination in the fish trust determination and the like, and when the harmful disturbance is detected, the bending is detected. By canceling the result or canceling the fish faith determination and the crack detection performed based on the amount of deflection of the fishing rod 1 detected by the amount detection sensor 2, the fish trust determination or the crack detection is performed. It is possible to perform the harmful disturbance determination process capable of preventing erroneous determination as much as possible. As a result, for example, it is possible to prevent problems such as accidentally carrying out an urnace operation and escaping the collected fish, or accidentally winding up the device up to the top by the electric reel 12 even though the fish is not hung on the fishing hook. The problem of wasting power and the problem of wasting power can be prevented as much as possible.

  Next, option mode setting will be described. The option mode setting is a setting of processing related to the option mode executed by the controller 30 (for example, a determination condition used in the determination of the option mode for determining whether or not to start the operation of various option modes). There are seven types of settings: tana search mode setting, automatic bait changing mode setting, bottom monitoring mode setting, re-bottoming mode setting, fish finder target mode setting, and transverse mode setting, which will be described in order below.

When the option mode determination detects (determines) that the fish trust has not been determined to be valid for a certain period of time, the option mode setting The reel 12 performs a series of shackle operations in which a certain amount of shackle is driven to wind up at a constant speed and then fed out by the electric reel 12 to return the mechanism to the original depth and restart the fish trust determination. This is a setting relating to the mode of the mode, and includes a setting as to whether or not to enable the mode, a setting of the waiting time, a setting of the amount of shading, and a setting of the speed of shading. Further, the setting of the amount of shackle may be either a winding driving distance or a winding driving time.
By performing the shackle mode setting, it becomes possible to perform a shaving operation (for example, 10 cm for smelt, 1 m for white-eye, etc.) with the amount of shackle according to the fish species to be aimed at and the speed of the shackle, and the fish species to be aimed at. The shackle waiting time can be set according to the fish species so that the shaving operation is performed at a time interval according to the fish species (for example, a time interval according to the fish species such as a 1-second interval for smelt and a 5-second interval for goby fishing). Is possible.

The tana search mode setting in the option mode setting is when the option mode determination detects (determines) that it has not been determined that a fish has been caught on the fishhook at the current target depth for a fixed time tana search waiting time. A series of operations in which, for example, a depth obtained by subtracting a certain amount of tana search amount from the current target depth is set as a new target depth, and the device is moved to the new target depth by the electric reel 12 to restart the fish trust determination. Is a setting related to the tana search mode for performing the tana search operation, and includes setting whether to enable the tana search mode, setting the tana search waiting time, and setting the tana search amount. Further, the setting of the tana search amount may be either a winding driving distance or a winding driving time.
By performing the tana search mode setting, the tana search operation can be performed with the tana search amount corresponding to the fish type (for example, 10 cm for smelt, 1 m for squid, 30 cm for kiss fishing), In addition, by setting the tana search waiting time, it is possible to perform the tana search operation at time intervals according to the type of fish and type of fishing (for example, 30 seconds for squid fishing, 1 second for jigging, etc.) Become.

The automatic mode change mode setting of the option mode setting is that when the option mode determination detects (determines) that the automatic change time of a certain time has elapsed since the start of the automatic fishing process, the mechanism is raised (water surface). This is a setting relating to an automatic feeding change mode for performing an automatic feeding change operation for driving and moving the electric reel 12, and includes setting whether or not to enable the automatic feeding change mode and setting of the automatic feeding time.
By performing this automatic bait change mode setting, it becomes possible for an angler to perform the automatic bait change operation at any automatic bait change time as required, and management of the angler's bait change time, and It can reduce the labor of bait change itself, can always invite fish with fresh bait, and automatically and regularly, for fish species that may not generate fish faith even if caught on a fishing hook such as flounder You will be able to check if you can catch it.

The bottom monitoring mode setting of the option mode setting is such that the deflection amount of the output of the deflection amount detection sensor 2 monitored by the option mode determination is constant during the monitoring of the effective fish confidence in the fish confidence judgment. When it is detected (determined) that the bottom detection time of the time extends below a certain amount of bottom detection deflection amount threshold value, the device is moved upward by the electric reel 12 by a certain amount of bottom cut amount and the fish trust determination The bottom monitoring mode for performing the bottom monitoring operation of these series of operations, the setting of whether to enable the bottom monitoring mode, the setting of the bottom detection time, and the bottom detection deflection. It consists of setting the amount threshold.
By setting the bottom monitoring mode, for example, it becomes possible to make a determination to detect that the ship has flowed in a shallow direction due to the tidal current and the device has reached the bottom, and the device can be automatically released from the bottom. By being able to do it, it becomes possible to prevent root crackles.

The option mode setting re-bottoming mode setting means that the option mode determination detects (determines) that it has not been determined that a fish has been caught on the fishhook at the current target depth for a certain period of re-bottoming time. In addition, after the mechanism is moved to the bottom by the electric reel 12, the mechanism is moved upward by a fixed amount of bottom cut and the fish faith determination is restarted. This is a setting relating to the bottoming mode, and includes a setting as to whether or not to enable the bottom monitoring mode and a setting of the re-bottoming time.
By performing the re-bottoming mode setting, the angler automatically sets the device from the bottom to an arbitrary amount every time, for example, when the ship is washed away in the deep direction by the tide and the device leaves the bottom. It will be possible to return to the depth that raised, and it will be possible to automatically adjust the device to the depth of the root fish.

The fish finder target mode setting in the option mode setting is for the fish finder target time for a certain period of time.
When the option mode determination detects (determines) that it has not been determined that a fish has been caught on the fishhook at the current target depth, the depth at which the fish is present is determined based on the fish information received from the fish detection information via the communication device 41. Analyzing, setting the analyzed depth to a new target depth, moving the device with the electric reel 12 to the new target depth, and setting the fish finder target mode for performing the fish finder target operation for resuming the fish faith determination, It consists of setting whether to enable the fish finder target mode and setting the fish finder target time.
By performing the fish finder target mode setting, the fisherman automatically sets the device to the best depth where the fish school is located, based on the fish information received from the fish detector attached to the ship, for example. For example, it is possible to automatically follow the depth at which there is a school of fish that constantly changes the depth of the device.

The horizontal mode setting of the optional mode setting is the horizontal information from other automatic fishing systems (the fish hooked on the fishhook, the fact that there were frequent effective fish signals, and the depth at which they were determined. When the communication device 41 receives a fish type, a position coordinate, etc.), for example, a flag is set. Whether or not to enable the through mode for performing the through operation of moving the device to move the device to the new target depth and restarting the fish trust determination. It consists of these settings. Also, whether or not the fish species that the aircraft is aiming for matches the condition that the flag was set in the option mode determination, the distance between the aircraft and the original multi-machine is within the maximum horizontal distance It is desirable to make the determination together.
By setting the horizontal mode, it becomes possible to receive a horizontal transmission instantly from an automatic fishing system used by a fisherman of a ship cabin or the other side of a ship cabin where the conversation is not possible. It is possible to automatically move the device to the depth where the fish school is located in the shortest time. For example, even when there is a fish school whose depth is always changed, it is possible to quickly adjust the device depth to the fish school.

  Next, support setting will be described.

  The support setting is a series of target depth moving processing (moving target depth ← target depth variable), fish faith determination processing, wakese movement, cracking determination processing, target depth moving processing (moving target depth ← 0), and the like. A sequence pattern of the automatic fishing process, which is a sequence of For example, support setting 1 is fish faith determination processing, support setting 2 is fish faith determination processing + target depth movement processing (movement target depth ← 0), support setting 3 is fish faith determination processing + wase action, and support setting 4 is fish faith. Judgment process + Awase action + Target depth movement process (Movement target depth ← 0), Support setting 5 has 5 types such as Fish faith judgment process + Awase action + Kakari judgment process + Target depth movement process (Movement target depth ← 0) One of the support settings is selected and set. By performing the support setting, it is possible to perform fishing according to the angler's situation and the fish type. For example, when the angler wants to support only the wrought, squid fishing that should not be performed, eel fishing that is already hooked on the fishhook at the time of fish luck, etc. The support setting 1 to the support setting 5 may be automatically switched based on the fish type added in advance to the fish belief determination pattern determined to have an effective fish belief in the fish bean determination.

  Next, the automatic fishing operation by the controller 30 of the automatic fishing system having the above configuration will be described with reference to the flowcharts and explanatory diagrams shown in FIGS. In the following description, reference sign S in the description of each flowchart means each processing step.

  Before explaining the flowchart, an outline of the automatic fishing operation of the automatic fishing system will be described with reference to FIG. First, as shown in FIG. 25A, the target depth moving process (moving to the target depth) is performed to move the device to the depth of the target depth while controlling the driving amount of the electric reel 12, and then FIG. As shown in FIG. 25 (c), when the fish trust determination is performed to determine whether or not there is a valid fish trust as shown in FIG. An wake-up operation is performed in which the fishing line 10 is driven to wind up the fishing line 10 at a constant speed at a constant speed. Next, as shown in FIG. 25 (d), a crack determination is performed to determine whether or not a fish is caught on the fishing hook. When it is determined in the determination that a fish has been caught on the fishhook, the electric reel 12 is driven to wind up as shown in FIG. In addition, if it is determined that no fish is caught on the fishing hook within a certain time in FIG. 25D, the electric reel 12 in FIG. 25A is driven again and the mechanism is moved to the target depth. Start over from where you want it. By performing a series of these automatic fishing operations, it is possible to perform an automatic fishing operation that automatically fishes until the fish is reliably caught, that is, an automatic fishing system that can perform fishing automatically.

  First, a method for starting the automatic fishing process of FIG. 24 will be described. There are two ways to start the automatic fishing process, one is the start of automatic fishing process (no initial movement) to start the automatic fishing operation with the device at the current depth, and the other is the device to move the device to the preset target depth. This is the start of an automatic fishing process (with initial movement) that starts an automatic fishing operation later. These start is arbitrarily started by the angler by the operation button 32 of the operation device 32 assigned to each start, for example.

  Here, the target depth variable will be described. The target depth variable is a variable in which the depth at which fish trust determination is to be performed is stored. By having a variable that stores the depth at which the fish trust judgment is to be performed, for example, even when a fish is automatically caught, it is possible to perform automatic fishing processing (with initial movement) without being aware of the angler. It is possible to automatically determine the fish confidence by moving the device to the depth at which the fish can be caught.

  Next, the current depth variable will be described. The current depth variable is obtained by adding or subtracting the current depth stored in the current depth variable based on the rotation amount and the rotation direction detected by the reel rotation detector 38 in accordance with the rotation of the spool of the electric reel 12 to obtain the current device. It shows the depth of.

  From here, it returns to a flowchart and continues description. Before starting the automatic fishing operation, first, initial setting is performed (S1101). Here, as a prelude to explaining the initial setting, all setting data set by the setting unit 46 is stored in the EEPROM of the memory 36, and the angler performs the previous fishing line when performing various settings such as the initial setting. It is only necessary to set a difference from the various settings used in the above.

  In this initial value setting, the setting device 46 performs 0 depth setting for setting the initial value of the depth variable to zero. Here, the current depth variable is a variable indicating the current device depth position, and is a value obtained by adding or subtracting the rotation direction and the rotation amount of the spool of the electric reel 12 detected by the reel rotation detector 38 to the current device depth position. It is.

  Further, if necessary, the setter 46 uses a bottom mode for performing fish faith determination at a depth obtained by driving a fixed amount of bottom cut off from the bottom of the target depth reference mode by the electric reel 12, and for fishing the middle layer. One of the middle-level modes for performing fish faith determination at a depth based on 0 depth of the water surface is set in advance. When the middle layer mode is set, target depth setting for setting a target depth in the middle layer mode is performed. When the bottom mode is set, the bottom cut amount is set to set the bottom cut amount for separating the device from the bottom according to the target fish type and fishing ground.

  Furthermore, if necessary, the setting device 46 takes into account the detection output of the deflection amount detection sensor 2 and the bending force of kg or the like that is deflecting the fishing rod 1 near the deflection amount detection sensor 2. In order to convert into the amount of bending, the fishing rod hardness setting which sets the hardness coefficient with respect to the position which attached the bending amount detection sensor 2 of the fishing rod 1 is performed. Further, in the case of a fishing rod having a dedicated model number, the setting may be performed collectively from previously registered fishing rod information by setting the model number of the fishing rod.

  If necessary, when the electric reel 12 is driven by the setting device 46 to move the device upward or downward, the electric reel 12 is driven based on the amount of deflection of the detection output of the deflection amount detection sensor 2. Whether or not to enable the auto tension function by adjusting the driving direction and driving speed of the reel 12 and maintaining the fishing line 1 to be constant so that the tension of the fishing line is kept constant. , Setting of the auto tension upward threshold for setting the moving speed when moving the device upward during the automatic fishing process, moving speed when moving the device downward during the automatic fishing process An auto-tension lower threshold value is set to set the value, and an auto-tension coefficient is set to adjust the sensitivity for keeping the bending amount constant.

  Further, if necessary, the setting unit 46 allows the controller 30 to set the deflection amount of the detection output of the deflection amount detection sensor 2 in a neutral state in which the fishing rod 1 hangs the weight or device on the tip of the rod. Sampling, for example, an average value of the sampled bending amounts is set as a bending amount reference value.

  Further, if necessary, the setting device 46 samples the deflection amount of the detection output of the deflection amount detection sensor 2 in a state where the controller 30 is extended in a no-load state for a certain time (for example, 3 seconds). For example, an average value of the bent amount is set as the no-load value. However, this setting is not necessary when the initial value is zero of the bending amount detection sensor 2 itself.

  Further, if necessary, when the disturbance detector 37 detects a harmful disturbance by the setting device 46, the setting of a harmful disturbance detection mode for canceling the determination result or canceling the determination of the fish faith or the determination of the disturbance is performed. A disturbance correction mode for correcting the deflection amount detected by the deflection amount detection sensor 2 based on the disturbance amount detected by the detection body 37 is set.

  Furthermore, if necessary, the setting unit 46 uses the option mode to shake the device every fixed time, the tana search mode to move the device by a fixed amount every fixed time, or when a certain time has passed. In the automatic bait change mode that moves the device to the top (water surface) and the amount of bending detected by the amount of bending detection sensor 2 when performing the fish trust judgment, it is detected that the device has reached the bottom. The target depth based on the fish information from the fish detectors every certain time. Set and set the target depth based on the crossing information when there is a crossing from the fish hunting target mode that moves the device to this set depth and performs fish faith judgment or other automatic fishing system Deep Setting the transverse through mode or the like to move the tackle on. These shackle mode, tana search mode, automatic bait changing mode, bottom monitoring mode, re-bottoming mode, and fish hunting target mode can be set simultaneously.

