JP2013034397A - Winding-up apparatus for fishing - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a winding-up apparatus for fishing capable of reducing or suppressing the influence of swinging by both a pitching phenomenon and a rolling phenomenon of a hull on scooping and winding up operation of a fishing gear.SOLUTION: The winding-up apparatus for fishing includes: a rotating drum mounted to the hull 10 for performing winding-up and winding-down of the fishing gear; a driving unit for driving the rotating drum; a detecting unit for detecting a swing rate in a vertical direction based on the pitching phenomenon of the hull 10 and a swing angle rate around an axis extending to a front and rear direction of the hull based on the rolling phenomenon of the hull; and a control unit for controlling the driving unit according to a signal from the detecting unit.

Description

  The present invention relates to a hoisting device for fishing that performs hoisting and lowering of a fishing gear mounted on a fishing boat and a scooping operation.

  Patent Document 1 describes a fishing hoisting device in which, for example, in a squid fishing machine, a variation in the hoisting / lowering speed of the fishing gear due to the pitching phenomenon of the hull is corrected and held at a predetermined value set in advance. ing. According to this fishing hoist, it is possible to somewhat prevent fishing gear dandruff, detachment of the fish from the needle, damage to the fishing gear, and damage to the fish.

Japanese Patent Publication No.7-114618

  The fishing hoist described in Patent Document 1 adjusts the hoisting speed of the squid fishing machine with respect to pitching rocking of the hull by detecting acceleration using a uniaxial acceleration sensor in the vertical direction. ing. In a drifting operation using a parachute anchor, such as a nighttime operation where squid fishing is performed by turning on a fish lamp, the bow tends to turn in the wave direction, so the hull mainly swings in pitching. For this reason, even the fishing hoist described in Patent Document 1 can cope to some extent.

  However, during daytime operations, it is common to repeat movement and fishing operations without using parachute anchors, and the position of the ship is always fine-tuned according to the squid flock, so parachute anchors are used. Compared to the drifting operation, the bow does not always turn in the wave direction, but receives a wave from the side. That is, both pitching rocking and rolling rocking occur.

  In many cases, daytime operations are carried out when the ships are densely packed, and rolling swings are generated by receiving a pulling wave accompanying the movement of other ships from the side of the ship. Further, in the daytime operation, a sink having a long overall length is often used, and in this case, a slight rolling swing of the hull greatly affects the vertical movement of the front roller at the tip.

  Even in nighttime operation, the bow does not always face in the direction of waves due to the tide, wind direction, and the like. Also, in the night operation, there is a case where an operation method for operating a ship according to a group of squids is taken as in the daytime operation.

  From the above points, the conventional technology as described in Patent Document 1 in which speed correction is performed only for pitching oscillation cannot perform sufficient winding and lowering speed control.

  In particular, the conventional technique performs correction so as to keep the speed constant even when the pitching phenomenon occurs only in the state of continuous winding, and this kind of correction control is performed at the time of fishing gear scribing operation. Absent.

  Accordingly, an object of the present invention is to provide a fishing hoisting device that can reduce or suppress the influence of swinging by both the pitching phenomenon and rolling phenomenon of the hull on the hoisting operation of the fishing gear.

  According to the present invention, a fishing hoisting device is equipped with a rotating drum that is mounted on a hull and winds and lowers fishing gear, a driving means that drives the rotating drum, and a vertical swing based on a pitching phenomenon of the hull. Detection means for detecting a swing angular velocity about an axis extending in the front-rear direction of the hull based on speed and a rolling phenomenon of the hull, and control means for controlling the drive means in accordance with a signal from the detection means. The detecting means detects a vertical acceleration and outputs a signal indicating a vertical swing speed, and a swing detecting a angular speed around the axis and outputting a signal indicating the swing angular speed. And an angular velocity sensor. The control means includes a squirrel correction means that adds a squirrel action during the hoisting action of the fishing gear to make the hoisting speed of the fishing gear a variable hoisting speed, and a pitching correction that calculates a pitching correction amount based on the pitching phenomenon from a signal representing the rocking speed. The amount correction means, the rolling correction amount calculation means for calculating the rolling correction amount based on the rolling phenomenon from the signal indicating the swing angular velocity, and the correction for the shackle correction means so as to cancel the swing based on the pitching phenomenon and the rolling phenomenon. And a speed correction means for correcting the variable winding speed with both the pitching correction amount and the rolling correction amount.

  Calculate the pitching correction amount based on the pitching phenomenon by calculating the vertical swing speed from the vertical acceleration, and determine the swing angular speed from the angular speed around the axis extending in the longitudinal direction of the hull and rolling correction based on the rolling phenomenon The amount is calculated, and the variable winding speed corrected by the shackle correction means is corrected by both the pitching correction amount and the rolling correction amount so as to cancel the swing based on the pitching phenomenon and the rolling phenomenon. As a result, both pitching rocking and rolling rocking are reduced or suppressed, so that various troubles caused by detachment of the hooked fish, breakage of the fish, breakage of fishing gear, and string dander are ensured. And it can prevent efficiently.

  In the present invention, the term “fishing gear” includes a fishing hook including a pseudo bait needle, an underwater fishing light, and other tools used for capturing fish and the like, and fishing lines, ropes, nets, and the like connected thereto, And / or all objects to be rolled down and scrubbed. The “fishing hoisting device” refers to all the hoisting / lowering devices for fishing gear including, for example, an automatic squid fishing device, a rope winding device, a winding device such as an underwater fishing light, and an electric reel device.

