JPH01256332A - Automatic fishing machine - Google Patents

Abstract

PURPOSE:To provide the title machine so designed that a luring waveform-generating part generates such a repeating waveform that the value-reducing time is longer than the value-increasing time, and based on this, a fishing rod is controlled at a rod angle control part, thereby raising the rate of the residence time of a luring hook in the sea. CONSTITUTION:In response to an action starting instruction 381 from a luring control part 38, a luring waveform-generating part 37 generates such a repeating waveform that the value-reduction time is longer than the value-increasing time, and outputs this waveform, via an addition part 43 and a D/A converter 51, to a fishing rod angle control part 11. In this case, when fish(s) is not caught, respective output values from a drawing control part 39, fish-lifting control part 40 and plurally dehooking control part 44 are zero, and a correction value corresponding to the tilt of the hull is outputted from a tilt-correction part 42. And the rod angle control part 11 controls the fishing machine itself 54 so as to rotate slowly when a fishing rod 54 rotates towards the sea, but quickly towards the deck, and when a luring hook 543 is lowered into the sea, said hook is manipulated for a longer time in the sea, while, when raised, said hook is moved in a shorter time, thus enabling the opportunities for the fish to take the bait to be increased.

Description

[Detailed Description of the Invention] Cliff 1" J ■ Old 1 Kitano The present invention relates to - a fishing machine that automatically performs line fishing; more specifically, it relates to a fishing machine that automatically performs line fishing, and more specifically, a cradle in which the descending time of a pseudo hook in the sea is longer than the rising time. This article relates to an automatic fishing machine that performs.

In order to get the fish to bite the artificial hook in the following fishing method, it is necessary to perform a cradle motion that causes the artificial hook to dance in the sea, so automatic fishing machines, which are becoming popular due to a lack of manpower, are unable to do so. A configuration is adopted in which a cradle operation is performed by controlling the fishing rod so that its tip moves finely up and down. When a fish is hooked on the artificial hook, the fishing rod is rotated toward the deck to capture and confirm the fish.

<Let's do it.>

Fish bite the artificial needle dancing in the sea when the artificial needle is underwater near the sea surface while coasting. However, the cradle operation in the automatic fishing machine described above is achieved by rotating the fishing rod according to a waveform such as a sine wave, so the descent time and rise time of the artificial hook in the sea are approximately equal, and the inertia During navigation, the artificial needle flies through the air when ascending, so the fish's ability to bite on the underwater artificial needle near the sea surface has not been fully utilized.

The present invention was devised by focusing on the above-mentioned characteristics of fish, and its purpose is to provide an automatic fishing machine that can increase the chances of fish biting the artificial hook underwater near the sea surface. It is about providing.

In order to solve the above problems, the automatic fishing machine of the present invention calculates the angle of the fishing rod with respect to the deck, which increases in value as the fishing rod rotates toward the deck. When controlling the rod angle, pole-and-line fishing is performed by controlling the rod angle, and when the artificial hook is located in the sea, the fishing rod generates a repetitive waveform in which the time to decrease the value is longer than the time to increase the value. The fishing rod includes a waveform generator and a rod angle controller that controls the rotation of the fishing rod according to the output of the cradle waveform generator.

Since the dish cradling waveform generator generates a repetitive waveform in which the time for the value to decrease is longer than the time for the value to increase, the fishing rod, which is controlled by the rod angle control unit according to this waveform, rotates toward the sea. It rotates slowly, and when it rotates toward the deck, it rotates quickly. Therefore, during coasting, the pseudo needle dances in the sea for a long time when descending, and moves in a short time when ascending.

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention.

In the figure, the blocks within the dashed line 100 are CPU, RO
A microcomputer equipped with MSRAM etc.
A block that is processed by software.

A signal from a setting device 31 consisting of a plurality of key switches, etc. is guided to a setting control section 32, and the output of this setting control section 32 is sent to four instruction sections (pull angle instruction section 33) that store the sent values. , the pulling speed instruction section 34, the single release hook angle instruction section 35, the release confirmation angle instruction section 36), the cradle control section 38, and the single release hook control section 44.

Then, the pulling angle calculation section 33 and the pulling speed instruction section 3
The output of 4 is guided to the pulling control section 39, and the output of the single release hook angle instruction section 35 is guided to the fishing control section 40.