  Further, if necessary, the setting device 46 determines whether or not the tip is stable. The tip stability determination pattern aggregation setting for setting and registering the tip stability determination pattern used in the tip stability determination and the effective fish. Set the fish trust judgment pattern to be used in the fish trust judgment to determine whether or not there is a fish trust The fish trust judgment pattern aggregation setting to register and the crack judgment to be used in the crack judgment to determine whether or not the fishhook is hung Performs these settings: Kakari determination pattern aggregation settings for setting and registering patterns, and Kakari determination pattern aggregation settings for setting and registering the harmful disturbance determination patterns used for determining whether there are harmful disturbances. .

  Here, it is assumed that the harmful disturbance detection mode is set in advance.

  Next, when the start button of automatic fishing processing (without initial movement) for performing automatic fishing at the current depth of the operating device 32 is turned on, the target depth variable is stored in the current depth variable in the memory 36 accordingly. The depth position is set (S1102), then the middle layer mode setting (S1103) for performing middle layer fishing in the target depth reference mode is performed, and the process proceeds to S1104. If the start button of the automatic fishing process (with initial movement) for performing automatic fishing after the device is moved to the preset target depth of the operating device 32 is turned on, the process proceeds to S1104.

  Next, the timer T4 is initialized in order to measure the elapsed time in the option mode (S1104). Next, it is determined whether or not the current target depth reference mode is the bottom mode (S1105). If the target depth reference mode is the bottom mode, the bottom is designated as the movement target depth of the execution parameter, the target depth movement process of S1106 is executed, the electric reel 12 is driven, and the device is moved to the bottom. If the target depth reference mode is the middle layer mode, the depth of the target depth variable is designated as the movement target depth of the execution parameter, the target depth movement process of S1108 is executed, and the electric reel 12 is driven to move the device to the target depth. Let

  At that time, after the electric reel 12 is driven and moved in the target depth moving process or the like, the motor drive state of the electric reel 12 is set to the brake state instead of the stop state, for example, while the fish reel determination is performed. It is desirable to keep it. Thereby, for example, when the fish is caught by a large fishing hook and pulled strongly while the electric reel 12 is stopped, it is possible to prevent the spool of the spool of the electric reel 12 from spinning and the fishing line 10 from being pulled out. Further, for example, a clutch or the like that can be electrically controlled is mechanically provided on the rotating portion of the bobbin winding portion (spool) to obtain the same effect.

  Here, with reference to FIG. 26, the details of the bottom detection process executed while the device is moving in the sending direction in the target depth movement process or the like will be described. For example, FIG. 26A shows a state in which the fishing line 10 is fed out and driven by the electric reel 12 while monitoring the amount of deflection of the fishing rod detected by the amount of deflection detection sensor 2. When the bending amount detected by the bending amount detection sensor 2 changes from the state shown in FIG. 26 (a) to a bottom detection bending amount threshold value (extended) as shown in FIG. 26 (b), For example, the feeding drive of the fishing line 10 on the electric reel 12 is stopped or driven at a low speed. In this stopped or low-speed driving state, if the bending amount detected by the bending amount detection sensor 2 is below the bottom detection bending amount threshold value (extended) continues for the bottom monitoring time (for example, 4 seconds), the mechanism is bottom. It is determined that you have arrived. (When stopping the electric reel 12, it is desirable to decelerate gently)

  An example in which an excess of the fishing line feed speed is detected in the bottom detection process will be described. FIG. 26A shows a state in which the fishing line 10 is fed out and driven by the electric reel 12 while monitoring the amount of deflection of the fishing rod detected by the amount of deflection detection sensor 2. When the bending amount detected by the bending amount detection sensor 2 changes from the state shown in FIG. 26 (a) to a bottom detection bending amount threshold value (extended) as shown in FIG. 26 (b), For example, the feeding drive of the fishing line 10 on the electric reel 12 is stopped or driven at a low speed. In this stopped or low-speed driven state, a state in which the amount of bending detected by the amount-of-deflection detection sensor 2 is (extends) below the bottom detection bending amount threshold does not continue for the bottom monitoring time (for example, 4 seconds), and FIG. c) When it changes (bends) to the bottom detection deflection amount threshold value shown in (c), the device does not reach the bottom, but the electric reel 12 temporarily sends out the fishing line 10 faster than the weight sinks. Thus, it is possible to determine that the fishing rod 1 has been stretched (line dander has occurred), and when the fishing rod 1 has been temporarily stretched (i.e., has produced a dander), the feeding speed of the fishing line 10 is immediately reduced by one step. As a result, the feeding operation of the electric reel can be resumed.

  Further, in the bottom detection process, when the state of FIG. 26B is not detected during a certain period (for example, 15 seconds) of the state of FIG. 26A being fed, the electric reel 12 uses the speed at which the weight sinks. It is desirable to increase the feeding speed of the fishing line 10 on the electric reel 12 by judging that there is a possibility that the feeding speed of the fishing line 10 may be slow.

  By executing this bottom detection process, it is possible to reliably detect that the device has arrived at the bottom, and it is possible to automatically perform bottom fishing, and that the device has arrived at the bottom. By making it possible to detect reliably, after detecting the arrival at the bottom, an arbitrary amount of bottom cut automatically set on the basis of the bottom is automatically rolled up by the electric reel 12 to prevent root crisp and swim the root fish It becomes possible to perform the fish shin judgment process by matching the mechanism to the layer, and it is possible to surely detect that the mechanism has arrived at the bottom, so that the mechanism has arrived at the bottom. It is possible to prevent a problem such as a backcrash that continues to feed out the fishing line without being lost, and the electric reel 12 sends out the fishing line more than the speed at which the weight sinks. It becomes possible to prevent the problem that the backlash occurs while continuing to feed the fishing line without knowing that the electric reel 12 is feeding the fishing line faster than the speed at which the weight sinks. Further, every time it is detected that the electric reel 12 has sent out the fishing line more than the speed at which the weight sinks, the angler can freely select the fishing line feeding speed by, for example, decelerating the feeding speed of the electric reel 12 step by step. It is possible to automatically adjust to an appropriate speed according to the speed at which the weights set in step 1 are set, and the time for moving the device to the target depth in the bottom direction can be shortened while preventing the occurrence of back crash.

  Next, after the mechanism reaches the bottom in S1106, a bottoming operation (S1107) is performed in which a preset bottom cut amount is driven to wind up with the electric reel 12. In order to match the mechanism with the distance (depth) from the bottom where it is estimated that there is a fish species to be aimed at with the bottoming operation, it is presumed that there is a fish species to be aimed at by winding up a preset bottom cut amount with the electric reel 12 The device is moved to a certain depth. As a result, even if the water depth changes, it is possible to perform fish faith judgment at the depth intended by the angler based on the bottom, which makes it possible to perform effective bottom fishing and increase the number of fishing results Become. Further, by performing the bottoming operation, for example, the mechanism can be released from the bottom that causes root cracking such as topography of the seabed and seaweed, and it becomes possible to prevent cracking.

  Next, the timers T2, T3, T4, T5, and T6 are initialized in order to measure the elapsed time in the option mode (S1109).

  Next, the tip stability determination (S1110) of the tip stability process is performed. The tip stability determination (S1110) includes the deflection amount of the fishing rod 1 detected by the deflection amount detection sensor 2 and, for example, one or more tip stability determination patterns registered in the tip stability determination pattern aggregation. Whether or not the tip is stable is determined.

  In addition, when a plurality of tip stability determination patterns are registered in the tip stability determination pattern aggregation, the result of the provisional determination that the tip is stable in each tip stability determination pattern is not stable by OR. Determine whether or not. However, if a plurality of tip stability determination patterns having the same group ID are registered in the tip stability determination pattern aggregation, it is tentative that the tip is stabilized in each tip stability determination pattern having the same group ID. The result of the determination is further ANDed to determine whether the tip is not stable.

  An example of the tip stability determination (S1110) will be described with reference to FIG.

  As an introduction to the explanation, this automatic fishing system holds, for example, the latest 500 deflection amounts of the fishing rod 1 detected by the deflection amount detection sensor 2 every 10 ms in the deflection amount history [500] in the memory 36, for example. In other words, the deflection history of the fishing rod 1 from the current time for 5 seconds is held in the deflection history [500] in the memory 36. Further, it is desirable to remove noise from the deflection amount of the fishing rod 1 stored in the deflection amount history [500] for 5 seconds by, for example, spline interpolation.

  First, FIG. 27A shows a determination example of the tip stability determination pattern created with the tip stability determination pattern template 2, for example. As shown in FIG. 27A, for example, the maximum and minimum bending amounts in the tip stabilization time T10 dating from the present time are searched from the bending amount history [500], and the searched maximum and minimum bending amounts are searched. A bending width Δ11 which is a difference in the amount of bending is calculated. It is compared with the stable bending width threshold value Δ10, and when the bending width Δ11 is smaller than the stable bending width threshold value Δ10 (Δ10> Δ11), it is determined that the tip is stable.

  FIG. 27B is a determination example of the tip stability determination pattern created with the tip stability determination pattern template 5. As shown in FIG. 27B, for example, the peak position of the latest one cycle is searched from the deflection amount history [500], and the difference between the peak deflection amounts of one cycle and the time interval of the peak of one cycle are used. Then, the bending speed θ13, which is the changing speed, is calculated. For example, when the deflection direction θ13 is equal to or less than the stable deflection rate threshold value θ10 (θ13 <θ10) when the detection direction is compared with the stable deflection rate threshold value θ10 in the direction in which the fishing rod 1 bends, the tip of the rod is stabilized. Is determined.

  FIG. 27C shows a determination example of the tip stability determination pattern created with the tip stability determination pattern template 5. As shown in FIG. 27 (c), for example, the bending speed θ15, which is a change speed, is calculated from the difference between the bending amount of the fishing rod 1 detected by the fixed period time and the bending amount detection sensor 2 of the fixed period, When the bending speed θ15 is compared with a stable bending speed threshold value θ14 in which the detection direction is the bending direction of the fishing rod 1, for example, the bending speed θ15 is equal to or less than the stable bending speed threshold value θ14 (θ15 <θ14). It is determined that the tip is stable.

  FIG. 27D is a determination example in which two tip stability determination patterns (part 1 and part 2) created with the tip stability determination pattern template 4 are grouped with the same group ID. As shown in FIG. 27 (d), for example, the deflection amount reference value from the deflection amount within the tip stabilization time T11 (both 1 and 2) dating from the current point in the deflection amount history [500]. Is equal to or greater than the stable deflection amount threshold value Δ12 (only one of them) in the direction in which the fishing rod 1 extends, and (AND) for example, the stable deflection amount threshold value in the direction in which the detection direction is deflected by the fishing rod 1 If it is Δ13 (only 2) or less, it is determined that the tip is stable.

  FIG. 27E shows a determination example in which two tip stability determination patterns (part 1 and part 2) created with the tip stability determination pattern template 7 are grouped with the same group ID. As shown in FIG. 27 (e), for example, it is a change acceleration calculated from the deflection amount of the deflection amount history [500] within the time of the tip stabilization time T12 (No. 1 and No. 2) dating from the present time. For example, the bending acceleration is equal to or greater than the stable bending acceleration threshold value θ16 (only one) in which the detection direction extends the fishing rod 1, and (AND) the stable bending acceleration threshold value θ17 (for example, the detection direction is the bending direction of the fishing rod 1). (No. 2 only) If it is below, it is determined that the tip is stable.

  Thus, for example, by performing the tip stability determination (S1110) using the various tip stability determination patterns created by the tip stability determination pattern template 1 to the tip stability determination pattern template 7, for example, fishing of a quay The fisherman accidentally kicks the fishing rod 1, the fisherman walks and the rod is shaken temporarily, the ship is shaken by the influence of waves, etc., the electric reel 12 is driven to move the device, etc. It is possible to wait until the amount of deflection of the fishing rod 1 caused by the disturbance can be eliminated, and to stabilize the rod tip.

  The tip stability processing is configured by the tip stability determination of S1110, and is the processing of repeating the tip stability determination of S1110 until it is determined that the tip stability is stable by S1110.

  By executing the tip stabilization process, the tip vibration generated by executing the target depth shifting process and the awaze process in S1106 and S1107 is surely stabilized, and for example, It is possible to reliably determine that the vibration of the tip generated due to a large shaking at the time has become stable, thereby eliminating the influence of disturbance factors in advance. The result of the determination process and the determination process can be made more reliable, and further, [the fishing rod 1 detected by the deflection amount detection sensor 2 that the fixed point stability time has elapsed, The deflection amount of the fishing rod 1 detected by the deflection amount detection sensor 2 during the fixed point stabilization time for a certain time in a state where the deflection amount is equal to or less than the stable deflection amount threshold, Less than stable deflection threshold By determining whether or not the tip is stable using at least one of the bending width, the bending speed, or the bending acceleration). For example, even when the fishing rod 1 is periodically periodically slowed and bent due to the periodic shaking of the boat, the fishing rod 1 periodically exerts a negative influence by eliminating the slow and slow bending. By making it possible to determine whether the tip is stable only by the influence of the factors, the results of the fish trust determination process and the crack determination process can be obtained by boat fishing etc. where there is always a disturbance. It can be made even more certain.

Next, at this timing when the tip is stabilized, for example, the bending amount history storing the bending amount detected by the latest 500 bending amount detection sensors is initialized (S1111). The amount of miscellaneous information is erased to prevent an erroneous determination in the fish trust determination in S1113 described later.
Further, the bending amount reference value may be set at this timing when the tip is stable. However, it is not necessary to set the bending amount reference value every time at this timing, and it is desirable to set the bending amount reference value at this timing with a certain interval (for example, 15 minutes). This makes it possible to automatically correct even when the amount of deflection in a stable neutral state changes, for example, in a load state in which a fishing rod and a device are hung on the fishing rod 1 due to a change in tidal current and a viscous resistance such as a device. become.

  The disturbance reference value may be set at this timing when the tip is stable. However, it is not necessary to set the disturbance reference value every time at this timing, and it is desirable to set the disturbance reference value at this timing with a certain interval (for example, 15 minutes). The setting of the disturbance reference value is for automatically setting the neutral reference value of the disturbance amount detected by the disturbance detector 37 to the disturbance reference value in the memory 36, for example. The disturbance reference value is set, for example, by using the average value of the disturbance amount held in the disturbance amount history [500], the sorted median value, or the average of several values near the sorted median value as the disturbance reference value. It is desirable to set and hold the disturbance reference value in the memory 36. Thereby, for example, even in boat fishing in which a disturbance amount is always generated in the fishing rod 1, the neutral value of the disturbance amount can be accurately set as the disturbance reference value. By setting the disturbance reference value, for example, even when the neutral value of the disturbance amount changes, it can be automatically corrected.

  Next, harmful disturbance presence / absence determination (S1112) of the harmful disturbance determination processing is performed. The harmful disturbance presence / absence determination is performed, for example, by determining whether or not there is a harmful disturbance based on whether or not the memory disturbance timer variable in the memory 36 is 1 or more (disturbance timer variable> 0). The disturbance timer variable determines whether there is a harmful disturbance based on the amount of disturbance detected by the disturbance detector 37 in the periodic timer process described later, and when it is determined that there is a harmful disturbance, for example, A value of 1 or more is set.