  It is preferable that the scooping correction means is configured so that the speed at which the fishing gear is wound is alternately low and high. In this case, it is more preferable that the speed correction unit is configured to correct the variable winding speed with both the pitching correction amount and the rolling correction amount when the variable winding speed is low.

  It is also preferable that the speed correction means is configured to correct the continuous hoisting speed and the continuous lowering speed of the fishing gear with both the pitching correction amount and the rolling correction amount. As a result, regardless of the operation method such as daytime operation or nighttime operation, various troubles caused by detachment of the fish caught by the needle, damage of the fish, damage of the fishing gear, and string dandruff are surely generated during continuous winding. And it can prevent efficiently. In addition, it is possible to reliably and efficiently prevent various troubles caused by breakage of fishing gear and string dandruff during continuous lowering.

  The speed correction means includes a correction amount addition means for adding the pitching correction amount and the rolling correction amount, and a range restriction means for restricting the addition output value of the correction amount addition means within a predetermined upper and lower limit value range, It is also preferable to be configured so as to correct the scooping speed corrected by the scoop correction means based on the regulation addition output value obtained from the range regulation means.

  The speed correction means includes a correction amount addition means for adding the pitching correction amount and the rolling correction amount, and a range restriction means for restricting the addition output value of the correction amount addition means within a predetermined upper and lower limit value range, It is also preferable that the continuous hoisting speed and the continuous lowering speed of the fishing gear are corrected based on the regulated addition output value obtained from the range regulating means.

  The swing speed sensor includes a first acceleration sensor that detects acceleration in the vertical direction, and first calculation means that calculates the swing speed by integrating acceleration signals from the first acceleration sensor. Is also preferable.

  It is also preferable that the swing angular velocity sensor includes a gyro sensor.

  A swing acceleration sensor that detects acceleration in the vertical direction, and a second acceleration sensor that detects acceleration in a direction perpendicular to the vertical direction and perpendicular to the longitudinal axis of the hull. It is also preferable to include second calculation means for calculating the swing angular velocity from the detection signals of the first and second acceleration sensors.

  ADVANTAGE OF THE INVENTION According to this invention, various trouble generation | occurrence | production which arises by the detachment | leave of the fish body caught by the needle | hook, the damage of a fish body, the damage of a fishing gear, and a thread dandruff can be prevented effectively. As a result, it is possible to expect an increase in fishing efficiency, a longer fishing equipment life, and a reduction in trouble-solving work during operation.

It is the top view and side view which show roughly the structural example of the squid fishing boat which installed multiple squid fishing machines which are one Embodiment of the winding device for fishing of this invention. It is a side view which shows roughly the state which has attached and operated each squid fishing machine in embodiment of FIG. It is the front view and side view which show roughly the structure of each squid fishing machine in embodiment of FIG. It is a front view which shows roughly the internal structure of the fishing machine main body in embodiment of FIG. FIG. 2 is a block diagram schematically showing an electrical configuration of an operation control panel and a central control panel of the squid fishing machine in the embodiment of FIG. 1. It is a flowchart which shows roughly a part of control operation of the squid fishing machine in embodiment of FIG. It is a flowchart which shows roughly a part of control operation of the squid fishing machine in embodiment of FIG. It is a flowchart which shows roughly a part of control operation of the squid fishing machine in embodiment of FIG. It is a flowchart which shows roughly a part of control operation of the squid fishing machine in embodiment of FIG. It is a figure explaining the pitching phenomenon and rolling phenomenon of a hull. It is a figure explaining the relationship between a pitching rocking direction and a rolling rocking direction, and a squid fishing machine, and the relationship between an acceleration detection direction and each speed detection direction, and a squid fishing machine. It is a side view which shows roughly the structure of the change aspect of the rotating drum in embodiment of FIG. It is a flowchart which shows roughly a part of control operation | movement of the squid fishing machine which is other embodiment of the fishing hoist apparatus of this invention. It is a flowchart which shows schematically a part of control operation | movement of the squid fishing machine which is further another embodiment of the fishing hoist apparatus of this invention. FIG. 15 is a block diagram schematically showing an electrical configuration of an operation control panel and a central control panel of the squid fishing machine in the embodiment of FIG. 14.

  FIG. 1 schematically shows (A) plane and (B) side surfaces of a configuration example of a squid fishing boat provided with a plurality of squid fishing machines, which is an embodiment of a fishing hoist apparatus of the present invention. The state which attaches each squid fishing machine in embodiment to a hull, and is operating is shown roughly.

  As shown in these drawings, a plurality of squid fishing machines 11 are installed on both sides of the hull 10 of the squid fishing boat and on the deck near the rear end via a squid fishing machine mounting base. The sink 12 is attached to the sea side of each squid fishing machine 11, and the front roller 13 is provided in the front-end | tip. The total length of the sink 12 is often set to be about 2 to 2.5 times longer in the daytime operation than in the nighttime operation. This is performed in order to reduce fishing line (needle) entanglement as compared with night operation because daytime operation is often performed in deep water.

  As shown in FIG. 2, the wire 14, which is a road line wound around the rotary drum 11 c of the squid fishing machine 11, is thrown into the sea via the front roller 13 during operation. A fishing line, a connecting needle or a branch needle, and a weight are tied to the tip of the wire 14. In addition, 15 in FIG.1 (B) has shown the fish collection lamp by LED lighting fixture, for example.