In addition, the output of the unhooking confirmation angle viewing section 36 is transmitted to the double unhooking control section 4.
It is guided by 1.

The fishing machine body 54 that rotates the fishing rod 541 includes the fishing rod 541.
An angle sensor 22 is provided to detect the angle of the
The output of this angle sensor 22 is given to three control sections (pulling control section 39, fishing control section 40, double hook control section 41) and inclination correction section 42 via an A/D converter 62. There is. Also, the path thread 542 to which the pseudo needle 543 is tied
The fish weight sensor 2 passes through the inside of the fishing rod 541 and consists of a load cell or the like that detects the tension of the line 542.
It is guided by 3. The output of this fish weight sensor 23 is transmitted to the cradling control section 38, via the A/D converter 63,
and the double release hook control section 41.

The cradle control section 38 sends control outputs to the cradle waveform generation section 37 and the attraction control section 39, and the attraction control section 39 sends control outputs to the fishing control section 4.
0, and the inclination correction unit 42, the fishing control unit 4
From 0, the single release hook control unit 44 and the double release hook control unit 41
The output for each control is given for each.

The output of the cradle waveform generation section 37, the output of the slope correction section 42, and the output of the single hook control section 44 are led to the addition section 43, and are sent to the cradle control section 38, the pulling control section 39, the fishing control section 40, and the multiple hook control section 44. The output of the unhooking control section 41 is led to the addition section 43 as a parallel output (the outputs of the four control sections 38 to 41 are sent to the addition section 43 in sequence, so they are shown as parallel connections). ).

The output of the adder 43 is led via a D/A converter 51 to one input of an adder 52, which is a component of the rod angle controller 11, and the other input of the adder 52 is connected to an angle sensor. An analog signal from 22 is led.

The output of this adder 52 is sent to a drive control section 53, and the output of the drive control section 53 is introduced into the fishing machine main body 54. Further, the output from the tilt sensor 21 that detects the tilt of the hull is sent to the tilt correction section 42 via the A/D converter 61.
is given to.

FIG. 2 is a block diagram showing the detailed configuration of one embodiment of the cradle waveform generator 37.

An output 381 from the cradle control section 38 is given to a timer section 374 configured by software, and its output is given to a waveform succession section 372. Further, the waveform reading section 372 reads the waveform data ROM 37 in which repetitive waveforms for the cradle operation are stored in advance as digital data.
3, it sends an address and inputs data from the waveform data ROM 373. The output 371 of the waveform reading section 372 is given to the adding section 43.

Regarding the operation of one embodiment of the present invention having the above configuration,
This will be explained below.

First, control of the angle of the fishing rod 541 will be explained.

The fishing rod control section 15 controls the fishing machine main body 54 using the drive control section 53 so that the difference between the output of the angle sensor 22 indicating the angle of the fishing rod 541 and the output of the D/A converter 51 becomes 0. Therefore, the angle of the fishing rod 541 is determined by the input value of the adder 52 provided by the D/A converter 51. In other words, the value of the output of the adder 43 is the value of the fishing rod 5.
Determine the angle of 41.

Next, the operations performed before starting fishing will be explained.

The angle of the rod when performing a cradle operation, the pulling angle and pulling speed corresponding to the expected fish weight of the school of fish to be caught, the angle when performing a single release hook to remove the fish from the pseudo hook 543, and the swing of the single release hook. Return angle, and the fish is a pseudo hook 543
The setting device 31 is used to input an angle for confirming that the angle has deviated from the angle.

These input numerical values are stored in a predetermined area in the cradling control unit 38 by the setting control unit 32, a pulling angle instruction unit 33, which is an area set in advance on the memory to store each numerical value, and a pulling speed. It is stored in a predetermined area in the instruction section 34 , single release hook angle instruction section 35 , release confirmation angle instruction section 36 , and single release hook control section 44 . After this setting is completed, the fishing operation begins.

Figure 3 is an explanatory diagram showing temporal changes in rod angle;
The figure is an explanatory diagram showing detailed temporal changes in the rod angle during the cradling motion.

When no fish are hooked, the attracting control section 39, the fishing control section 40, and the double hooking control section 41 stop operating. Further, the output value of the single release hook control section 44 is 0, and the output value of the cradling waveform generation section 37 is also 0 while the operation is stopped.