  Further, while it is determined that there is a harmful disturbance in the harmful disturbance presence / absence determination (S1112), that is, until the harmful disturbance disappears, for example, the tip stability determination (S1110) → initialization of the deflection amount history (S1111) ) → By repeatedly performing the process of determining whether there is a harmful disturbance (S1112), it is possible to wait until the harmful disturbance is eliminated and to stabilize the tip of the fishing rod 1. As a result, it is possible to perform the next fish faith determination (S1113) in a state without harmful disturbance, and the amount of flexure of the fishing rod 1 caused by the harmful disturbance is erroneously recognized as being valid. The problem of judging can be surely prevented. In addition, for example, there is a problem that the fishing line 10 is accidentally wound up by the electric reel 12 even though no fish is hung on the fishing hook, or the collected fish is missed by performing an accidental operation. Problems can be prevented reliably.

  When it is determined in the harmful disturbance presence / absence determination (S1112) that there is no harmful disturbance, next, the fish trust determination (S1113) of the fish trust determination process is performed.

  The fish belief determination (S1113) of the fish bean determination process includes the bend amount of the fishing rod 1 detected by the bend amount detection sensor 2 and, for example, one or more fish belief determinations registered in the fish belief determination pattern aggregation. Based on the pattern, it is determined whether or not there is a valid fish faith. In addition, when a plurality of fish trust determination patterns are registered in the fish trust determination pattern aggregation, for example, the result of the provisional determination that there is a valid fish trust of each fish trust determination pattern is a valid fish trust with OR. It is determined whether or not there is. However, when a fish trust determination pattern having the same group ID is registered in the fish trust determination pattern aggregation, the result of provisional determination that each fish trust determination pattern having the same group ID has a valid fish trust Is further ANDed to determine whether there is a valid fish trust. This makes it possible to ascertain effective fish faith even more reliably even in ships with constant disturbance.

  An example of fish faith determination (S1113) will be described with reference to FIG.

  As an introduction to the explanation, this automatic fishing system holds, for example, the latest 500 deflection amounts of the fishing rod 1 detected by the deflection amount detection sensor 2 every 10 ms in the deflection amount history [500] in the memory 36, for example. In other words, the deflection history of the fishing rod 1 from the current time for 5 seconds is held in the deflection history [500] in the memory 36. Further, it is desirable to remove noise from the deflection amount of the fishing rod 1 stored in the deflection amount history [500] for 5 seconds by, for example, spline interpolation.

  First, FIG. 28A shows a determination example of the fish faith determination pattern created by the fish faith determination pattern template 1, for example. As shown in FIG. 28 (a), for example, the maximum and minimum bending amounts in the fish trust determination time T13 dating from the current time are searched from the bending amount history [500], and the searched maximum and minimum bending amounts are searched. A bending width Δ16 which is a difference in the amount of bending is calculated. It is compared with the fish bend deflection width threshold value Δ17, and when the deflection width Δ16 is larger than the fish bend deflection width threshold value Δ17 (Δ17 <Δ16), it is determined that there is an effective fish belief.

  FIG. 28B is a determination example of the fish faith determination pattern created by the fish faith determination pattern template 4. As shown in FIG. 28B, for example, the latest peak position of one cycle is retrieved from the deflection amount history [500], and the difference between the deflection amount of the peak of one cycle and the time interval of the peak of one cycle are obtained. Then, the bending speed θ20 which is the changing speed is calculated. For example, it is effective when the detection direction is compared with the fish bend rate threshold value θ18 in the direction in which the fishing rod 1 bends and the bend rate θ20 is equal to or greater than the fish bend rate threshold value θ18 (θ20> θ18). It is determined that there is fish faith.

  FIG. 28C shows a determination example of the fish faith determination pattern created with the fish faith determination pattern template 4. As shown in FIG. 28 (c), for example, a bending speed θ23, which is a change speed, is calculated from the difference between the bending amount of the fishing rod 1 detected by the fixed period time and the bending amount detection sensor 2 of the fixed period, The bend speed θ23 is compared with, for example, the fish bend bend speed threshold value θ21 in the direction in which the fishing rod 1 bends, and the bend speed θ23 is equal to or greater than the fish bend bend speed threshold value θ21 (θ23> θ21). If it is, it is determined that there is valid fish faith.

  FIG. 28 (d) shows a determination using two fish faith determination patterns (No. 1 and No. 2) created by the fish faith determination pattern template 2 in which a detection frequency threshold and a detection frequency monitoring time are optionally set. It is an example. As shown in FIG. 28D, for example, the deflection amount reference value is calculated from the deflection amount within the time of the detection number monitoring time T14 (both 1 and 2) dating from the present time in the deflection amount history [500]. The value obtained by subtracting is less than or equal to (18) the fish bend deflection threshold value in the direction in which the fishing rod 1 extends, or (OR) the fish bend deflection threshold value in the direction in which the detection direction bends the fishing rod 1. When Δ19 (part 2) or more is detected twice as a detection frequency threshold (part 1, part 2), for example, twice, it is determined that there is a valid fish trust.

  FIG. 28 (e) is a determination example of the fish faith determination pattern created by the fish faith determination pattern template 3 in which a detection frequency threshold and a detection frequency monitoring time are optionally set arbitrarily. As shown in FIG. 28 (e), for example, the value obtained by subtracting the bending amount reference value from the bending amount within the detection number monitoring time T15 that goes back from the current point in the bending amount history [500] is positive. If the number of times the fish bend deflection amount threshold value Δ21 in the direction in which the fishing rod 1 bends and the fish belief determination time T16 has elapsed is detected twice, for example, twice, it is determined that there is an effective fish belief.

  FIG. 28 (f) shows a determination using two fish faith determination patterns (No. 1 and No. 2) created by the fish faith determination pattern template 6 in which a detection frequency threshold and a detection frequency monitoring time are optionally set. It is an example. As shown in FIG. 28 (f), for example, it is a change acceleration calculated from the amount of deflection within the time of the number-of-detection monitoring time T17 (part 1, part 2) that goes back from the current point in the amount of deflection history [500]. When the deflection acceleration is detected as a detection threshold value (No. 1, No. 2), for example, twice, or less than the Nobuo deflection acceleration threshold value θ24 (No. 1) or (OR) the Nobuo determination time θ25 (No. 2), It is determined that there is a valid fish faith.

  In this way, for example, by performing the fish faith judgment using the various fish faith judgment patterns created by the fish faith judgment pattern template 1 to the fish faith judgment pattern template 6, the effective fish faith of a plurality of fish species can be monitored simultaneously. In addition, it is possible to reliably determine whether or not there is a valid fishfish at all fishing grounds, including boat fishing that is constantly affected by disturbances, and carp fishing that is subject to disturbances. It is possible to reliably prevent misjudgment in judgment, and to determine the timing of effective fish faith that can hook a fish to a fish.

  Next, the fish species that are arbitrarily set in the fish belief determination pattern used in the fish belief determination (S1113) will be described. The fish type setting is effective by adding, for example, a fish type to the fish belief determination pattern. This is to identify the fish species that caused the fish belief. As a result, the fish species can be displayed on the display device 35 by knowing the fish species from the fish belief determination pattern in which the effective fish bean has been detected. In addition, by performing the following urase operation (wase amount, speed) according to the fish species, the best urase operation can be performed, and further urase operation is performed for fish species such as squid that should not be ran. It is possible to eliminate this, and it is possible to add and register the fish species when registering fish information in the fishing history stored in the memory 36.

  Next, the priority order arbitrarily set for the fish trust determination pattern used in the fish trust determination (S1113) will be described. The priority order is for giving priority to a plurality of fish faith determination patterns registered in the fish trust judgment pattern aggregation and giving priority to the fish trust judgment of the fish trust judgment pattern having a higher priority.

  By assigning priorities, for example, [flatfish has high priority: fish bend amount threshold is 4 kg or more and 30 seconds], [large horse mackerel has medium priority: fish bend amount threshold is 2 kg. 5 seconds for the above, and 3) for small horse mackerel having a low priority: when the fish deflection amount threshold is 0.5 kg or more and 0.5 seconds is detected twice during 5 seconds. For example, a bend amount detection sensor is used while performing a fish trust determination using the fish trust determination pattern aggregation in a state where types of fish trust determination patterns are registered in advance in the fish trust determination pattern aggregation. When the amount of deflection of the fishing rod 1 that lasted 5 kg for 5 seconds at 2 is detected, it is determined that the large horse mackerel is effective, but the flounder with a higher priority than the large horse mackerel is at least 4 kg of the fish bend deflection threshold. Since the determination is based on the amount of deflection of the 5kg fishing rod 1, The determination of the flatfish were cut becomes possible to preferentially. At that time, if the deflection amount of the fishing rod 1 detected by the deflection amount detection sensor 2 is less than the flatfish fish deflection amount threshold 4 kg, the determination is suspended because the inflection is no longer being determined. The effective fish faith of the horse mackerel is confirmed. In this way, it is possible to determine whether or not there are effective fish trusts for a plurality of fish species at the same time regardless of the size of the fish trusts.

  The fish bean determination process is a process composed of the fish bean determination in S1113, and the fish bean determination in S1113 is repeated until the fish bean determination in S1113 determines that there is a fish bean.

  By executing this fish belief determination process, it becomes possible to automatically determine the effective fish bean even for fish bean that the angler has not learned, so that the fishing results can be improved. The fish seeds of the fish species are monitored simultaneously with multiple types of fish confidence judgment patterns, and the fish species of the judged fish faith are identified by the fish species previously added to the fish confidence judgment pattern judged by the fish confidence judgment The fish species specified by being able to be displayed are displayed on the display 35, or the fish species that have been found to be valid, the fish species of the fish trust, the depth of the fish trust, and the fish trust are determined. The communication judgment pattern can be traversed to other automatic systems in the vicinity with a communication device, etc., and a fishhook can be attached to the fish corresponding to the type of fish monitored simultaneously with multiple types of fish confidence judgment patterns. Detect the timing of effective fish faith that can be (For example, when the white-eye is pulled at 5 kg or more, when the meval is pulled at 2 kg or more for 3 seconds, and when the horse mackerel is pulled at least 0.8 kg more than 3 times in 3 seconds) It is now possible to perform the wakese action at the timing of the fish faith (execute the wakese process), and set and use the fish trust judgment pattern that quantifies the effective fish faith of countless fish species that are difficult to express The ability to quantify the effective fish beliefs of myriad fish species that are difficult to represent, so that it can be accurately set, clearly expressed, and accurately communicated, and the fish belief determination In the processing, the fish faith judgment pattern [the fish faith judgment time lasted for a certain time in a state where the amount of deflection is equal to or greater than the fish faith deflection amount threshold, the bending width, the bending speed, the bending acceleration, or a certain time Bending amount detection during the number of detection times monitoring Whether or not there is a valid fish signal using all or at least one of the number of times that the amount of deflection of the fishing rod 1 detected by the sensor 2 is equal to or greater than the detection threshold value. It is possible to determine whether or not a fish has been caught on a fishing hook by eliminating disturbance factors such as the fishing rod 1 slowly expanding and flexing periodically due to the shaking of the ship. This makes it possible to prevent misjudgment as much as possible even when there is a disturbance such as boat fishing, and if the specified fish species is a small horse mackerel, for example, move the device to the bottom and specify It is possible to automatically perform a series of actions such as aiming at flounder using the small horse mackerel of the fish species as raw feed.

  Further, in this fish faith determination process, by performing fish sound determination with relative values such as a bending width, a bending speed, and a bending acceleration, it is not necessary to use a reference value of the bending amount, for example, Even when the amount of neutral deflection of the fishing rod 1 is slowly changed (drifted) due to the inclination of the ship, the inclination of the rod, or the change of tidal current, it is not necessary to change the reference value of the deflection amount and various threshold values.

  Next, when it is determined that there is no valid fish-trust in the fish-trust determination (S1113), that is, until it is determined that there is a valid fish-trust, option mode determination (S1114) → harmful disturbance presence / absence determination (S1112) → Repeat the process of determining the fish faith (S1113). In this case, when it is determined that there is a harmful disturbance in the harmful disturbance presence / absence determination (S1112) for determining whether there is a harmful disturbance, for example, the tip stability determination (S1110) → deflection amount history initialization By performing (S1111) → determining whether there is a harmful disturbance (S1112) → fish trust determination (S1113), the fish trust determination (S1113) is always performed without the influence of harmful disturbance and the tip of the fishing rod 1 is stable. This makes it possible to prevent misjudgment in the fish faith judgment (S1113). As a result, for example, it is possible to prevent problems such as accidentally carrying out an urnace operation and escaping the collected fish, or accidentally winding up the device up to the top by the electric reel 12 even though the fish is not hung on the fishing hook. It is possible to reliably prevent problems such as wasting power and wasting power.

  If it is determined that there is a valid fish-trust in the fish-trust determination (S 1113), the angler 34 and the display 35 inform the fisherman that there is a valid fish-trust and store it in the memory 36. In the fishing history, the position coordinates detected by the GPS 45, the depth determined to have a valid fish signal, the fish signal determination pattern determined to have an effective fish signal, and the effective fish signal determined Register the finished fish species. In this way, for example, the angler returns home and captures the fishing history with a personal computer or the like via the communication device 41 to create a fishing diary, or displays and confirms such information on a map and chart on the personal computer screen. Is possible. Furthermore, the position coordinates detected by the GPS 45, the depth determined to have an effective fish signal, the fish signal determination pattern determined to have an effective fish signal, the fish species determined to have an effective fish signal, etc. The automatic fishing system is transmitted (transversely) through the communication device 41. This makes it possible to instantly share important information that affects fishing results between automatic fishing systems, and to improve fishing results further by performing automatic fishing operations based on important information that affects the fishing results. Become.

  Next, it is determined whether there is a harmful disturbance or not (S1115). When it is determined that there is a harmful disturbance in this harmful disturbance presence / absence determination (S1115), the result of the determination that there is a valid fishtrust in the fish belief determination (S1113) is the result of the fishing rod 1 generated by the harmful disturbance. It is possible to determine that there is an effective fish-trust with the amount of flexure, and that it is determined that the fish-trust determination (S1113) has made an erroneous determination, and accordingly, it is determined that there is a harmful disturbance in the harmful-disturbance presence determination (S1113). In this case, for example, by performing the tip stability determination (S1110) → deflection amount history initialization (S1111) → harmful disturbance presence / absence determination (S1112) → fish trust determination (S1113), the fish trust determination can be performed again. It becomes possible, and it becomes possible further to prevent the misjudgment in the fish faith judgment (S1113). Thereby, for example, it is possible to prevent problems such as accidentally performing an urse operation and escaping the collected fish, or accidentally winding up the device with the electric reel 12 accidentally even though the fish is not hung on the fishing hook, Problems such as wasting time and wasting power can be reliably prevented.