  FIG. 3 schematically shows the structure of the squid fishing machine 11 in the present embodiment.

As shown in the figure, each squid fishing machine 11 is supported by a fishing machine main body 11a, a main shaft (drum shaft) 11b protruding left and right from the fishing machine main body 11a, and the main shaft 11b. Is provided with a pair of rotating drums 11c and an operation control panel 11d. The rotation drum 11c shown in figure has a configuration including a plurality of bars 11c ₁ the spool portion is arranged at equal angular intervals along the parallel and circumferentially to the rotational shaft wound with wire 14 However, it is good also as a structure provided with the cylindrical spool instead of these bars. Further, in this embodiment, the rotary drum 11c is a drum having a round shaft section. However, in a modified mode, as shown in FIG. 12, a drum 11c ′ having a diamond-shaped shaft section may be used. The squid fishing machine 11 continuously winds the wire 14 and further the fishing line, the needle and the weight tied to the tip of the wire 14 by rotating the rotating drum 11c, and winds it up by performing an incentive operation called shackle, or Wind up continuously to catch the target fish. An operation control panel 11d having a keyboard, a display panel, a power switch, and the like is attached to the outside of the squid fishing machine main body 11a so that each squid fishing machine 11 can be individually controlled locally. Further, as will be described later, a centralized control panel capable of centrally controlling a plurality of squid fishing machines is provided.

  FIG. 4 schematically shows the internal structure of the fishing machine main body in the present embodiment.

  As shown in the figure, in the fishing machine main body 11a, a drive motor 11e disposed at the lower part thereof, a speed reducer 11f connected to an output shaft of the drive motor 11e and transmitting a driving force, and a speed reducer The movable shaft 11h is connected to the output shaft of the machine 11f via a chain 11g or a gear and the driving force is transmitted thereto, and is connected to the movable shaft 11h via a chain 11i or a gear and the driving force is transmitted. A main shaft 11b that is displaced in the left-right direction (axial direction) by the action of a helical guide groove (not shown) formed in the movable shaft 11h and an engaging claw 11m, and the movable shaft 11h are coaxially connected to each other at any timing. Is connected to the movable shaft 11h via a chain 11k or a gear, and the rotational speed and rotation of the main shaft 11b. And and a rotary encoder 11l where it is possible to detect the rotational position. It is obvious that the feeding distance of the wire (road line) 14 and the fishing line can be calculated by detecting the rotational speed and rotational position of the main shaft 11b.

  FIG. 5 schematically shows the electrical configuration of the operation control panel and the centralized control panel of the squid fishing machine in the present embodiment.

  As shown in the figure, the squid fishing machine 11 is provided with an operation control panel 50 (11d) that performs local control. The operation control panel 50 and the operation control panels of other squid fishing machines transmit data. It is electrically connected to a centralized control panel 52 installed in the wheelhouse via a line 51.

  The operation control panel 50 is provided with a computer including a microprocessor (MPU) 50a, a read only memory (ROM) 50b, a random access memory (RAM) 50c, and an input / output port (I / O) 50d. A keyboard 50e for performing key input and a display 50f are electrically connected to the computer via the I / O 50d. The drive motor 11e, electromagnetic brake 11j, and rotary encoder 11l described above are also electrically connected to the computer via the I / O 50d.

  The squid fishing machine 11 is further provided with a uniaxial acceleration sensor 53 that detects acceleration in the vertical direction and a gyro sensor 54 that detects angular velocity around the rotation axis of the rotary drum 11c. 53 and the gyro sensor 54 are electrically connected to the computer via the I / O 50d.

  The centralized control panel 52 is provided with a computer including a microprocessor (MPU) 52a, a read only memory (ROM) 52b, a random access memory (RAM) 52c, and an input / output port (I / O) 52d. A keyboard 52e for performing key input and a display 52f are electrically connected to the computer via the I / O 52d. By using such a centralized control panel 52, it becomes possible to perform centralized control on the operation of a plurality of squid fishing machines.

  Each squid fishing machine 11 drives the drive motor 11e to the target position while detecting the position by the rotary encoder 11l in response to a command by key input from the keyboard 50a of its own operation control panel 50 or key input from the keyboard 52a of the central control panel 52. Then, the lowering operation is performed, and when the target position is reached, the driving direction of the drive motor 11e is reversed and the winding operation is performed. The state can be confirmed on the display 50f or the display 52f. In some cases, the operation can be stopped and the parameters can be changed by key input from the keyboard 50a or the keyboard 52a. Further, the brake can be applied at an arbitrary point by the electromagnetic brake 11j.

  Each squid fishing machine 11 is equipped with an acceleration sensor 53. By taking the acceleration data into a computer via the I / O 50d, the acceleration in the vertical direction of the squid fishing machine 10 when the hull 10 is pitched and swung is obtained. Can be detected. In addition, each squid fishing machine 11 is equipped with a gyro sensor 54, and the angular speed of the squid fishing machine 11 during a rolling swing described later is detected by taking angular speed data into a computer via the I / O 50d. Can do.

  FIG. 6 schematically shows the fluctuation correction processing operation of the output rotation speed executed by the computer of the squid fishing machine 11 in this embodiment, and FIG. 7 schematically shows the calculation processing operation of the pitching correction rotation speed. FIG. 8 schematically shows the calculation processing operation of the rolling correction rotation speed, and FIG. 9 schematically shows the calculation processing operation of the basic rotation speed. However, the swing correction processing operation described below is merely an example, and the swing correction processing operation of the present invention can be implemented by various other processing methods and processing apparatuses.