Further, the output of the inclination correction unit 42 is 0 when the hull is not tilted, and the operation when the hull is not tilted will be described below, and then the correction of the tilt when the hull is tilted will be explained.

The output of the cradle control section 38 is led to the addition section 43, and the cradle control section 38 rotates the fishing rod 541 toward the sea surface by gradually decreasing the value of the output. Then, the pseudo needle 543 reaches the sea and reaches a preset angle Y.
When the fishing rod 541 has rotated up to the point, the cradle control section 38 gives an instruction to the cradle waveform generation section 37 to start the operation, and maintains the value of its own output at a constant angle (To).

The timer section 374, which is instructed to start operating by the output 381 from the cradle control section 38, delays for a period of 10, and when time T1 comes, the waveform successive section 372 is instructed to start its operation. Since the waveform data ROM 373 stores data indicating the waveform of the approximately triangular wave 71 shown in the period from time T1 to time T12, the waveform succession unit 372 stores the waveform data at the start address where the waveform data is stored. The starting address and sequentially increasing addresses are sent to the waveform data ROM 373. Then, in response to sending out those addresses, the waveform data ROM3
The data output from 73 is sent to adder 43.

Then, at time T2, the waveform succession unit 372 returns the address given to the waveform data ROM 373 to the same start address as the address at time T1, and thereafter repeats the same operation.

Therefore, the fishing rod 541 is fixed at a rod angle where the tip is located near the sea surface during the period to, and the fishing rod 541 is fixed at an angle where the tip is located near the sea surface.
The pseudo hook 543 thrown toward the sea surface sinks into the sea during period 10 when the fishing rod 541 is stationary.

Thereafter, the pseudo hook 543 dances in the sea due to the movement of the fishing rod 541 whose rod angle changes according to the waveform 71. In the waveform 71, the period t1 in which the value decreases is longer than the period t2 in which the value increases, so the pseudo needle 543
The movement of the ship sinks and dances for a long time during coasting period t1, and moves forward for a short time during period t2.

Regarding the operation of the pseudo needle 543 after time T2,
The same operations as those in periods L1 and t2 will be repeated, and the operations in periods L2 and t3 will be equal to tl,
The operation of T5 and L6 is equivalent to that of L4.

When the fish bites the pseudo hook 543 due to the cradle operation, the tension of the fishing line 542 increases rapidly, and this increase in tension is guided to the cradle control section 38 by the fish weight sensor 23 and A/D converter 63. When the cradle control unit 38 detects this increase in tension, the cradle control unit 38 determines that a fish is hooked, and instructs the cradle waveform generation unit 37 to stop the operation, and sends an instruction to the attracting control unit 39 to start the operation, so that the cradle control unit 38 determines that the fish is hooked. stops operation (T4).

The pulling control unit 39 controls the adding unit 43 so as to rotate the fishing rod 541 toward the deck at a speed according to the output value of the pulling speed instruction unit 34 while comparing the output value of the pulling angle instruction unit 33. increases the value of the output sent to , and when its value matches the value of the pulling angle 331,
Stop operation. This stopping of the operation is indicated by B in FIG. 3, and the rod angle Z1 at this time is equal to the value of the output of the single release hook angle indicating section 35.

After this, there is a stop time of period t8, and during period t8, fishing rod 5
The fish is attracted by the elasticity of 41 (C).

At point 0, the fishing control section 40 receives an output from the attraction control section 39 indicating the end of its own operation.

Next, the fishing control unit 40 starts controlling the fishing rod 541 to rotate toward the deck.
41 rotates. By this rotation, the fish is landed on the deck, and the rod angle changes to the value Z of the output of the single release hook angle indicator 35.
2 (this value is indicated by the output of the single release hook angle instruction unit 35), the fishing control unit 40 starts the single release hook control unit 4.
4, and during period t9,
Keep sending the value Z2.

Since the single release hook control unit 44 sends a waveform representing a negative half cycle of a substantially sinusoidal wave corresponding to the set value to the addition unit 43, the fishing rod 541 swings toward the sea surface by a small angle for a short time. be returned. This action loosens the tension on the line 542, causing the fish to detach from the pseudo hook 543 and fly toward the deck (
. After the period t9, the fishing control unit 40 rotates the fishing rod 541 to an angle Z3 (this value is given by the unhooking confirmation angle indicating unit 36) and sends an instruction to the double unhooking control unit 41 to start the operation. Then, it ends its operation.