  If it is determined in the harmful disturbance presence / absence determination (S1115) that there is no harmful disturbance, then an erasure operation (S1116) of the erasure processing is performed. In the wake operation, the electric reel 12 is driven to wind up at a fixed amount of urase amount set in advance and the wake speed at a constant drive speed, and according to the fish corresponding to the target fish type. The fish hook can be hooked on the fish by the amount of urase and the urase operation at the ace rate.

  The erasing process is constituted by an erasing operation (S1116).

  By executing the awaze process, it becomes possible to perform an urchin operation at a timing at which a fishhook can be applied to the fish determined in the fish faith determination process, thereby effectively tying the fish with a fishhook. It is possible to perform automatic fishing efficiently by making it possible to determine whether or not a fish has been caught on the fishing hook even if the device is not rolled up to the top by the crisp determination processing In addition, it is possible to perform the wakese operation with the amount of rewase set in advance in accordance with the fish type previously added to the fish pattern determination pattern determined to have an effective fish pattern in the wake process. Do the ideal urase according to the size of the fish and fish (for example, roll a long amount of tuna on a hard-tuna tuna and hang a fishing hook firmly, The mouth to zero to prevent the ballast tear) such efficient fishing performed can be improved fishing by is possible.

  Next, a preset non-kari determination time (for example, 15 seconds) is set in T1 (S1117).

  Next, the tip stability determination of the tip stability processing is performed (S1118). The content of the tip stability determination (S1118) is the same as S1110 described above.

  The tip stability processing here is a processing composed of the tip stability determination in S1118, and the tip stability determination in S1118 is repeated until it is determined that the tip stability is stable in S1118.

  By executing the tip stabilization process, the tip vibration generated by executing the target depth movement process and the wrinkle process has been reliably stabilized, and for example, It becomes possible to determine that the vibration of the tip generated by a large shake has surely become stable, so that the influence of disturbance factors can be eliminated in advance, so The result of the processing can be made even more reliable, and the tip stability determination pattern [the tip stabilization time of a certain time has passed, the deflection amount detection sensor 2 When the detected amount of deflection of the fishing rod 1 is less than or equal to the threshold value of the stable amount of deflection, the tip stabilization time for a certain time continues, and the amount of detection of the fishing rod 1 detected by the deflection amount detection sensor 2 during the monitoring time of the number of times of detection for a certain time. Bending amount is stable bending amount threshold Whether or not the tip is stabilized by using all or at least one of the following: the number of times of lowering is equal to or greater than the detection frequency threshold, the bending width, the bending speed, or the bending acceleration) For example, even if the fishing rod 1 is periodically slowly extended and bent due to the fact that the ship is constantly swaying, the fishing rod 1 is prevented from periodically extending and bending. It is possible to determine whether or not the tip is stable by limiting only to the influence of disturbance factors that have an adverse effect, so that it is possible to perform the fish trust determination process or the crack determination in ship fishing or the like where there is a constant disturbance. The result of processing can be made even more reliable.

Next, at this timing when the tip is stabilized, for example, the bending amount history storing the bending amount detected by the latest 500 bending amount detection sensors is initialized (S1119). The amount of error is erased to prevent an erroneous determination in the caliper determination in S1121 described later.
Further, the above-described bending amount reference value may be set at this timing when the tip is stabilized.

  Next, harmful disturbance presence / absence determination is performed (S1120). The contents are the same as in the above-described harmful disturbance presence determination (S1112). While it is determined that there is a harmful disturbance in the presence / absence determination of harmful disturbance (S1120), that is, until the disturbance disappears, for example, the tip stabilization waiting process (S1118) → initialization of the bending amount (S1119) → the presence or absence of harmful disturbance The determination process (S1120) is repeated. By doing so, it is possible to carry out the next judgment (S1121) with no harmful disturbance and a stable state of the tip, and it is possible to reliably prevent an erroneous judgment in the judgment (S1121). If it is determined that there is no harmful disturbance in (S1121), the next judgment is made (S1121).

  Next, the crack determination (S1121) of the crack determination process includes, for example, the deflection amount of the fishing rod 1 detected by the deflection amount detection sensor 2 and, for example, one or a plurality of clicks registered in the aggregation determination pattern aggregation. Based on the determination pattern, it is determined whether or not a fish is hung on the fishhook, and is performed using the same method as the fish trust determination in S1113. Moreover, you may share and use the fish-trust determination pattern aggregation and the fish-trust determination pattern currently used by the fish-trust determination for the crack determination (S1121).

  In this way, for example, by performing the crisp determination using the various crisp determination patterns created in the crisp determination pattern template 1 to the crisp determination pattern template 6, boat fishing that is constantly affected by disturbances and temporarily receiving disturbances are performed. In all fishing grounds including salmon fishing, it is possible to reliably determine whether or not a fish is hung on a fishing hook. Thereby, it is possible to surely prevent waste of time and waste of power due to driving up the mechanism with the electric reel 12 even when the fish is not caught.

  If it is determined in this cracking determination (S1121) that there is no fish on the fishhook, that is, until it is determined that the fish is caught on the fishhook, for example, T1 time-up (S1122) → harmful disturbance presence / absence determination (S1120) → These processes for determining the power (S1121) are repeated. In this case, if it is determined that there is a harmful disturbance in the harmful disturbance presence determination (S1120), for example, the tip stability determination (S1118) → the deflection amount history initialization (S1119) → the harmful disturbance presence determination (S1120). ) → Karikari determination (S1121) makes it possible to always perform a Karikari determination without the influence of harmful disturbance and with the tip of the fishing rod 1 being stable. The determination can be prevented. This makes it possible to reliably determine whether or not a fish has been hung on a fishing hook at all fishing grounds such as boat fishing that is constantly affected by disturbances, and carp fishing that is temporarily subjected to disturbances. It is possible to prevent the problem that the device is accidentally wound up by the electric reel 12 even though no fish is caught on the fishhook, and it is possible to reliably prevent problems such as wasting time and wasting power.

  Furthermore, by detecting that T1 has timed up (may be the number of times) in the T1 time up (S1122) determination, it is possible to finally determine that no fish has been caught. As a result, when it is finally determined that no fish is caught, by returning to S1105, it is possible to automatically move the device to the depth at which a valid fish signal is detected again, and the fish signal determination is performed again. It becomes possible to do. In other words, if the fish was caught with an effective fish butter, but the fish did not hang on the fish hook, the fish hook (bait) was put in front of the fish that immediately returned the device to the depth where there was an effective fish trust and generated the fish. Can be returned automatically. Thereby, it becomes an automatic fishing system which fishes automatically until it can fish reliably.

  If it is determined that the fish hook has been caught in the crack determination (S1121), the harmful disturbance determination (S1123) is performed again. The contents are the same as in the above-described harmful disturbance presence determination (S1112). In this harmful disturbance presence / absence determination (S1123), the deflection amount of the fishing rod 1 caused by the harmful disturbance is detected by the deflection amount detection sensor 2, and the cracking determination (S1121) is performed based on the detected deflection amount. This is to determine whether or not it is erroneously determined that a fish has been caught on the fishhook.

  Here, the crisp determination process will be described. The crisp determination process includes a non-crisp determination time in T1 of S1117, a crisp determination in S1121, and a T1 time-up determination in S1122. A non-kakari determination time is set to T1 (S1117), and the T1 time-up (S1122) → kakari determination (S1121) is repeated until it is determined that the fishhook is caught in the Kakari determination (S1121). ), It is determined that the fish has been caught, and the fisherman is informed of that by a display and an alarm, and the target depth moving process of S1124 is executed with the moving depth target set to zero for the purpose of catching the caught fish. The fish is caught, and it is not determined that the fish has been caught on the hook during the non-crisp time, and the T1 time is up (S1122) If the time-up has been determined, it is determined that could not be subjected to a fish hook, is a process of transition to S1105 for the purpose of re-again strike determination process.

  By executing the crisp determination process, it is possible to confirm that a fish has been caught on the fishhook, thereby enabling the fish to be efficiently and automatically picked up. Further, the fish has not been caught on the fishhook. This makes it possible to prevent the problem that the device has been rolled up to the top even though no fish is actually hooked. When the amount of bending is equal to or greater than the threshold value for the amount of bending of the crack, the bending determination time has continued for a certain time, the bending width, the bending speed, the bending acceleration, or the number of times of detection during the certain number of monitoring times. The number of times that the amount of deflection of the fishing rod 1 detected by the amount detection sensor 2 becomes equal to or greater than the threshold value of the amount of deflection becomes equal to or greater than the detection frequency threshold] By determining whether or not the fishhook has been caught, it is possible to determine whether or not the fishhook has been caught by eliminating disturbance factors such as the fishing rod 1 slowly bending and changing due to the shaking of the ship. This makes it possible to prevent misjudgment as much as possible, and when it is determined that a fish has not been hung on the fishhook for a certain period of time, for example, it is determined that the fishhook could not be hung on the fish, for example, the original depth is restored. The target depth movement process can be executed for the purpose of performing the fish faith determination process again, and the fish faith monitoring (fish trust determination process) can be automatically resumed, so that automatic fishing can be performed efficiently. It becomes like this.

  When it is determined in the harmful disturbance presence / absence determination (S1123) that there is a harmful disturbance, for example, the tip stabilization waiting process (S1118) → flexure amount history initialization (S1119) → harmful disturbance presence / absence determination (S1120) is performed. Thus, it becomes possible to determine whether or not a fish has been caught on the fishhook in the crisp determination (S1121) again in a state where there is no harmful disturbance and the tip is stable. As a result, it is possible to more surely prevent waste of time and waste of power due to driving up the mechanism with the electric reel 12 even though the fish is not caught.

  If it is determined in the harmful disturbance presence / absence determination (S1123) that there is no harmful disturbance, it is determined that the fish has been caught (a fish has been caught on the fishhook), and the indicator 34 and the indicator 35 indicate that fact. In addition, the fishing history stored in the memory 36 further includes the date and time, the position coordinates detected by the GPS 45, the depth determined to have a valid fish signal, and the fish signal determination pattern determined to have an effective fish signal. The type of fish that has been determined to be valid, and the fact that the fish has hung on the hook are registered. Thus, for example, when the angler returns home, the fishing history is captured by a personal computer or the like via the communication device 41 to create a fishing diary, and the information is displayed on the map and chart on the personal computer screen for confirmation. Is possible. Furthermore, the position coordinates detected by the GPS 45, the depth determined to have an effective fish signal, the fish signal determination pattern determined to have an effective fish signal, the fish type determined to have an effective fish signal, and the fish on the fishhook It is transmitted (transverse) to other automatic fishing systems in the vicinity via the communication device 41. This makes it possible to instantly share important information that affects fishing results between automatic fishing systems, and to improve fishing results further by performing automatic fishing operations based on important information that affects the fishing results. Become.

  Next, the target depth movement process (S1124) is executed by specifying 0 as the movement target depth, and the electric reel 12 is driven to wind up the device to the top. In other words, it is possible to catch the fish caught automatically to the top. As a result, a fully automatic automatic fishing system that can automatically perform fishing control until a fish is reliably caught is obtained.

  Here, the auto-tension process performed when the fishing reel 10 is wound up by driving the electric reel 12 in the target depth movement process (S1106) (S1108) (S1124) will be described. The auto-tension processing includes a plurality of auto-sets that are set in accordance with the deflection amount of the fishing rod 1 detected by the deflection amount detection sensor 2 when the fishing line 10 is wound and the deflection amount of the fishing rod 1 that has been previously set by the auto-tension processing. Based on the tension threshold, the winding drive speed, stop, and delivery drive speed of the electric reel 12 are controlled in real time.

  Here, the explanation of the auto tension process executed when the device is moved by the target depth moving process or the like will be described with reference to the schematic diagram of the auto tension process in FIG. 29 and the deflection amount of the auto tension process in FIG. This will be described with reference to a graph for assigning the control speed of the electric reel.

  The auto-tension processing is performed when, for example, the driving direction and the driving speed of the electric reel 12 are assigned to the bending amount with reference to an auto-tension threshold set in advance by the operation unit 32 electronic volume or the like and the device is moved. The amount of bending of the fishing rod 1 detected by the amount detection sensor 2 is monitored, and the electric reel 12 is driven in the driving direction and the driving speed of the electric reel 12 assigned in FIG. 30B according to the monitored amount of bending. It performs control and notifies further events that occur.

  For example, when the device is moved upward, for example, as shown in FIG. 29A, for example, when an oversized bending amount is detected by the bending amount detection sensor 2, the device is assigned in FIG. 30B. The electric reel 12 is sent out at a speed of 4 and the angler 34 informs the angler that the driving is being driven by the extra large deflection of the fishing rod 1.

  For example, when the device is moved upward, for example, as shown in FIG. 29B, when a large amount of bending is detected by the bending amount detection sensor 2, it is assigned in FIG. 30B. The electric reel 12 is stopped, and the angler 34 is informed to the angler that the electric reel 12 is stopped due to the large deflection of the fishing rod 1.

  For example, when the mechanism is moved upward, for example, as shown in FIG. 29 (c), for example, when the amount of bending inside is detected by the bending amount detection sensor 2, it is assigned in FIG. 30 (b). The electric reel 12 is wound up at a speed of 3.

  For example, when the device is moved up, for example, as shown in FIG. 29 (d), for example, when a small amount of bending is detected by the bending amount detection sensor 2, it is assigned in FIG. 30 (b). The electric reel 12 is wound up at a speed of 5.

  For example, when it is desired to increase the speed at which the device is moved upward, for example, the auto tension threshold value is adjusted by, for example, the operation unit 32 electronic volume during the device movement. The auto tension threshold may be set as a relative amount from the neutral point of bending.

  By performing this auto tensioning process when the device is moved upward, the fishing rod 1 can be wound while keeping the amount of bending generated when the device is wound up, so that the tension of the fishing line can be kept constant. The fishing line tension can be kept constant even when fishing more violent fish, such as when the fishing rod 1 is repeatedly bent and stretched under the influence of waves, for example, in a boat fishing with disturbance. It is possible to prevent problems such as breakage of the fishing rod 1 due to the greater tension of the fishing line, breakage of the fishing line, breakage of the fish and the like. This makes it possible to continue winding at the time of root cracking and damage the electric reel 12 and useless electric reels. It is possible to reliably prevent the problem of wasting electric power by continuing to wind 12 and further, for example, a fish larger than expected has been caught and a large deflection has occurred in the fishing rod 1 to send out the fishing line, or Being able to notify the angler that it has stopped makes it possible for the angler to quickly support, for example, the intake of large fish and to quickly solve the root crackle problem.

  Further, in the case of a fishing ground with a large disturbance, it is desirable to move the mechanism downward by executing the auto tension process instead of the bottom detection process when the mechanism is moved downward. This is realized by setting the auto tension threshold shown in FIG. 30 (d), for example, when the mechanism is moved downward.