  When the lowering operation or the raising operation of the squid fishing machine 11 is started, the operation control panel 50 of the squid fishing machine 11 executes the process shown in FIG. 6 to calculate the output rotation speed Rout of the rotary drum 11c.

  In the fluctuation correction process for the output rotation speed Rout shown in FIG. 6, first, the pitching correction rotation speed Rp is calculated (step S1), and then the rolling correction rotation speed Rr is calculated (step S2).

  Here, as shown in FIG. 10, the swing around the shaft 100 extending in the left-right direction of the hull 10 is pitching swing, and the swing around the shaft 101 extending in the front-rear direction of the hull 10 is rolling swing. It is dynamic. In this embodiment, as shown in FIG. 11 (A), the vertical direction in each squid fishing machine 11 is regarded as the pitching swinging direction, and the acceleration in this direction is shown in FIG. 11 (B). It is detected by. Further, as shown in FIG. 11 (A), the direction around the rotating shaft of the rotating drum 11c in each squid fishing machine 11 is regarded as the rolling swing direction, and the angular velocity in this direction is shown in FIG. 11 (B). This is detected by the gyro sensor 54.

  Hereinafter, the calculation process of pitching correction | amendment rotational speed Rp is demonstrated using FIG.

First, vertical acceleration data Aa (m / sec ² ) is taken from the acceleration sensor 53 (step S1a). Next, a pitching speed Pv (m / sec) is calculated by integrating the acceleration data Aa with respect to time (step S1b).

  Next, this pitching speed is converted into a rotational speed Rp ′ (rpm) of the rotary drum 11c (step S1c). This conversion is performed using Rp ′ = Pv / c × 60. However, c (m) is the circumference of the rotating drum 11c.

  Thereafter, a positive or negative sign is added to the rotational speed Rp ′ to obtain a pitching correction rotational speed Rp. First, it is determined whether or not the winding operation is being performed (step S1d). If the winding operation is being performed, it is determined whether or not the acceleration data Aa is Aa ≧ 0 (step S1e).

  If the winding operation is in progress and Aa ≧ 0, Rp ← −Rp ′ is set (step S1f). If the winding operation is in progress and Aa <0, Rp ← Rp ′ is set (step S1g). That is, when the acceleration is zero or positive during the winding operation (when the squid fishing machine 11 swings upward from the bottom), negative rotation correction is performed, and when the acceleration is negative during the winding operation (squid fishing) In the case where the machine 11 swings from the top to the bottom), control is performed so that positive rotation correction is performed.

  When the winding operation is not being performed, that is, when the winding operation is being performed, it is determined whether or not the acceleration data Aa is Aa ≧ 0 (step S1h).

  If the lowering operation is in progress and Aa ≧ 0, Rp ← Rp ′ is set (step S1i), and if the lowering operation is in progress and Aa <0, Rp ← −Rp ′ is set (step S1j). That is, when the acceleration is zero or positive during the lowering operation (when the swing of the squid fishing machine 11 rises from the bottom to the top), positive rotation correction is performed, and when the acceleration is negative during the lowering operation ( In the case where the swing of the squid fishing machine 11 falls from the top to the bottom), control is performed so as to perform a negative rotation correction.

  Next, the calculation process of the rolling correction rotation speed Rr will be described with reference to FIG.

  First, the angular velocity data ω (rad / sec) in the direction around the rotation axis of the rotary drum 11c is fetched from the gyro sensor 54 (step S2a).

  Next, the moving speed rv (m / sec) of the tip of the sink 12 is calculated from the angular velocity data ω (step S2b). This calculation is performed using rv = 1 × ω. However, l (m) is the length of the sink 12.

  Next, the moving speed rv is converted into a rotating speed Rr ′ (rpm) of the rotating drum 11c (step S2c). This conversion is performed using Rr ′ = rv / c × 60. However, c (m) is the circumference of the rotating drum 11c.

  Thereafter, a positive or negative sign is added to the rotational speed Rr ′ to obtain a rolling correction rotational speed Rr. First, it is determined whether or not the winding operation is being performed (step S2d). If the winding operation is being performed, it is determined whether or not the angular velocity data ω is ω ≧ 0 (step S2e).

  If the winding operation is in progress and ω ≧ 0, Rr ← −Rr ′ is set (step S2f). If the winding operation is in progress and ω <0, Rr ← Rr ′ is set (step S2g). That is, when the angular velocity is zero or positive during the winding operation (when the squid fishing machine 11 swings from the sea side to the ship side), negative rotation correction is performed, and when the angular velocity is negative during the winding operation When the squid fishing machine 11 swings in the direction of turning from the ship side to the sea side, control is performed to perform positive rotation correction.

  When the winding operation is not being performed, that is, when the winding operation is being performed, it is determined whether or not the angular velocity data ω is ω ≧ 0 (step S2h).

  When the lowering operation is being performed and ω ≧ 0, Rr ← Rr ′ is set (step S2i), and when the lowering operation is being performed and ω <0, Rr ← −Rr ′ is set (step S2j). That is, when the angular velocity is zero or positive during the lowering operation (when the squid fishing machine 11 swings from the sea side to the ship side), positive rotation correction is performed, and the angular velocity is negative during the lowering operation. In the case of (in the case where the swing of the squid fishing machine 11 rotates from the ship side to the sea side), control is performed so as to perform a negative rotation correction.