The double release hook control unit 41 fixes the fishing rod 541 at an angle z3 for an instant (E), and within this fixed time, based on the output of the A/D converter 63 (by adjusting the tension of the fishing line 542). I
11. When the tension is close to O, it is determined that the fish is out of the way, and it ends its own movement.
If the tension has not reached a value close to O, it is assumed that the fish has not come off yet, and the fishing rod 541 is swung once (D), and the tension of the fishing line 542 is measured again (F). This fishing rod 541
One swing and measurement of the tension are repeated until the tension reaches a value close to O, and when the tension reaches a value close to O, the operation is terminated.

When the series of operations is completed in this way, the fishing rod 541 is returned to the cradle angle Y by the cradle control section 38, and the same operation is repeated thereafter.

Next, correction of the rod angle when the hull is tilted will be explained.

The distance between the pseudo needle 543 and the sea surface is important during the period from the cradle operation (A in FIG. 3) to the pulling operation (C in the same figure), so when the ship is tilted, the tilt correction unit 42 performs A/D conversion. By sending the output of the inclination sensor 21 to the adder 43 via the device 61, the influence of the inclination of the hull that appears on the rod angle is corrected, and at the unhooking confirmation angle, the pseudo needle 543
Since the positional relationship between the fishing rod and the deck is important and there is no need for correction, in the middle of the operation of the fishing control section 40 according to the instruction from the fishing control section 39 indicating the end of the operation,
Let O be the numerical value for tilt correction.

Note that the present invention is not limited to the above-mentioned embodiment, and the cradle waveform generating section 37 and the single hook control section 44 are configured by hardware, and the D/A converter 51 is configured by an externally provided adder.
A configuration in which addition is performed with the output of is possible.

Further, the output waveform of the single unhooking control unit 44 is not limited to a waveform resembling a negative half cycle of a sine wave, but may include other waveforms.
It is possible to use a negative triangular waveform or the like.

In addition, we have described a configuration in which the waveform for the cradle operation is generated by software, but there is also a configuration in which it is generated by hardware, such as a configuration in which it is generated by an analog circuit, or a configuration in which the output of a counter is guided as an address and data indicating the waveform is generated in advance. Stored data RO
A configuration in which the output of the data ROM is D/A converted using M is possible.

In addition, although we have described a configuration in which a substantially triangular wave is used as a repetitive waveform for the cradling operation, other waveforms may be used, for example, where the angular velocity differs when the value falls and when it rises (the angular velocity when falling is If ω is used, a configuration such as a combination of two sine waves whose angular velocity is 2ω when the value increases is possible.

The automatic fishing machine according to the present invention uses the cradle waveform generating section to
A repetitive waveform in which the time for the value to decrease is longer than the time for the value to increase is generated, and the fishing rod is controlled by the rod angle control section based on this repetitive waveform, so that the pseudo needle during coasting, Since it dances for a long time when sinking into the sea, and moves for a short time when rising, the proportion of time the artificial needle spends under the sea is high, increasing the chance of fish biting the artificial needle underwater near the sea surface. It becomes possible to do so.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention;
FIG. 2 is a block diagram showing the detailed configuration of one embodiment of the cradle waveform generator 37, FIG. 3 is an explanatory diagram showing temporal changes in the rod angle, and FIG. 4 is a detailed diagram of the rod angle in the cradle operation. FIG. 3 is an explanatory diagram showing temporal changes. 11... Rod angle control section 37... Cradle waveform generation section 541... Fishing rod 543... Pseudo needle. Patent applicant Furuno Electric Co., Ltd.

Claims (1)

[Claims] (1) When the rod angle is defined as the angle of the fishing rod with respect to the deck, the value of which increases as the fishing rod rotates toward the deck, automatic fishing for main fishing is performed by controlling the rod angle. When the artificial needle is located in the sea, the fishing rod has a cradle waveform generator that generates a repeating waveform whose value takes longer to decrease than the time to increase, and the rotation of the fishing rod is controlled according to the output of this cradle waveform generator. An automatic fishing machine characterized by comprising a rod angle control section that performs the following operations.