  By performing this auto-tensioning process when moving the mechanism downward, it is possible to stop the mechanism at the bottom, etc., so that the mechanism can be stopped at a certain depth, and the mechanism can be kept at a certain depth. By staying for a while, it becomes possible to reliably detect the arrival at the bottom. Further, for example, in fishing boats, the fishing rod 1 is constantly bent and stretched repeatedly due to the influence of disturbances such as waves, and the tension of the fishing line always changes. Even when the device is moved downward in such a situation, it is possible to eliminate the constantly changing tension and to send out the device with a constant tension, thereby preventing back crash.

  Furthermore, if the angler needs to set the auto tension threshold value shown in FIG. 30 (a), for example, during the determination of fish faith, etc. In some fishing situations, the fishing rod 1 is constantly bent and stretched violently under the influence of waves, so that the tension of the fishing line always changes greatly and the dandruff occurs. By being able to maintain the depth, for example, the fishing rod 1 is greatly shaken by a large swaying of the ship and the mechanism is greatly squeezed, so that, for example, a problem that mica or the like escapes can be prevented.

  Next, option mode determination (S1114) is performed. There are 6 types of options mode: Sharking operation, Tana search operation, Automatic bait change operation, Automatic bottoming operation, Re-bottoming operation, and Fish search target operation. Possible) to operate. The option mode determination (S1114) is for determining whether or not to start each operation in the option mode according to the following determination in accordance with the setting as to whether or not to perform each operation in these option modes set in advance. Yes, for example, when the setting is made to perform two types of brushing operation and tana search operation, the two types of determination are performed in option mode determination (S1114). Details of the option mode determination (S1114) for each option mode will be described in order below.

  The option mode determination (S1114) during the setting for performing the brushing operation is for determining whether or not the brushing timer T2 has timed up and starting the brushing operation at regular time intervals (shaking waiting time). The shake timer T2 is initialized, for example, at the timing of S1119 with a shake waiting time set in advance in the shake mode setting. In the option mode determination (S1114), it is possible to go to B at a predetermined time (shake waiting time) interval and perform a scrubbing operation by determining whether or not the brush timer T2 has timed up.

  Here, the brushing operation will be described. In the shackle operation, first, the shackle timer T2 is initialized with the shackle waiting time previously initialized in S1109, and the option mode judgment (S1114) is made that the shackle timer T2 (shake waiting time) has timed out during the fish trust judgment. , When the amount of shackle is driven to wind up by the electric reel 12 and then the feed is driven by the electric reel to perform the shackle (S1127) to lower the original depth (may be a multiple-shake form), and then The Shakuri timer T2 is initialized and the fish trust judgment is restarted. This series of operations is performed. By performing the shackle operation, it becomes possible to move the bait and invite the eating of the fish, and further, it becomes possible to make a fish trust judgment for the eating fish and improve the fishing result.

  Next, the option mode determination (S1114) during the setting for performing the search operation is performed to determine whether or not the tana search timer T3 has timed up and to start the tana search operation at a constant time (tana search waiting time) interval. It is. The tana search timer T3 is initialized, for example, with a tana search waiting time preset in the tana search mode setting at the timing of S1109. By determining whether or not the tana search timer T3 has timed out in the option mode determination (S1114), it is possible to go to B at a predetermined time (tana search waiting time) interval and perform a tana search operation.

  Here, an example of the tana search operation will be described with reference to FIG. In the tana search operation, for example, in FIG. 31A during the fish trust determination, if the option mode determination (S1114) determines that the tana search timer T3 has timed up, the tana search amount is determined from the depth of the target depth variable. For example, after subtracting and setting the subtracted target depth variable to the depth of the subtracted target depth variable with the electric reel 12, for example, it is driven and moved, and then the tana search timer T3 is initialized with a preset tana search waiting time, FIG. 31 (b) resumes the communication determination. This series of operations is a tana search operation. By repeating this tana search operation → 15 (c) → 15 (d), it becomes possible to automatically search for the depth of fish. As a result, when it is determined that there is a valid fish-trust in the fish-trust determination during the tana search operation, it is possible to determine that the depth where the fish is located has been found. At that time, it is desirable to perform a setting not to perform tana search. This makes it possible to concentrate on the depth at which the found fish is located and to perform fish trust determination. Further, by always storing the depth during the tana search operation, for example, in the target depth variable in the memory 36, even if the fisher catches the fish automatically during the tana search operation, the angler cares at which depth he was able to catch. For example, by simply pressing the automatic fishing start (with initial movement) button, the depth is returned to the depth of the target depth variable in the memory 36 where the fish was found (fish was caught) (driving the electric reel 12). The automatic fishing process can be resumed by moving the device). In addition, for example, by performing a tana search operation at a depth within the range set by the tana search upper limit setting and the tana search lower limit setting, for example, 10 m above and below the depth of the fish school received from the fish finder of the ship It is also possible to perform a tana search repeatedly within the range.

  The option mode determination (S1114) during the setting for performing the automatic feeding operation is for determining whether or not the automatic feeding timer T4 has timed up and starting the automatic feeding operation at a fixed time (automatic feeding time). Is. For example, the automatic feed change timer T4 is initialized with the automatic feed change time set in advance in the automatic feed change mode setting at the timing (S1104) immediately after the start of the automatic fishing process, for example. In the option mode determination (S1114), it is determined whether or not the automatic feed change timer T4 has timed out, so that the angler 34 and the indicator 35 can inform the angler of that fact at a fixed time (automatic change feed time). It is possible to perform the automatic feed change operation, which is a series of these operations, in which the target depth movement process (movement target depth ← 0) of S1123 is executed to the notification C, and the mechanism is driven up by the electric reel 12. Become.

  By being able to automatically change bait in this way, for example, the angler can reduce the labor of bait change and time management of a plurality of fishing rods, and prevent the bait cost from being consumed by exchanging bait, Furthermore, the fish can be always eaten with fresh bait, and further, for example, it is possible to set the time according to the worms with good bait, the krill with poor bait, etc. In addition, in the case of fish species that do not generate fish faith even when hooked on a fishing hook such as flounder, it is determined whether or not fishing is possible by winding up the electric reel 12 to the top at every set interval of the automatic feeding time. There is also a meaning to judge.

  In the optional mode determination (S1114) during the setting for performing the automatic bottoming operation, for example, the deflection amount of the fishing rod 1 detected by the deflection amount detection sensor 2 or the deflection amount of the deflection amount history [500] is monitored. When the monitored deflection amount or the deflection amount traced back in the deflection amount history [500] continues (elongated) for example for 4 seconds below the preset bottom monitor deflection amount threshold, the device is attached to the bottom. It is determined that there was. In the option mode determination (S1114), it is determined whether or not the device has reached the bottom, and if it is determined that the device has reached the bottom, go to D, perform the bottoming operation of S1107, and restart the fish trust determination Thus, a series of these automatic bottoming operations can be performed.

  Here, details of the automatic bottoming operation will be described. First, how to determine whether the device has reached the bottom in the option mode determination (S1114) will be described with reference to FIG. For example, when all the deflection amounts, for example, for 4 seconds going back in the deflection amount history [500] within the time of the bottom monitoring time T18 going back from the present time, for example, are below the bottom detection deflection amount threshold, for example, It is judged that the device has reached the bottom due to being swept away by the tidal current in a shallow place. As a result, it goes to D, performs the bottoming operation of S1107, restarts the fish trust judgment, and performs a series of these automatic bottoming operations, for example, the ship is swept into a shallow place by the tide and the device is bottomed. Even if you get to the ground, it is possible to automatically escape the mechanism and prevent the problem of root crabbing, and the swimming layer of the target root fish (fish that lives in the bottom) (for example, the position 3m up from the bottom) ) Can be moved.

  The option mode determination (S1114) during the re-bottoming operation setting is for determining whether or not the re-bottoming timer T5 has timed up and starting the re-bottoming operation at a constant time (re-bottoming time) interval. It is. For example, the re-bottoming timer T5 is initialized with the re-bottoming time set in advance in the re-bottoming mode setting at the timing of S1109. By determining whether or not the re-bottoming timer T5 has timed out in the option mode determination (S1114), it is possible to perform the re-bottoming operation by going to E at regular time intervals (re-bottoming time). become.

  In the re-bottoming operation, for example, the target depth movement process (operation target ← bottom) of S1106 is executed, then the bottoming operation of S1107 is performed, and the operation of starting the fish trust determination is performed again. This makes it possible to re-seat the bottom at regular intervals, and even though the root fish at the bottom was caught, the ship was washed away and the water depth became deeper, and there was a mechanism in the depth of the middle layer that was not the bottom Can be prevented.

  The option mode determination (S1114) during the setting for performing the fish finder target operation is for determining whether or not the fish finder target timer T6 has timed up and starting the fish finder target operation at a constant time (fish finder target time) interval. . For example, the fish finder target timer T6 is initialized with the fish finder target time preset in the fish finder target mode setting at the timing of S1109. By determining whether or not the fish finder target timer T6 has timed out in the option mode determination (S1114), it is possible to go to F at regular time intervals (fish finder target time) and perform a fish finder target operation.

  The fish finder target operation sets the fish detection depth to the target depth variable in the memory 36 (S1128), executes the target depth movement processing (movement target ← target depth variable) of S1106, and sets the depth of the target depth variable. After moving, the fish faith judgment is started. The fish detection depth is, for example, the fish depth retrieved from the fish detection information received from the fish detector by the communication device 41, or the fish detection depth received from the fish detector by the communication device 41. By performing the fish finder target operation, it is possible to automatically move the fishhook (bait) to the depth of the school of fish that moves irregularly (the layer where the fish swims), and to make a fish trust determination. As a result, the fishing results can be further improved.

  Next, the cycle timer process (10 ms) in the flowchart of FIG. 33 will be described.

  The flowchart of FIG. 33 is a periodic timer process, for example, a process executed every 10 ms.

  First, for example, a no-load value preset in the no-load value setting is subtracted from a value obtained by detecting the deflection amount of the fishing rod 1 by the deflection amount detection sensor 2 and stored in the deflection history [10] in the memory 36. (S2010). The bending history [10] is for holding the latest 10 values.

  The no-load value is a so-called initial value in a state where the fishing rod 1 is extended with no load. In this way, by setting the no-load value as the initial value, the error in the position where the deflection amount detection sensor 2 is attached to the fishing rod 1, the variation error during production of the deflection amount detection sensor 2, and the fishing rod with different hardness are obtained. It is possible to eliminate an error that occurs when the deflection amount detection sensor 2 is replaced. However, it is not always necessary to subtract this no-load value.

  Next, for example, an average value, for example, of 10 values of the bending history [10] in the memory 36 is calculated, and the calculated average value is multiplied by, for example, a hardness coefficient set in advance by setting the hardness of the fishing rod. By multiplying the hardness coefficient, it is possible to convert the bending force at the position where the bending amount detection sensor 2 is attached to the fishing rod 1 and the tension of the fishing line, for example, kg. This makes it easy for anglers to set various thresholds, for example, in units of kg, etc.Furthermore, even when the automatic fishing system is replaced with a fishing rod with different hardness, various thresholds such as fish trust judgment patterns can be set. There is no need to change, and it is possible to share various thresholds such as a fish trust judgment pattern.

  The values converted into the bending force and the fishing line tension at the position where the bending amount detection sensor 2 is attached to the fishing rod 1 are stored in, for example, the deflection amount variable in the memory 36 (S2011).

  For example, when a plurality of deflection amount detection sensors 2 are attached to the fishing rod 1, for example, a plurality of processes of S2010 and S2011 are provided, and all the results of S2011 are added and stored in the deflection amount variable. To do.

  Next, the initial value is subtracted from the value detected by the disturbance detector 37 and stored, for example, in the disturbance value history [10] in the memory 36 (S2001). The disturbance value history [10] is for holding the latest 10 values. The initial value described here depends on the disturbance detector 37 and is not necessarily required, for example, an initial value of 0 degrees or the like of a thermometer.

  Next, the average of the latest 10 disturbance value histories [10] is calculated, multiplied by the coefficient of the disturbance detection body 37, converted into a disturbance amount, and stored in, for example, a disturbance amount variable in the memory 36 (S2002). If a plurality of disturbance detectors 37 are attached, a plurality of S2001, S2002 and later-described processing of S2003 and a plurality of disturbance amount histories [500] described later are provided.

  Next, the disturbance amount calculated in S2002 is stored in, for example, the disturbance amount history [500] holding 500 values from the latest in the memory 36 (S2003). The disturbance amount history [500] always holds the latest 500 pieces, that is, the disturbance amount history for 5 seconds dating from the latest. In this way, for example, by having a disturbance amount history [500] for 5 seconds, it is possible to go back and search for the presence or absence of a specific event or the number of occurrences of a specific event.

  Next, it is determined whether or not harmful disturbance determination is performed based on the setting of whether or not harmful disturbance determination is performed in a preset harmful disturbance detection mode setting (S2004). When harmful disturbance determination is not performed, the process goes to S2006. When harmful disturbance determination is performed, it is next determined whether or not the disturbance timer variable is 1 or more (S2005). The disturbance timer variable is, for example, a variable allocated in the memory 36. Only when the disturbance timer variable is 1 or more, 1 is subtracted from the value of the disturbance timer variable (S2007). In short, S2006 and S2007 are for subtracting 1 when the disturbance timer variable is 1 or more.

  Next, harmful disturbance determination (S2008) of the harmful disturbance determination processing is performed. In the harmful disturbance determination, whether there is a harmful disturbance based on the disturbance amount of the fishing rod 1 detected by the disturbance detector 37 and one or more harmful disturbance determination patterns registered in the harmful disturbance determination pattern aggregation, for example. This is a judgment.

  Also, if multiple harmful disturbance determination patterns are registered in the harmful disturbance determination pattern aggregation, whether or not there is a harmful disturbance using OR as a result of the provisional determination that there is a harmful disturbance of each harmful disturbance determination pattern Determine. However, if harmful disturbance determination patterns having the same group ID are registered in the harmful disturbance determination pattern aggregation, the result of provisional determination that there is harmful disturbance of each harmful disturbance determination pattern having the same group ID An AND is used to determine whether there is a harmful disturbance.

  Here, details of the harmful disturbance determination will be described with reference to FIGS. 35 and 36. FIG. The harmful disturbance determination is basically possible in the case of fishing from a fishing ground where a large disturbance occurs temporarily, for example, from a rod shown in FIG. When the person moves, the rod is shaken, and the fishing rod 1 bends as shown in FIG. 36, and there is a problem that the bending is mistakenly determined that the fish is caught on an effective fish or fish hook. In order to solve the problem of misjudgment in this way, in order to detect a harmful disturbance that may be misjudged that there is a valid fish belief or that may be misjudged as a fish caught on a fishing hook, It is determined whether there is a harmful disturbance based on the amount of disturbance detected by the detector 37 and, for example, one or a plurality of harmful disturbance determination patterns registered in harmful disturbance determination pattern aggregation.