  Thereafter, as shown in FIG. 6, the pitch correction corrected rotation speed Rp and the rolling correction rotation speed Rr thus calculated are added together to calculate a total correction rotation speed Rt (step S4). That is, Rt = Rp + Rr is calculated.

  Next, the calculated total correction rotational speed Rt is regulated between the upper limit and the lower limit rotational speed. That is, first, it is determined whether or not the total corrected rotation speed Rt is equal to or higher than the upper limit rotation speed (step S4). If Rt ≧ the upper limit rotation speed (in the case of YES), Rt ← the upper limit rotation speed is set (step S5). When Rt <the upper limit rotational speed (in the case of NO), it is determined whether or not the total corrected rotational speed Rt is equal to or lower than the lower limit rotational speed (step S6). When Rt ≦ lower limit rotational speed (in the case of YES), Rt ← lower limit rotational speed is set (step S7), and when Rt> lower limit rotational speed (in the case of NO), this total corrected rotational speed Rt is maintained as it is.

  Next, the total rotational speed Rt is added to the basic rotational speed Rb to calculate the output rotational speed Rout (step S8). That is, the rocking correction process is performed by calculating Rout = Rb + Rt.

  The basic rotation speed Rb is calculated by the processing operation shown in FIG.

  First, it is determined whether or not the winding operation is performed (step S91). In the case of non-winding operation, that is, in the case of lowering operation, one continuous lowering speed is selected from a plurality of continuous lowering speeds such as high speed, medium speed or low speed set in advance, and the selected continuous lowering is performed. The speed is set to the basic rotation speed Rb (step S92). In the present embodiment, the continuous lowering speed is selected from three fixed values in this way, but may be selected from four or more fixed values or two fixed values. It is good also as a fixed value of. Further, it is obvious that the continuous lowering speed may be a variable value that can be arbitrarily changed.

  If it is a winding operation, it is determined whether or not it is a scooping operation (step S93). In the case of non-scraping operation, that is, in the case of continuous winding operation, one continuous winding speed is selected from a plurality of continuous winding speeds such as high speed, medium speed or low speed set in advance, and the selected continuous winding speed is the basic The rotation speed Rb is set (step S94). In the present embodiment, the continuous winding speed is selected from three fixed values in this way, but may be selected from four or more fixed values, two fixed values, or a single fixed value. It is good as a value. It is obvious that the continuous winding speed may be a variable value that can be arbitrarily changed.

  In the case of the scooping operation, a high and low scooping speed of one duty ratio is selected from a plurality of preset duty ratios, and the high and low scooping speed of the selected duty ratio is set as the basic rotation speed Rb (step S95). ). That is, a duty ratio that is a ratio of a high speed rotation speed period and a low speed rotation speed period is selected, and the basic rotation speed Rb is set so that the high speed rotation speed and the low speed rotation speed are alternately repeated at the duty ratio. For example, the high-speed rotation speed and the low-speed rotation speed may be alternately set every rotation of the rotary drum 11c. In this case, the high speed rotation speed is in the range of about 70 rpm to about 160 rpm in terms of the rotation speed of the rotary drum 11c, and the low speed rotation speed is in the range of about 5 rpm to about 50 rpm in terms of the rotation speed of the rotary drum 11c. It is. Instead of alternately repeating the high speed rotation speed and the low speed rotation speed, the high speed rotation speed and the rotation stop state (rotation speed zero) may be alternately repeated.

  In the present embodiment, the duty ratio of the scooping speed is selected from a plurality of duty ratios as described above, but may be a single duty ratio. It is also clear that the duty ratio may be a variable value that can be arbitrarily changed. Further, in this embodiment, the squeezing operation is performed only during the winding operation, but the squeezing operation is performed in the same manner only during the lowering operation or both during the winding operation and during the lowering operation, and the swing correction control is performed. May be performed.

  The rotational speed of the rotary drum 11c is controlled by controlling the rotational speed of the drive motor 11e according to the output rotational speed Rout obtained by performing the swing correction process as described above. As a result, the continuous winding speed and continuous unwinding speed of the wire 14 and the fishing line, needle and weight, and the unwinding speed of the wire 14 are further corrected by both the pitching correction amount and the rolling correction amount. Both movement and rolling swing will be reduced or suppressed.

  That is, as shown in FIG. 10, when the hull 10 swings in a pitching manner, the squid fishing machine 11 swings mainly in the vertical direction as shown in FIG. Acceleration is detected by the acceleration sensor 53 as acceleration. On the other hand, when the hull 10 rolls and swings, the squid fishing machine 11 rotates in the rolling swing direction as shown in FIG. 11A, and this is converted into an angular velocity in the angular velocity ω detection direction by the gyro sensor 54. To detect. Note that the rolling position shown in FIG. 11A (swing around the rotation axis of the rotating drum 11c) and the rolling swing around the shaft 101 extending in the front-rear direction of the hull 10 are different in axial position. Therefore, although it does not exactly match, there is no problem because the angular velocity is detected at the position of the squid fishing machine 11 that actually winds and winds the wire. Rather, more accurate swing correction processing is performed. It can be performed.

  The acceleration detected by the acceleration sensor 53 is converted into the vertical movement speed, and the pitching correction rotational speed is calculated by converting the vertical movement speed into the rotation speed of the rotary drum 11c. On the other hand, the angular velocity detected by the gyro sensor 54 is converted into a moving speed of the sink tip considering the length of the sink 12, and converted into a rotating speed of the rotary drum 11c based on the moving speed of the tip of the sink 12 to roll. A corrected rotation speed is calculated. By adding and subtracting these values, a combined total corrected rotation speed is calculated and added to or subtracted from the set basic rotation speed to obtain the output rotation speed to the drive motor 11e, thereby correcting the rotation when the hull is swung. . That is, in FIG. 11A, when pitching swing in the Pit + direction occurs, the wire moving speed is corrected and controlled in the DOWN direction, which is the lowering direction, and pitching swing in the Pit− direction occurs. The movement speed of the wire is corrected and controlled in the UP direction, which is the winding direction. When rolling swing in the Rol + direction occurs, the movement speed of the wire is corrected and controlled in the DOWN direction, which is the lowering direction. When the rolling swing in the direction occurs, the moving speed of the wire is corrected and controlled in the UP direction that is the winding direction.

  As described in detail above, according to the present embodiment, both pitching rocking and rolling rocking are reduced or suppressed, so that regardless of the operation method such as daytime operation and nighttime operation, It is possible to reliably and efficiently prevent various troubles caused by detachment, damage to the fish body, damage to the fishing gear, and string dandruff. In particular, in the present embodiment, since the swing correction process is also performed in the scooping and winding operation, a very effective correction process can be performed. As a result, it is possible to expect an increase in fishing efficiency, a longer fishing equipment life, and a reduction in trouble-solving work during operation.

  FIG. 13 schematically shows the fluctuation correction processing operation of the output rotation speed executed by the computer of the squid fishing machine 11 which is another embodiment of the fishing hoist apparatus of the present invention. In the embodiment of FIGS. 1 to 12, the swing correction process is performed at the time of both low rotation speed and high rotation speed scooping operation, but in this embodiment, the low rotation speed scooping is performed. The swing correction process is performed only during the winding operation.

  Other configurations in the present embodiment are the same as those in the embodiment of FIGS. 1 to 12, and therefore, the following description will be given only to the parts that are different from each other. In both embodiments, the same reference numerals are used for similar components.

  When the lowering operation or the raising operation of the squid fishing machine 11 is started, the operation control panel 50 of the squid fishing machine 11 executes the processing shown in FIG. 13 to calculate the output rotation speed Rout of the rotary drum 11c.

  In the fluctuation correction process of the output rotation speed Rout shown in FIG. 13, first, the pitching correction rotation speed Rp is calculated (step S1 ′), and then the rolling correction rotation speed Rr is calculated (step S2 ′).

  The calculation process of the pitching correction rotation speed Rp and the rolling correction rotation speed Rr is the same as that in the embodiment of FIGS.

  Next, the calculated pitching correction rotation speed Rp and the rolling correction rotation speed Rr are added together to calculate the total correction rotation speed Rt (step S3 ′). That is, Rt = Rp + Rr is calculated.

  Next, the calculated total correction rotation speed Rt is regulated between the upper limit and the lower limit rotation speed. That is, first, it is determined whether or not the total corrected rotational speed Rt is equal to or higher than the upper limit rotational speed (step S4 ′). If Rt ≧ the upper limit rotational speed (in the case of YES), Rt ← the upper limit rotational speed is set (step S5). ′), If Rt <the upper limit rotational speed (in the case of NO), it is determined whether or not the total corrected rotational speed Rt is equal to or lower than the lower limit rotational speed (step S6 ′). When Rt ≦ lower limit rotational speed (in the case of YES), Rt ← lower limit rotational speed is set (step S7 ′), and when Rt> lower limit rotational speed (in the case of NO), this total corrected rotational speed Rt is maintained as it is.

  Next, it is determined whether or not the present time is a high-speed speed scooping operation (step S9 '). If it is determined that the current speed is not a high-speed speed hoisting operation (in the case of NO), the total speed is added to the basic speed Rb. The corrected rotation speed Rt is added to calculate the output rotation speed Rout (step S8 ′). That is, the rocking correction process is performed by calculating Rout = Rb + Rt. Therefore, when the scooping operation is performed and the rotation speed is low, the swing correction process is performed. The basic rotation speed Rb is calculated by the processing operation shown in FIG. 9 as in the case of the embodiment of FIGS.

  On the other hand, if it is determined in step S9 'that the high-speed speed rolling operation is being performed (YES), neither pitching correction nor rolling correction is performed, so the total corrected rotational speed Rt is set to zero (step S10' ), The process of step S8 'is performed. Therefore, when the scooping operation is performed and the rotation speed is high, the total correction rotation speed Rt is set to zero and the swing correction process is not performed.

  As described in detail above, according to the present embodiment, both pitching rocking and rolling rocking are reduced or suppressed, so that regardless of the operation method such as daytime operation and nighttime operation, It is possible to reliably and efficiently prevent various troubles caused by detachment, damage to the fish body, damage to the fishing gear, and string dandruff. In particular, in the present embodiment, since the rocking correction process is performed mainly only at the low rotation speed of the scooping-up operation, which is likely to cause fish removal, a very effective correction process can be performed. As a result, it is possible to expect an increase in fishing efficiency, a longer fishing equipment life, and a reduction in trouble-solving work during operation.