  Next, an example of the harmful disturbance determination method will be described with reference to FIG.

  As an introduction to the explanation, this automatic fishing system holds the disturbance amount of the fishing rod 1 detected by the disturbance detector 37 every 10 ms, for example, the latest 500 pieces in the disturbance amount history [500] in the memory 36, that is, The disturbance amount history for 5 seconds dating from the current point of the fishing rod 1 is held in the disturbance amount history [500] in the memory 36. Further, it is desirable to remove noise from the disturbance amount of the fishing rod 1 stored in the disturbance amount history [500] for 5 seconds by, for example, spline interpolation.

  First, FIG. 34A shows an example of determination of a harmful disturbance determination pattern created with the harmful disturbance determination pattern template 1, for example. As shown in FIG. 34 (a), for example, the maximum and minimum disturbance amounts in the fish faith determination time T20 dating from the current time are searched from the disturbance amount history [500], and the searched maximum and minimum disturbance amounts are searched. The disturbance width Δ30, which is the difference, is calculated. It is compared with the harmful disturbance width threshold value Δ31, and when the disturbance width Δ30 is larger than the harmful disturbance width threshold value Δ31 (Δ31 <Δ30), it is determined that there is a harmful disturbance.

  FIG. 34B is a determination example of the harmful disturbance determination pattern created by the harmful disturbance determination pattern template 4. As shown in FIG. 34 (b), for example, the latest peak position of one cycle is searched from the disturbance amount history [500], and changes are made from the difference in disturbance amount of one cycle peak and the time interval of one cycle peak. The disturbance change speed θ33, which is the speed, is calculated. It is compared with the harmful disturbance change speed threshold value θ30, and when the disturbance change speed θ33 is equal to or greater than the harmful disturbance change speed threshold value θ30 (θ33> θ30), it is determined that there is a harmful disturbance.

  FIG. 34C shows an example of determination of the harmful disturbance determination pattern created with the harmful disturbance determination pattern template 4. As shown in FIG. 34 (c), for example, a disturbance change speed θ36, which is a change speed, is calculated from a difference between a constant period time and a disturbance amount of the fishing rod 1 detected by the constant period disturbance detector 37, and the disturbance change speed is calculated. θ36 is compared with the harmful disturbance change speed threshold value θ34, and when the disturbance change speed θ36 is equal to or greater than the harmful disturbance change speed threshold value θ34 (θ36> θ34), it is determined that there is a harmful disturbance.

  FIG. 34 (d) shows a determination using two harmful disturbance determination patterns (No. 1 and No. 2) created by the harmful disturbance determination pattern template 2 in which a detection frequency threshold and a detection frequency monitoring time are arbitrarily set. It is an example. As shown in FIG. 34 (d), for example, the disturbance amount reference value is subtracted from the disturbance amount within the time of the detection frequency monitoring time T14 (part 1 and part 2) that goes back from the current point in the disturbance amount history [500]. Is less than or equal to the harmful disturbance amount threshold value Δ32 (No. 1) in the direction of leaning toward the tip of the fishing rod 1, or (OR) plus the harmful disturbance amount threshold value Δ33 in the direction of leaning toward the base of the fishing rod (No. 2) When the above detection threshold value (No. 1 and No. 2) is detected, for example, twice, it is determined that there is a harmful disturbance.

  FIG. 34 (e) is a determination example of two harmful disturbance determination patterns (No. 1 and No. 2) created by the harmful disturbance determination pattern template 6 in which a detection frequency threshold and a detection frequency monitoring time are optionally set arbitrarily. is there. As shown in FIG. 34 (e), for example, a disturbance change that is a change acceleration calculated from the disturbance amount within the time of the detection frequency monitoring time T22 (part 1 and part 2) that goes back from the current point in the disturbance amount history [500]. The harmful disturbance acceleration threshold value Δ34 (part 1) or less in the direction in which the speed is negative and tilted toward the tip, or the harmful disturbance acceleration threshold value Δ35 (part 2) or more in the direction in which the speed is inclined toward the tip in the plus direction, If, for example, 2 of 2) is detected, it is determined that there is a harmful disturbance.

  By making such harmful disturbance determinations, it is ensured that there are no harmful disturbances at all fishing grounds, including boat fishing that is constantly affected by disturbances and fishing that is subject to temporary disturbances. You will be able to identify. Accordingly, it is possible to reliably prevent erroneous determination of the fish trust determination and the crack determination by eliminating the fish trust determination and the crack determination or canceling the determined result.

  If it is determined in the harmful disturbance determination S2008 that there is a harmful disturbance, 300 is set in the disturbance timer variable in the memory 36 (S2009). That is, the disturbance timer variable has a value greater than or equal to 0 for 3 seconds after it is determined that there is a harmful disturbance in the harmful disturbance determination and for 3 seconds after it is determined that there is no harmful disturbance (after convergence). The harmful disturbance detection state is delayed. Thus, after the harmful disturbance converges, for example, the reason for delaying the harmful disturbance detection state for 3 seconds is that even if the harmful disturbance converges, the fishing rod 1 may still bend (vibration) due to the harmful disturbance. For example, it is desirable to delay the harmful disturbance detection state for 3 seconds in this way.

  Here, the harmful disturbance determination process will be described.

The harmful disturbance determination processing is performed at a predetermined interval (for example, 10 ms), for example, harmful disturbance determination ON (S2004), disturbance timer variable> 0 (S2006), disturbance timer variable = disturbance timer variable-1 (S2007), harmful disturbance determination (S2008) or the like, which is performed in the harmful disturbance determination (S2008), for example, a process of substituting for a variable indicating the determination result of whether there is a harmful disturbance now (for example, a disturbance timer variable in this embodiment) Indicates a harmful disturbance when is non-zero)
In the presence / absence determination of harmful disturbance (S1112), for example, referring to a variable that indicates the presence or absence of harmful disturbance, if there is a harmful disturbance, repeat S1112 to prevent the fish trust determination.
The presence / absence of harmful disturbance (S1115) indicates the presence / absence of harmful disturbance. For example, when there is a harmful disturbance with reference to a variable, the determination of presence of fish determined in S1113 is canceled, and the determination of fish is repeated again in S1113. processing,
In the presence / absence determination of harmful disturbance (S1120), for example, referring to a variable that indicates the presence or absence of harmful disturbance, the process of preventing the determination of power by repeating S1120 if there is a harmful disturbance,
Alternatively, in the presence or absence of harmful disturbance determination (S1123), for example, referring to a variable that indicates the presence or absence of harmful disturbance, when there is a harmful disturbance, canceling the determination of power determination in S1121 and restarting the determination of S1121
All four processes or at least one process.

  By executing the harmful disturbance determination process, it becomes possible to further ensure the results of the fish faith determination process and the crisp determination process, and further, the harmful disturbance determination pattern in the harmful disturbance determination process. [Detection of the disturbance during the period of the harmful disturbance judgment for a certain period of time when the disturbance amount is greater than or equal to the threshold of the harmful disturbance amount, the disturbance width, the disturbance change speed, the disturbance change acceleration, or the number of detection times for a certain period of time By using all or at least one of the number of times that the amount of disturbance detected by the body exceeds the harmful disturbance amount threshold value), it is harmless. Can be determined by checking whether there are harmful disturbances by eliminating special disturbances (such as ship shaking at a fixed period), and identifying and eliminating harmful disturbances from constantly occurring disturbances such as ship shaking To do Allows, it can be the result of the fish Shin determination process and the engagement determination processing more even more reliable.

  Next, it is determined whether or not “disturbance correction is in progress and non-disturbance correction is in progress” (S2012). When it is not “disturbance correction and non-disturbance correction”, the process goes to S2014. When it is “disturbance correction and non-disturbance correction”, disturbance correction processing is performed (S2013).

  Here, disturbance correction will be described with reference to FIGS.

  FIG. 37 is a cross-sectional view of boat fishing as seen from the front of the ship, showing a situation where the ship is swaying left and right due to waves and the like. The dotted line indicates the situation where the ship is tilted to the right, the solid line indicates the situation where the ship is not tilted, and the alternate long and short dash line indicates the situation where the ship is tilted to the left. In this way, the ship is characterized by repeated left and right shaking due to waves and sea urchins. In addition, the fishing rod has a characteristic that the flexure changes like 50, 51, and 52 as the ship sways. FIG. 38 is a time-dependent change diagram showing the deflection amount ▲, disturbance amount ●, and corrected deflection amount of the fishing rod 1 in such a situation. As shown in FIG. 38, there is a high possibility that the bending amount ▲ and the disturbance amount ● have a high correlation.

  Therefore, disturbance correction processing is performed in advance by setting the disturbance correction mode. In the disturbance correction process, the deflection amount ▲ and the disturbance amount ● are sampled for a certain time (for example, 5 seconds), and, for example, regression analysis is performed to calculate a correlation coefficient, a regression coefficient, and an intercept, and those results are stored in the memory 36. It is a process to memorize. Further, when the disturbance correction process is performed within the automatic fishing process, it is not necessary for the angler to set the disturbance correction mode in advance. When performing in the automatic fishing process, it is desirable to execute the disturbance correction process at a timing after the tip stabilization process.

  The disturbance correction process (S2013) is the amount of disturbance detected by the disturbance detector 37 when a high correlation (for example, a correlation coefficient of 0.6 or more) is recognized as a correlation coefficient as a result of the disturbance correction process. ● Based on the regression coefficient calculated by disturbance correction and stored in the memory 36 and the intercept, the deflection amount of the fishing rod 1 generated by the disturbance is predicted and calculated, and the deflection of the fishing rod 1 generated by the predicted disturbance is calculated. By subtracting the amount from the bend amount ▲ detected by the bend amount detection sensor 2, the bend amount due to disturbance is eliminated from the bend amount ▲. For example, the bend amount excluding the disturbance component is the corrected bend amount −.

  As a result, it is possible to perform various determinations such as fish-belief determination and crisp determination of the automatic fishing system using the corrected deflection amount −. As a result, an automatic fishing system that can be used with high reliability even on a ship or the like with constant disturbances is obtained.

  Next, the amount of bending calculated in S2011 or the amount of bending in which the disturbance component has been removed in the disturbance correction processing in S2013 is stored in the bending amount history [500] (S2014). The bending amount history [500] always holds the latest 500 pieces, that is, the bending amount history for 5 seconds dating from the latest. Thus, by having a deflection amount history [500] for 5 seconds, it becomes possible to search for the presence or absence of a specific event or the number of occurrences of a specific event, for example.

  Next, the bending amount servo control will be described. The flexure amount servo control is a process having the same function as the auto tension process, and is a process used instead of the auto tension process.

  The bending amount servo control will be described with reference to FIGS. 39, 40, 41, and 42.

  FIG. 39 is a diagram showing a situation when the fishing line 10 is wound up by the electric reel 12. FIG. 39 shows a neutral state in which the weight of the fishing rod 1 and the weight of the fishing rod 1 and the weight of the device are balanced when the electric reel 12 is stopped, that is, the state of the bending reference value. A servo threshold value larger than the bending reference value is set there. Thereby, the winding drive of the electric reel 12 is started so that the fishing rod 1 bends to the servo threshold value. FIG. 40A is a time-dependent change diagram showing the amount of bending of the fishing rod 1 during winding (the amount of bending of the fishing rod 1 detected by the bending amount detection sensor 2). FIG. 40B is a time-dependent change diagram showing the driving direction and driving speed of the electric reel 12 when the fishing line 10 is wound up.

  First, when the winding of the electric reel 12 is started by setting the servo threshold value to a value larger than the bending reference value, as shown in FIG. 40 (a), the fishing rod uses the force with which the fish resists, the weight, and the viscous resistance of the device. The amount of bending of 1 increases and exceeds the servo threshold. When it exceeds, the hoisting drive speed is lowered, for example, and the control is adjusted to the servo threshold value. Furthermore, the drive speed control of the electric reel 12 will be described in detail with reference to FIG.

  As shown in FIG. 40 (b), first, the winding drive is started at the driving speed 1 because the servo threshold value is deflected from the current deflection amount of the fishing rod 1. During T20, when the deflection amount of the fishing rod 1 (the deflection amount of the fishing rod 1 detected by the deflection amount detection sensor 2) is in a direction extending below the servo threshold, the winding drive speed is increased by one step. Further, when the amount of bending of the fishing rod 1 during the period T20 is in a bending direction equal to or greater than the servo threshold, the winding drive speed is decreased by one step. By repeating these, the deflection amount of the fishing rod 1 is made to follow the servo threshold value. Further, when the servo threshold is given a width of Δ40 and the amount of deflection of the fishing rod 1 is outside this range, the time of T20 can be halved, the drive speed can be changed in two steps, and the servo threshold can be quickly followed. desirable.

  Thus, when the fishing line 10 is wound up by the electric reel 12, for example, the fishing line is caused by the fluctuation in the fishing line 10 due to the change in the amount of deflection of the fishing rod 1 caused by the ship's swaying or the like, and the fish caught on the fishing hook violates. By keeping the tension of 10 which fluctuates, the amount of deflection of the fishing rod 1 is kept constant (amount of servo control), the tension of the needle on the fish can be kept constant. Furthermore, when the depth of the current depth variable does not change for a certain time, it can be determined that the negative has been performed. In addition, when this automatic fishing system is used by changing to a fishing rod with different hardness, when changing to a weight with different weight, or when changing to a device with different viscosity resistance, multiple auto tension thresholds are changed one by one. There is no need to do. Only the above servo threshold value is operated. For example, when the angler wants to wind up, only the servo threshold volume of the operating device 32 is turned. Whatever fishing rod, what weight, and what kind of device is used, it is possible to wind up at the fastest speed with the needle tension on the best fish according to the constantly changing situation.

  FIG. 41 is a diagram showing a situation when the fishing line 10 is sent out by the electric reel 12. FIG. 39 shows a neutral state in which the weight of the fishing rod 1 and the weight of the fishing rod 1 and the weight of the device are balanced when the electric reel 12 is stopped, that is, the state of the bending reference value. A servo threshold value smaller than the bending reference value is set there. Thereby, the feeding drive of the electric reel 12 is started so as to match the deflection amount of the fishing rod 1 (the deflection amount of the fishing rod 1 detected by the deflection amount detection sensor 2) with the servo threshold. FIG. 42A is a time-dependent change diagram showing the amount of deflection of the fishing rod 1 during the feeding of the fishing line 10. FIG. 42B is a time-dependent change diagram showing the driving direction and driving speed of the electric reel 12 during the feeding of the fishing line 10. First, when the feeding drive of the electric reel 12 is started by setting the servo threshold value to a value smaller than the deflection reference value, as shown in FIG. Becomes smaller (extends) and falls below the servo threshold. If it falls below, the feeding speed is slowed down to match the servo threshold. The drive speed control of the electric reel 12 will be further described in detail with reference to FIG.