  FIG. 14 schematically shows the calculation processing operation of the rolling correction rotation speed executed by the computer of the squid fishing machine 11 which is still another embodiment of the fishing hoist apparatus of the present invention, and FIG. 15 shows this embodiment. 1 schematically shows an electrical configuration of an operation control panel and a central control panel of the squid fishing machine 11 in FIG. In the present embodiment, instead of the gyro sensor 54 in the embodiment of FIG. 1 to FIG. 12 or FIG. 13, a first acceleration sensor 55a and a second acceleration sensor 55b that detect accelerations in two biaxial directions orthogonal to each other; And an arithmetic means for calculating an angular velocity from the output of these acceleration sensors. Note that the first acceleration sensor 55a is used for detecting pitching fluctuation similarly to the acceleration sensor 53 in the embodiment of FIG. 1 to FIG. 12 or FIG.

  Other configurations in the present embodiment are the same as those in the embodiment in FIG. 1 to FIG. 12 or FIG. In both embodiments, the same reference numerals are used for similar components.

  As shown in FIG. 15, the squid fishing machine 11 in the present embodiment includes a first acceleration sensor 55 a that detects acceleration Aa in the vertical direction (see FIG. 11B), the vertical direction, and the squid fishing machine 11. A second acceleration sensor 55b for detecting an acceleration Ba (see FIG. 11B) in a direction orthogonal to the rotation axis of the rotary drum 11c is provided. These acceleration sensors 55a and 55b are connected via an I / O 50d. Is electrically connected to the computer.

  The calculation process of the rolling correction rotation speed Rr in this embodiment is demonstrated using FIG.

  First, biaxial acceleration data Aa and Ba orthogonal to each other are taken from the first acceleration sensor 55a and the second acceleration sensor 55b, respectively (step S2a ′).

  Next, the inclination angle of the squid fishing machine 11 is calculated from ATRAN (Ba / Aa) from the acceleration data Aa and Ba (step S2b ').

  Next, the calculated inclination angle is differentiated to calculate angular velocity data ω (rad / sec) in the direction around the rotation axis of the rotary drum 11c (step S2c ′).

  Next, the moving speed rv (m / sec) of the tip of the sink 12 is calculated from the angular velocity data ω (step S2d ′). This calculation is performed using rv = 1 × ω. However, l (m) is the length of the sink 12.

  Next, the moving speed rv is converted into a rotating speed Rr ′ (rpm) of the rotating drum 11c (step S2e ′). This conversion is performed using Rr ′ = rv / c × 60. However, c (m) is the circumference of the rotating drum 11c.

  Thereafter, a positive or negative sign is added to the rotational speed Rr ′ to obtain a rolling correction rotational speed Rr. First, it is determined whether or not the winding operation is being performed (step S2f ′). If the winding operation is being performed, it is determined whether or not the angular velocity data ω is ω ≧ 0 (step S2g ′).

  When the winding operation is in progress and ω ≧ 0, Rr ← −Rr ′ is set (step S2h ′). When the winding operation is in progress and ω <0, Rr ← Rr ′ is set (step S2i ′). That is, when the angular velocity is zero or positive during the winding operation (when the squid fishing machine 11 swings from the sea side to the ship side), negative rotation correction is performed, and when the angular velocity is negative during the winding operation When the squid fishing machine 11 swings in the direction of turning from the ship side to the sea side, control is performed to perform positive rotation correction.

  When the winding operation is not being performed, that is, when the winding operation is being performed, it is determined whether or not the angular velocity data ω is ω ≧ 0 (step S2j ′).

  When the lowering operation is in progress and ω ≧ 0, Rr ← Rr ′ is set (step S2k ′), and when the lowering operation is in progress and ω <0, Rr ← −Rr ′ is set (step S2l ′). That is, when the angular velocity is zero or positive during the lowering operation (when the squid fishing machine 11 swings from the sea side to the ship side), positive rotation correction is performed, and the angular velocity is negative during the lowering operation. In the case of (in the case where the swing of the squid fishing machine 11 rotates from the ship side to the sea side), control is performed so as to perform a negative rotation correction.

  The total correction rotation speed Rt is calculated by adding the rolling correction rotation speed Rr and the pitching correction rotation speed Rp thus calculated. In the present embodiment, the processing contents thereafter are the same as those in the embodiment of FIG. 1 to FIG. 12 or FIG.

  According to this embodiment, when the hull 10 rolls and swings, the squid fishing machine 11 rotates in the rolling swing direction as shown in FIG. Based on the acceleration data Aa and Ba detected by the second acceleration sensors 55a and 55b, the inclination angle of the squid fishing machine 11 at the time of rolling swing is calculated, and the angular velocity ω is obtained by differentiating this with time. . The acceleration detected by the first acceleration sensor 55a is converted into the vertical movement speed, and the pitching correction rotational speed is calculated by converting the vertical movement speed into the rotational speed of the rotating drum 11c. Is done. On the other hand, the angular velocity calculated from the detected accelerations of the biaxial first and second acceleration sensors 55a and 55b is converted into the moving speed of the sink tip in consideration of the length of the sink 12, and the moving speed of the tip of the sink 12 is converted into the moving speed. Based on this, the rotational speed of the rotating drum 11c is converted to calculate the rolling correction rotational speed. By adding and subtracting these values, a combined total corrected rotation speed is calculated and added to or subtracted from the set basic rotation speed to obtain the output rotation speed to the drive motor 11e, thereby correcting the rotation when the hull is swung. .

  As described in detail above, according to the present embodiment, both pitching rocking and rolling rocking are reduced or suppressed, so that regardless of the operation method such as daytime operation and nighttime operation, It is possible to reliably and efficiently prevent various troubles caused by detachment, damage to the fish body, damage to the fishing gear, and string dandruff. In particular, in the present embodiment, since the swing correction process is also performed in the scooping and winding operation, a very effective correction process can be performed. As a result, it is possible to expect an increase in fishing efficiency, a longer fishing equipment life, and a reduction in trouble-solving work during operation.

  In the present embodiment, the first and second acceleration sensors 55a and 55b that are independent from each other are used. However, instead of this, a single acceleration sensor capable of detecting biaxial acceleration may be used. It is clear that it is good.

  The embodiment described above relates to a squid fishing machine installed on a squid fishing boat. A device for performing hoisting and lowering of a fishing gear including all other objects to be hoisted and / or lowered, including fishing lines, ropes, nets, and the like connected thereto, such as automatic squid fishing The present invention is applicable to all fishing gear hoisting / lowering devices including a device, a rope winding device, a winding device such as an underwater fish lamp, and an electric reel device.

  All the embodiments described above are illustrative of the present invention and are not intended to be limiting, and the present invention can be implemented in other various modifications and changes. Therefore, the scope of the present invention is defined only by the claims and their equivalents.

10 Hull 11 Squid fishing machine 11a Fishing machine body 11b Main shaft (drum shaft)
11c Rotating drum 11c ₁ bar 11d, 50 Operation control panel 11e Drive motor 11f Reducer 11g, 11i, 11k Chain 11h Movable shaft 11j Electromagnetic brake 11l Rotary encoder 11m Engagement claw 12 Sink 13 Front roller 14 Wire 15 Fish collecting light 50a, 52a Microprocessor (MPU)
50b, 52b Read only memory (ROM)
50c, 52c Random access memory (RAM)
50d, 52d I / O port (I / O)
50e, 52e Keyboard 50f, 52f Display 51 Data transmission line 52 Centralized control panel 53 Acceleration sensor 54 Gyro sensor 55a First acceleration sensor 55b Second acceleration sensor 100, 101 axis

Claims (9)

A rotating drum mounted on the hull for hoisting and lowering fishing gear; a driving means for driving the rotating drum; a vertical swing speed based on the pitching phenomenon of the hull; and the rolling phenomenon of the hull. A detecting means for detecting a rocking angular velocity about an axis extending in the longitudinal direction of the hull, and a control means for controlling the driving means in response to a signal from the detecting means,
The detecting means detects a vertical acceleration and outputs a signal indicating the vertical swing speed, and a signal indicating the swing angular speed by detecting an angular speed around the axis. With an output angular velocity sensor,
The control means adds a squirting operation during the hoisting operation of the fishing gear, thereby changing the hoisting speed of the fishing gear to a variable hoisting speed, and a pitching correction amount based on a pitching phenomenon from a signal representing the rocking speed. A pitching correction amount calculating means for calculating; a rolling correction amount calculating means for calculating a rolling correction amount based on a rolling phenomenon from the signal representing the rocking angular velocity; and the shackle so as to cancel the swinging based on the pitching phenomenon and the rolling phenomenon. A fishing hoist apparatus comprising: a speed correcting means that corrects the variable hoisting speed corrected by the correcting means with both the pitching correction amount and the rolling correction amount.   The fishing hoisting device according to claim 1, wherein the scooping correction means is configured to alternately make the hoisting speed of the fishing gear low and high.   The speed correction means is configured to correct the variable winding speed with both the pitching correction amount and the rolling correction amount when the variable winding speed is low. The fishing hoist described.   The speed correction means is configured to correct the continuous hoisting speed and the continuous lowering speed of the fishing gear with both the pitching correction amount and the rolling correction amount. The fishing hoist apparatus according to claim 1.   The speed correction means includes correction amount addition means for adding the pitching correction amount and the rolling correction amount, and range restriction means for restricting the added output value of the correction amount addition means within a predetermined upper and lower limit value range. 5. The apparatus according to claim 1, further comprising: a scooping speed that is corrected by the scoring correction unit based on a regulated addition output value obtained from the range regulating unit. The fishing hoist apparatus according to item 1.   The speed correction means includes correction amount addition means for adding the pitching correction amount and the rolling correction amount, and range restriction means for restricting the added output value of the correction amount addition means within a predetermined upper and lower limit value range. The fishing hoist according to claim 4, further comprising: correcting the continuous hoisting speed and the continuous lowering speed of the fishing gear according to the regulated addition output value obtained from the range regulating means. apparatus.   A first acceleration sensor for detecting the acceleration in the vertical direction; and first calculation means for calculating an oscillation speed by integrating an acceleration signal from the first acceleration sensor. The fishing hoisting device according to any one of claims 1 to 6, further comprising:   The fishing hoist apparatus according to any one of claims 1 to 7, wherein the swing angular velocity sensor includes a gyro sensor.   The swing angular velocity sensor includes a first acceleration sensor that detects acceleration in the vertical direction, a second acceleration sensor that detects acceleration in a direction perpendicular to the axis and perpendicular to the axis, The fishing hoisting device according to any one of claims 1 to 7, further comprising: a second calculating unit that calculates a swing angular velocity from detection signals of the first and second acceleration sensors.

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