  As shown in FIG. 42 (b), since the servo threshold is increased in a direction extending from the current deflection of the fishing rod 1, the feeding operation of the electric reel 12 is started at the driving speed -1. During T20, when the deflection of the fishing rod 1 is in the extending direction below the servo threshold, the feed drive speed is increased by one step (drive speed -2). Further, when the amount of deflection of the fishing rod 1 is in the direction of bending greater than or equal to the servo threshold during T20, the feed drive speed is decreased by one step (drive speed-1). By repeating these, the deflection amount of the fishing rod 1 is made to follow the servo threshold value. In addition, it is desirable that the servo threshold value has a width of Δ40, and if it is out of this range, the time of T20 is halved and the driving speed is changed in two steps so that the servo threshold value can be followed quickly.

  As a result, for example, it is possible to absorb fluctuations in the tension of the fishing line 10 due to the deflection of the fishing rod 1 caused by ship swaying, etc., so that a minimum tension is applied to the fishing line 10 in any situation. It is possible to feed the fishing line 10 at the fastest speed while preventing backlash. Furthermore, it can be automatically stopped at the bottom, and the bottom can be detected when the depth does not change for a certain time. Further, when the present automatic fishing system is used by changing to a fishing rod having a different hardness, there is no need to reset the bottom detection threshold according to the hardness of the fishing rod 1. Just operate one servo threshold, for example, just turn the servo threshold volume of the operating device 32 when the angler wants to send out. The fishing line 10 can be sent out at the best and fastest speed according to the disturbance situation.

  Further, for example, by performing this deflection amount servo control during the determination of fish faith, it becomes possible to absorb fluctuations in the tension of the fishing line 10 due to the deflection of the fishing rod 1 caused by, for example, ship swaying. Thus, for example, even when fishing of a fish species that escapes when the device is shaken more than necessary, such as a sword tip squid, while the vessel is shaking strongly, it is possible to prevent the device from shaking.

  By carrying out a series of these sequences in an automatic fishing system, for example, fishing on a quay with exceptional disturbance (for example, an angler accidentally kicking the fishing rod 1), for example, fishing with temporary disturbance Therefore, it is possible to reliably determine the timing of effective fish faith even at fishing grounds in all disturbance situations such as boat fishing with constant disturbance. It can be put on fish and it becomes possible to increase the number of fishing results. Furthermore, even if a misjudgment with a valid fish trust is made, the problem of consuming wasteful power and wasteful time, for example, by unnecessarily winding up the device by using the Kakari judgment and harmful disturbance judgment to reliably determine that it is a misjudgment. Can be prevented. These make a fully automatic automatic fishing system with high reliability that can fish automatically until you can catch fish, so that the automatic fishing system can fish automatically instead of angler, in any situation of angler It is possible to reduce the effort of the angler (for example, the angler can easily go to the toilet. It becomes possible to eat the lunch box slowly. You won't be able to go home with Bowes, and even older people can enjoy fishing easily.) Furthermore, even for beginners who do not know how to fish, for example, by setting settings such as a quantified fish faith judgment pattern created by a professional fisherman via the communication device 41, learning how to fish and raising the fishing results Is possible. Furthermore, using multiple automatic fishing systems, for example, information on automatic fishing operations in an automatic fishing system such as finding the tana depth where the fish is found in the fish trust judgment or the fish caught on the needle, The fishing information can be further increased by the automatic fishing systems sharing the setting information such as the determined and quantified fish faith judgment pattern via the communication device 41 immediately. Furthermore, it is possible to extend the fishing results further by automatically going to the depth of the school of fish from the fish finder, or by searching for the fish where the fish is located. Thereby, it becomes an automatic fishing system which can raise a fishing result more than an angler.

  The automatic fishing system is not limited to the deflection amount detection sensor, and can be applied to a fishing line tension sensor.

It is an Example of the automatic fishing control of this invention. It is an Example of the servo deflection amount control of this invention. It is a flowchart figure of the servo deflection amount control of this invention. It is explanatory drawing which shows the bending mode of the fishing rod of this invention. It is a flowchart figure which shows the bottom movement process of the fishing rod of this invention. It is a flowchart figure which shows the target movement process of this invention. It is a flowchart figure which shows the thread break monitoring process and bottom, root cracking monitoring process of this invention. It is a flowchart figure which shows the time chemical fish faith monitoring process of this invention. It is a flowchart figure which shows the tip stability waiting process of this invention. It is a flowchart figure which shows the tip stability waiting process of this invention. It is a flowchart figure which shows the fish faith forced determination process of this invention. It is a flowchart figure which shows harmful disturbance determination of this invention. It is a flowchart figure which shows the bottom monitoring process of this invention. It is a flowchart figure which shows the re-bottoming process of this invention. It is a flowchart figure which shows the tana search process of this invention. It is a flowchart figure which shows the fish detection process of this invention. It is a flowchart figure which shows the through process of this invention. It is a flowchart figure which shows the shrink process of this invention. It is a flowchart figure which shows the bait change process of this invention. It is a flowchart figure which shows the non-servo bottom movement process of this invention. It is a flowchart figure which shows the non-servo winding process of this invention. It is a schematic diagram of the automatic fishing system of the present invention. It is a control system block diagram of the automatic fishing system of this invention. It is a flowchart figure of the whole automatic fishing system of this invention. It is an operation | movement schematic diagram of the automatic fishing system of this invention. It is a schematic diagram of bottom detection in the automatic fishing system of the present invention. It is a determination detailed figure of the tip stability waiting process in the automatic fishing system of the present invention. It is a determination detailed figure of fish faith determination in the automatic fishing system of the present invention. It is a schematic diagram of the auto tension process in the automatic fishing system of this invention. It is a graph which allocates the deflection amount of the auto tension process in the automatic fishing system of this invention, and the control speed of an electric reel. It is a schematic diagram of the tana search in the automatic fishing system of the present invention. It is a bottom detection determination detailed view in the fish fishing determination in the automatic fishing system of this invention. It is a flowchart figure of the period timer process in the automatic fishing system of this invention. It is a determination detail figure of harmful disturbance determination in the automatic fishing system of this invention. It is a figure of a kite concerning harmful disturbance judgment in the automatic fishing system of the present invention. It is a figure of the fishing rod regarding harmful disturbance determination in the automatic fishing system of this invention. It is sectional drawing at the time of seeing the situation where the ship regarding the harmful disturbance determination in the automatic fishing system of this invention shakes from the front. It is a time-dependent change figure of the disturbance correction regarding the harmful disturbance determination in the automatic fishing system of this invention. It is a schematic diagram at the time of winding up regarding servo control of the electric reel in the automatic fishing system of the present invention. It is a time-dependent change figure at the time of winding up regarding the servo control of the electric reel in the automatic fishing system of this invention. It is an outline figure at the time of sending out a fishing line about servo control of an electric reel in an automatic fishing system of the present invention. It is a time-dependent change figure at the time of feeding of the fishing line regarding the servo control of the electric reel in the automatic fishing system of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Fishing rod 2 Bending amount detection sensor 3 Detection body (bending amount)
DESCRIPTION OF SYMBOLS 4 Bending member 5 Fixing member 6 Semi-fixed part 9 Connection part 10 Fishing line 11 Handle 12 Electric reel 13 Power supply part 14 Elastic body (spring etc.)
DESCRIPTION OF SYMBOLS 15 Joint part 16 Rotating shaft 17 String-like thing 18 Restricting the range to slide 30 Controller 31 Deflection detection part 32 Operation device 34 Notification device 35 Display device 36 Memory 37 Disturbance detection body 38 Reel rotation detector 39 Motor driver 40 Clock 41 Communication Device 42 Motor 43 Internal Timer 44 Disturbance Detection Unit 45 GPS
46 Setting device

Claims (54)

The automatic fishing system of the present invention is
An electric reel 12 for feeding and winding the fishing line;
A deflection amount detection sensor 2 attached to the fishing rod 1 to detect the deflection amount of the fishing rod 1;
A setter 46 for setting various fishing conditions;
A reel rotation detector 38 for detecting the driving amount of the electric reel 12;
Based on the detection output of the deflection amount detection sensor 2, the detection output of the reel rotation detector 38 of the electric reel 12, and various fishing conditions set by the setting device 46,
A fishing hook moving process for controlling the driving amount of the electric reel 12 to move the fishing hook to a predetermined depth;
The fish trust monitoring process, which monitors the presence of fish trust until there is fish trust
Awase treatment for winding a certain amount of fishing line,
And the process of determining whether a fishhook is hung on a fish,
The controller 30 is configured to execute a series of the following sequences. The automatic fishing system of the present invention is
An electric reel 12 for feeding and winding the fishing line;
A deflection amount detection sensor 2 attached to the fishing rod 1 to detect the deflection amount of the fishing rod 1;
A setter 46 for setting various fishing conditions;
A reel rotation detector 38 for detecting the driving amount of the electric reel 12;
Based on the detection output of the deflection amount detection sensor 2, the detection output of the reel rotation detector 38 of the electric reel 12, and various fishing conditions set by the setting device 46,
The fish trust monitoring process, which monitors the presence of fish trust until there is fish trust
It is characterized by including a controller 30 for executing the above. The automatic fishing system of the present invention is
An electric reel 12 for feeding and winding the fishing line;
A deflection amount detection sensor 2 attached to the fishing rod 1 to detect the deflection amount of the fishing rod 1;
A setter 46 for setting various fishing conditions;
A reel rotation detector 38 for detecting the driving amount of the electric reel 12;
Based on the detection output of the deflection amount detection sensor 2, the detection output of the reel rotation detector 38 of the electric reel 12, and various fishing conditions set by the setting device 46,
Awase treatment for winding a certain amount of fishing line,
It is characterized by including a controller 30 for executing the above. The automatic fishing system of the present invention is
An electric reel 12 for feeding and winding the fishing line;
A deflection amount detection sensor 2 attached to the fishing rod 1 to detect the deflection amount of the fishing rod 1;
A setter 46 for setting various fishing conditions;
A reel rotation detector 38 for detecting the driving amount of the electric reel 12;
Based on the detection output of the deflection amount detection sensor 2, the detection output of the reel rotation detector 38 of the electric reel 12, and various fishing conditions set by the setting device 46,
And the process of determining whether a fishhook is hung on a fish,
It is characterized by including a controller 30 for executing the above.   The automatic fishing system of the present invention includes a controller 30 that performs the wake processing and winds up a predetermined amount of fishing line with the electric reel 12, and then executes the cracking processing to determine whether or not there is a fish trust. It is characterized by that.   When the automatic fishing system of the present invention determines that a fishhook has not been hung on the fish by executing the caulking process, the process returns to the fishhook movement process, the fishhook movement process, the fish faith monitoring process, and the horsetail process. , Execute a sequence of the crisp processing, or return to the fish faith monitoring processing, and perform at least one of the fish shin monitoring processing, the awase processing, and the cauli processing sequence. It is characterized by having a controller 30 that can be used. When the setting device of the present invention sets the amount of bending in a state where the fishing rod 1 is bent in a neutral state with a load such as a weight as a neutral amount of bending, the detection output of the bending amount detection sensor 2 Was sampled for a certain time (for example, 100 ms for 4 seconds),
Median,
Average value,
It is characterized in that at least one of them can be set as the neutral deflection amount. The setting device of the present invention
[0] to [29]
[0] When the amount of flexure is equal to or greater than the flexure amount threshold, it is determined that there is fish faith.
[1] When the neutral deflection amount difference is equal to or greater than the neutral deflection amount difference threshold value, it is determined that there is fish faith.
[2] When the bending speed is equal to or higher than the bending speed threshold value, it is determined that there is a fish trust.
[3] When the bending width is equal to or larger than the bending width threshold, it is determined that there is a fish trust.
[4] When the bending acceleration is equal to or greater than the bending acceleration threshold, it is determined that there is fish faith.
[5] A bend amount equal to or greater than a bend amount threshold value is continued for a fixed time for a predetermined time, so that it is determined that there is fish faith.
[6] A neutral deflection amount difference equal to or greater than a neutral deflection amount difference threshold value continues for a fixed time for a certain period of time, thereby determining that there is a fish trust.
[7] A bend speed equal to or greater than the bend speed threshold is continued for a fixed time, and it is determined that there is fish faith.
[8] When the amount of bending in the specified bending direction is equal to or greater than the bending amount threshold, it is determined that there is a fish trust.
[9] When the neutral bending amount difference in the specified bending direction is equal to or greater than the neutral bending amount difference threshold value, it is determined that there is fish trust.
[10] When the bending speed in the specified bending direction is equal to or higher than the bending speed threshold, it is determined that there is fish trust.
[11] When the bending acceleration in the specified bending direction is equal to or greater than the bending acceleration threshold value, it is determined that there is fish trust.
[12] The bend amount in the specified bend direction is equal to or greater than the bend amount threshold value and continues for a fixed time, so that it is determined that there is fish trust.
[13] When the neutral bending amount difference in the specified bending direction is equal to or greater than the neutral bending amount difference threshold value and continues for a fixed time, it is determined that there is fish faith.
[14] When the bending speed in the specified bending direction is equal to or higher than the bending speed threshold and continues for a fixed time, it is determined that there is fish trust.
[15] When the number of changes is equal to or greater than the bend amount threshold value within the fixed number of times of appearance monitoring time, it is determined that there is a fish trust.
[16] When the number of changes in the neutral deflection amount difference is equal to or greater than the neutral deflection amount difference threshold value within the fixed number of times of appearance monitoring time, it is determined that there is a fish trust.
[17] When the number of times of change becomes the threshold value for the number of appearances within a certain period of time, the number of times that the bending speed has changed to be greater than or equal to the threshold value of the bending speed is determined.
[18] When the number of changes within the fixed number of times of monitoring the number of appearances exceeds the bend width threshold and the number of times of change becomes the number of appearances threshold, it is determined that there is fish trust.
[19] It is determined that there is a fish trust when the number of times of change is equal to or greater than the deflection acceleration threshold value within the fixed number of times of appearance monitoring time, and the number of changes becomes the appearance frequency threshold value.
[20] In the state in which the amount of flexion is equal to or greater than the threshold value of the flexure amount and continues for a fixed time within the fixed amount of time within the monitoring time for the appearance count for a fixed time, there is a fish trust because the number of changes becomes the appearance count threshold value. To be judged.
[21] In the state where the neutral deflection amount difference is equal to or greater than the neutral deflection amount difference threshold value and continues for a fixed time for a predetermined time within the constant number of times of appearance monitoring time, It is judged that there is fish faith.
[22] In the state where the flexing speed is equal to or higher than the flexing speed threshold and continues for a fixed time within the constant number of times of appearance monitoring time, there is a fish trust because the number of times of change becomes the appearance frequency threshold. To be judged.
[23] The amount of change in the specified bending direction is greater than or equal to the bending amount threshold value within the fixed number of times of appearance monitoring time, and the number of changes becomes the appearance number threshold value.
[24] When the number of changes in the specified bending direction is equal to or greater than the neutral deflection amount difference threshold and the number of changes becomes the appearance frequency threshold within the fixed number of times of appearance monitoring time, Let them be determined.
[25] It is determined that there is a fish trust when the number of changes in the bending speed in the specified bending direction is equal to or higher than the bending speed threshold value within the monitoring time for the appearance number for a certain period of time. Let
[26] It is determined that there is a fish trust when the number of changes in the bending acceleration in the specified bending direction is greater than or equal to the bending acceleration threshold value within the fixed number of times of appearance monitoring time. Let
[27] The number of times of change in a state where the amount of bending in the specified bending direction is greater than or equal to the bending amount threshold and continues for a fixed period of time within the fixed number of times of appearance monitoring time becomes the appearance number threshold. Therefore, it is determined that there is a fish trust.
[28] The number of times the number of changes has appeared in a state where the neutral deflection amount difference in the specified flexing direction is equal to or greater than the neutral deflection amount difference threshold value and continues for a fixed time within a certain time within the monitoring time of the appearance count for a certain time. By reaching the threshold value, it is determined that there is fish faith.
[29] The number of times of change becomes the appearance number threshold value in a state in which the bending speed equal to or higher than the bending speed threshold value in the specified bending direction continues for the fixed time of the predetermined time within the monitoring time of the appearance number of the fixed time. As a result, it is determined that there is fish faith.
It is possible to set and register at least one of them.   The setting device of the present invention is characterized in that it can set and register two or more of the 30 kinds of [0] to [29] fish trust judgment patterns. The setting device of the present invention
Confirmation time,
Appearance count monitoring time and the appearance count threshold,
Bending direction,
It is possible to set and register at least one of the fish faith determination patterns using. The setting device of the present invention
The deflection width threshold,
The bending speed threshold, the bending acceleration threshold, the appearance frequency monitoring time, and the appearance frequency threshold,
The confirmation time,
It is characterized in that at least one of the fish faith determination patterns using the bending direction can be set and registered. The setting device of the present invention
The deflection width threshold,
It is possible to set and register at least one of the fish-belief determination patterns using the bending speed threshold and the bending acceleration threshold. The setting device of the present invention
The neutral deflection difference threshold,
It is possible to set and register the fish faith judgment pattern using The setting device of the present invention
The neutral deflection difference threshold,
The deflection width threshold,
The deflection rate threshold,
The deflection acceleration threshold,
It is possible to set and register at least one of the fish-trust determination patterns using and the bending coefficient. The setting device of the present invention
When setting and registering, the same type (for example, [20] the fish faith judgment pattern) of the fish faith judgment patterns can be duplicated and registered.   The automatic fishing system according to the present invention includes a communication device 41 that can receive and set a setting value instead of the setting device 46. The automatic fishing system of the present invention is
It was determined that there was no fish faith for a certain time in the fish faith judgment,
The number of times that the fish trust determination is determined to be absent and the fish trust determination is repeated is a certain number of times,
When at least one of the above is detected, a controller 30 is provided that makes it be determined that there is a pseudo fish fish. The setting device of the present invention
For example, [12] of the fish faith determination pattern,
In the bending direction, the “extending direction”
For example, 4 seconds
A constant amount of bending between the initial value and the amount of neutral bending is set as the amount of bending threshold.
It is characterized by being able to register settings.   The setting device of the present invention is characterized in that it can be set and registered by adding a fish type or the like to each of a plurality of preset fish trust judgment patterns.   The setting device of the present invention is characterized in that it can set and register a plurality of fish trust judgment patterns that have been set and registered in advance by adding priority.   The automatic fishing system according to the present invention determines whether or not there is a fish belief in the fish belief determination, and when it is determined that there is a fish beet, a memory 36 for storing various events that have occurred in the automatic fishing system. The fishing history assigned to (for example, EEPROM, etc.) is the event that the fish belief is present, and the depth of the fishhook determined to have the fish belief in the fish belief determination, the position coordinates of the detection output of GPS 45, etc. A controller 30 to be registered can be provided.   The setting device of the present invention is capable of setting at least one of the amount of the wase and the speed of the waking operation in which the electric reel 12 is wound up and driven at a constant amount (wase amount) at a constant speed (wase speed). To do.   The setting device of the present invention is characterized in that it can set and register a plurality of the amount of the horseradish, the speed of the horsetail, the fish species, and the like. In the automatic fishing system of the present invention, when it is determined whether or not there is a fish beet in the fish belief determination, when it is determined that there is a fish beet, a fishing line is wound up by a certain amount on the electric reel 12,
Repetitively determining for a certain period of time whether or not there is a fish trust (the fish trust determination),
Determining whether or not there is a fish trust in the crack determination (the fish trust determination) over a certain period of time;
It is determined whether or not there is a fish trust by repeating the power determination (the fish trust determination) a certain number of times.
And a controller 30 that performs (executes) at least one of the following.   A memory 36 for storing various events generated in the automatic fishing system when the automatic fishing system of the present invention determines whether or not a fishhook has been hung on the fish in the caulking process. The fishing history assigned to (for example, EEPROM, etc.) is the event that the fishhook is hung on the fish, and the depth of the fishhook determined to have fishfish in the fishfish judgment, the position coordinates of the detection output of GPS 45, etc. A controller 30 to be registered is provided.   The setting device of the present invention includes a setting device 46 that can set a bottom detection bending amount that is a constant bending amount between an initial value state where the fishing rod 1 is extended and a neutral bending amount. To do.   The setting device of the present invention is characterized in that a winding deflection amount that is a constant deflection amount between a neutral deflection amount and a limit deflection amount of the fishing rod 1 can be set.   The automatic fishing system of the present invention can include a controller 30 that continues to apply an electric brake or the like to a motor driver 39 or the like for driving the motor 42 of the electric reel 12 while the electric reel 12 is stopped. And   The setting device of the present invention can perform bottom fishing setting for middle-level fishing (bottom fishing setting off) for fishing at a depth based on the water surface and bottom fishing (bottom fishing setting on) for fishing at a depth based on the bottom. It is characterized by that.   The automatic fishing system of the present invention uses the detected bottom bend amount (a constant bend amount between the initial value and the neutral bend amount) as the target servo bend amount. It is characterized by comprising a controller 30 for executing the servo deflection amount control for adjusting the deflection amount of the fishing rod 1 by controlling the driving direction and the driving speed of the electric reel 12.   The automatic fishing system of the present invention uses the amount of hoisting bend (a constant amount of bend between the neutral bend amount and the limit bend amount) as the target servo bend amount. It is possible to provide a controller 30 for executing the servo deflection amount control for adjusting the deflection amount of the fishing rod 1 by controlling the driving direction and the driving speed of the electric reel 12.   The automatic fishing system of the present invention uses the neutral deflection amount as the target servo deflection amount, and controls the driving direction and the driving speed of the electric reel 12 to the target servo deflection amount to thereby adjust the deflection amount of the fishing rod 1. And a controller 30 for executing the servo deflection amount control.   The setting device of the present invention is characterized in that the target servo deflection amount can be set.   The setting device of the present invention is characterized in that a servo deflection amount coefficient can be set. The automatic fishing system of the present invention is
The detected bottom bending amount (a constant bending amount between the initial value and the neutral bending amount) is used as the target servo bending amount, and the driving direction and driving of the electric reel 12 are driven to the target servo bending amount. During the servo deflection control that controls the speed to match the deflection of the fishing rod 1,
That the electric reel 12 has stopped for a certain time (for example, 4 seconds);
The depth of the current depth variable has not changed for a certain period of time (eg 4 seconds),
The depth of the hook remains at a certain range of depth for a certain period of time (for example, the depth of the current depth variable remains within a range of 0.5 m, for example, for 4 seconds),
It is characterized by comprising a controller 30 for determining that it has arrived at the bottom when at least one of them is detected. The automatic fishing system of the present invention is
Bottom detected bending amount (a constant bending amount between the initial value and the neutral bending amount),
Alternatively, the amount of winding bend (a certain amount of bend between the neutral bend amount and the limit bend amount) is set as the target servo bend amount, and the drive direction of the electric reel 12 is set to the target servo bend amount. During the servo deflection amount control for adjusting the deflection amount of the fishing rod 1 by controlling the driving speed,
A controller 30 is provided for monitoring that the depth of the current depth variable indicating the current depth of the fishhook and the depth of the moving target match, and stopping the electric reel when they match.   The automatic fishing system of the present invention uses the detected bottom bending amount (a constant bending amount between the initial value and the neutral bending amount) as the target servo bending amount, and electrically drives the target servo bending amount. During the servo deflection amount control in which the deflection direction of the fishing rod 1 is adjusted by controlling the driving direction and the driving speed of the reel 12, the deflection amount of the fishing rod 1 is a certain amount of deflection for a certain time. It is monitored that the state where the detected deflection amount is below (the fishing rod 1 is extended from the bottom detected deflection amount) continues, and the state where the fishing rod 1 is bent below the detected bottom deflection amount for a certain period of time. A controller 30 is provided that stops the electric reel 12 by detecting that it has continued. The automatic fishing system of the present invention is
The winding deflection amount (a constant deflection amount between the neutral deflection amount and the limit deflection amount) is set as the target servo deflection amount, and the driving direction and driving of the electric reel 12 are driven to the target servo deflection amount. During the servo deflection control that controls the speed and adjusts the deflection of the fishing rod 1,
That the electric reel 12 has stopped for a certain time (for example, 4 seconds);
The depth of the current depth variable has not changed for a certain period of time (eg 4 seconds),
The depth of the hook remains at a certain range of depth for a certain period of time (for example, the depth of the current depth variable remains within a range of 0.5 m, for example, for 4 seconds),
It is characterized by comprising a controller 30 that determines that the root reel is detected when at least one of them is detected, and stops the electric reel 12. The automatic fishing system of the present invention is
The neutral deflection amount or the winding deflection amount (a constant deflection amount between the neutral deflection amount and the limit deflection amount) is set as the target servo deflection amount, and the electric servo is set to the target servo deflection amount. 12. Controlling the driving direction and driving speed of 12 to match the amount of bending of the fishing rod 1 During the servo bending amount control, that a certain amount of fishing line has been sent out, and that the fishing line has been sent out at a certain speed or more. A controller 30 to be monitored is provided. While the automatic fishing system of the present invention feeds and drives the electric reel 12,
The electric reel is stopped by extending the fishing rod 1 from a certain amount of deflection for a certain period of time.
The electric reel is decelerated when the fishing rod 1 extends from a certain amount of deflection for a certain period of time.
The electric reel is gradually decelerated as the fishing rod 1 extends from a certain amount of deflection for a certain period of time.
And a controller 30 for monitoring that “the fishing rod 1 is extended from a certain amount of deflection for a certain period of time”. The automatic fishing system of the present invention is
While winding up the electric reel 12,
It is characterized by comprising a controller 30 that performs at least one of driving or stopping of the electric reel 12 when the fishing rod 1 is bent by a certain relatively large bending amount.   The automatic fishing system of the present invention performs the fish belief determination to determine whether or not there is a fish shin, and it is determined that there is no fish bream for a certain period of time, or it is determined that the tip has stabilized after a certain period of time has passed. It is characterized by comprising a controller 30 for executing the tip stability waiting process.   The automatic fishing system according to the present invention includes a controller 30 that monitors that the tip is not determined to be stable for a certain period of time in the tip stability waiting process. The automatic fishing system of the present invention was calculated from the disturbance amount of the detection output of the disturbance sample 37 monitored by the controller 30,
Disturbance width that is the fluctuation width of the amount of disturbance during a certain time,
Disturbance change speed, which is the amount of change in the amount of disturbance for a certain time
Disturbance acceleration, which is acceleration calculated from the amount of disturbance during a certain period of time,
A preset disturbance width threshold,
Disturbance change rate threshold,
Based on the disturbance change rate threshold,
The disturbance width, which is the fluctuation amount of the disturbance amount during a certain period of time, has exceeded the disturbance width threshold,
The disturbance change rate, which is the amount of change in the disturbance amount over a certain period of time, exceeds the disturbance change rate threshold,
The disturbance acceleration, which is the acceleration calculated from the amount of disturbance during a certain period of time, has exceeded the disturbance acceleration threshold,
And a controller 30 for performing at least one determination. When harmful disturbance is detected by the automatic fishing system of the present invention, as harmful disturbance elimination processing,
Waiting for the fish trust judgment until there is no harmful disturbance,
Canceling the judgment result of the fish trust judgment affected by harmful disturbance,
Waiting for the determination to disappear until there is no harmful disturbance,
Canceling the result of the Kakali that has been affected by harmful disturbances;
Setting an invalid value for the amount of bending;
Disabling the detection of the bending amount detection sensor;
A controller 30 that performs at least one of the above is provided.   When the automatic fishing system of the present invention determines that the fishing rod 1 has been stretched more than a certain amount of deflection during a certain period of time (for example, for 4 seconds) during the monitoring of the fish letter, the process of moving the fishhook ( It is characterized by having a controller 30 that shifts to a predetermined depth (fishing depth monitoring depth).   When the automatic fishing system of the present invention does not determine that there is a fishfish for a certain period of time (for example, a re-trapping timer, for example, 30 seconds), the fishhook movement process (predetermined depth: fishfish monitoring depth) It is characterized by comprising and executing a controller 30 that shifts to (1).   If the automatic fishing system of the present invention does not determine that there is a fishfish for a certain time (tana search waiting time) in the fishfish determination, the fishfish monitoring depth moved by a certain distance (search amount) is set to a new fish. It is characterized by comprising and executing the controller 30 which is set as the confidence monitoring depth and shifts to the fishing hook movement processing (predetermined depth: fish confidence monitoring depth).   The setting device of the present invention is characterized in that the Tana search waiting time and the search amount can be set.   The setting device of the present invention is characterized in that a search reference depth and a search range can be set.   If the automatic fishing system of the present invention does not determine that there is a fishfish for a certain period of time (fishfish detection timer) in the fishfish determination, the depth of the fish school inquired to the fishfinder every certain time is set as a new fish. It is characterized by comprising and executing the controller 30 which is set as the confidence monitoring depth and shifts to the fishing hook movement processing (predetermined depth: fish confidence monitoring depth).   When the automatic fishing system of the present invention receives a horizontal passage by the communication device 41 from another automatic fishing system in the vicinity, the horizontal depth is set as a new fish faith monitoring depth, and the processing for moving the fishhook is performed. It is characterized by comprising and executing the controller 30 which shifts to (predetermined depth: fish faith monitoring depth).   The automatic fishing system of the present invention is characterized in that it is provided with a controller 30 that performs a shackle operation when it is not determined that there is a fish snail for a certain time (shake timer). The automatic fishing system of the present invention includes a bait change timer that is set in response to the start of automatic fishing, and includes a controller 30 that moves the fishhook to the water surface when the bait change timer is up.