JPH022309A - Fishing machine - Google Patents

Abstract

PURPOSE:To provide a fishing machine so designed that a fishing rod angle control section to control the rotation of fishing rods according to the output from a manipulating waveform generator giving repeated waveforms with the amplitude varying corresponding to the output of a ship speed meter, thereby sinking luring fishhooks to a specified depth irrespective of ship speed. CONSTITUTION:(1) A ship speed meter 12 to detect the speed of a ship, (2) a manipulating waveform generator 37 delivering repeated waveforms with the amplitude varying according to ship speed, and (3) a fishing rod angle control section 11 making manipulating actions by controlling rod angle according to the output from this generator. When a ship speed is high, manipulation actions are made through greatly varying rod angle, whereas as the ship speed becomes lower, such manipulation actions result in those with decreased variation in the rod angle.

Description

[Detailed Description of the Invention] Emperor! The present invention relates to a fishing machine for fishing, and more specifically,
This invention relates to a fishing machine in which the amplitude of the cradle rod angle changes according to the speed of the boat.

In order to get the fish to bite on the artificial hook in the long-grain fishing method, it is necessary to perform a cradle motion that causes the artificial hook to dance in the sea. , a configuration is adopted in which a cradle operation is performed by controlling the fishing rod so that the tip of the rod moves up and down finely. When a fish is caught on the artificial hook, the fishing rod is rotated toward the deck to capture and confirm the fish.

・Fish are most likely to bite the artificial needle dancing in the sea when the artificial needle is at a depth of about 15 cm near the sea surface during inertial navigation. However, in the fishing machine mentioned above, the cradle operation is achieved by rotating the fishing rod according to a repeating waveform that is output with a constant amplitude, regardless of changes in boat speed. On the other hand, the speed at which the seawater moves toward the stern of the ship is fast, and the force pushing the pseudo needle backwards is strong, so the pseudo needle is strongly pulled diagonally upward. As a result, the depth of the pseudo needle in seawater becomes shallower. Conversely, when the ship's speed is slow, the pseudo needle will sink to an unnecessary depth. Therefore, during inertial navigation, it is difficult to perform a pacifying operation with the pseudo needle always positioned at the optimal depth.

The present invention was devised to solve the above-mentioned problems, and its purpose is to provide a fishing machine that can constantly rest the artificial hook at the depth where fish bite best.

-J73・° In order to solve the above-mentioned problem, the fishing machine according to the present invention uses the angle of the fishing rod with respect to the deck, and the angle whose value increases as the fishing rod rotates toward the deck as the rod angle. The configuration is such that pole-and-line fishing is performed by controlling the angle of the fishing rod, and there is a boat speedometer that detects the speed of the boat to which the fishing machine is attached, and a repeating waveform whose amplitude changes in response to the output of the boat speedometer. The fishing rod includes a cradle waveform generator that generates a cradle waveform generator, and a rod angle controller that controls the rotation of the fishing rod in accordance with the output of the cradle waveform generator.

4.The amplitude of the output of the pacifying waveform generator changes depending on the output of the ship's speedometer, so when the ship's speed is high during inertial navigation, a waveform with a large amplitude is output from the pacifying waveform generator, and the ship's speed increases. The amplitude becomes smaller as it becomes slower. Therefore, when the boat speed is high, the cradle motion is performed by a large change in the rod angle, and as the boat speed becomes slow, the cradle motion is performed with a small change in the rod angle.

On the other hand, the artificial needle sinks when the ship's speed is high and is more likely to sink when the ship's speed is slow. The changes in difficulty will cancel each other out, and the pseudo needle will sink to a constant depth regardless of the ship's speed.

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 M, RAM, etc.
A block that is processed by software.

Signals from a setting device 31 consisting of a plurality of key switches, etc. are guided to a setting control section 32, and an output 321 of this setting control section 32 is sent to four instruction sections (
The pulling angle instruction section 33, the pulling speed instruction section 34, the unhooking angle instruction section 35, the unhooking confirmation angle instruction section 36), the cradle waveform generation section 37, the cradle control section 38, and the single unhooking control section 44. It is being

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 ton unhooking angle instruction section 35 is guided to the fishing control section 40.

In addition, the output of the unhooking confirmation angle instruction 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 converted into an A/D converter "1562".
It is applied to three control sections (pulling control section 39, fishing control section 40, double release hook control section 41) and an inclination correction section 42 via. In addition, the path thread 5 to which the pseudo needle 543 is tied
42 passes inside the fishing rod 541 and is guided to a fish weight sensor 23 consisting of a load cell or the like for detecting the tension of the fishing rod 542. And this fish weight sensor 23
The output is sent to the cradling control section 3 via the A/D converter 63.
translation and double release hook control unit 41. The output 121 of the boat speedometer 12 is given to the cradle waveform generator 37.

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, a single hook control section 44 and a double release hook control section 41
The output for each control is given for each.

The output of the cradle waveform generating section 37, the output of the inclination correction section 42, and the output of the single release hook control section 44 are led to the adding section 43, and are sent to the cradle control section 38, the pulling control section 39, the fishing control section 40, and the single hook release 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. The waveform successive unit 372 also stores a 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 waveform successive section 372 also includes waveform data ROM3.
The output of a timer part 379 which instructs the timing of reading data from the timer 73 is led, and the read data is given to the multiplication part 377 by an output 3721. Further, the output of the set value memory 378 is led to the multiplication section 377, and the output is given to the multiplication section 375. The output 371 of the multiplication section 375 is sent to the addition section 43 as an output indicating the cradling motion.

Also, a coefficient calculating section 37 from which the output 121 of the ship speedometer 12 is derived.
The output 321 of the setting control section 32 is provided to the timer section 379 and the setting value memory 378.

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 O. Therefore, the angle of the fishing rod 541 is determined by the I)/A converter 51
It is determined by the input value of the adder 52 given by . In other words, the value of the output of the adder 43 determines the angle of the fishing rod 541.

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

A value that sets the shape of the cradle waveform for the cradle operation,
The rod angle when performing the 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 single unhooking to remove the fish from the pseudo hook 543, and the angle of single unhooking. The angle of swing back and the angle for confirming that the fish has missed the pseudo hook 543 are input using the setting device 31.

These input numerical values are stored in the setting value memory 378 which stores the initial value of the counter of the timer section 379 in the cradle waveform generating section 37 and the constant given to the multiplication section 377 by the setting control section 32, and the cradle control section 38. predetermined areas in the memory, which are areas set in advance on the memory to store each numerical value, are a pulling angle instruction section 33, a pulling speed instruction section 34, a single unhooking angle instruction section 35, and an unhooking confirmation angle indicator. It is stored in a predetermined area in the display unit 36 and the single release hook control unit 44.

Once these settings are 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 O 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 this 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 ship speedometer 12 measures 1 every time the ship sails a certain distance to the water.
Since it is configured to send out two pulses, the speedometer
The coefficient calculating unit 376 from which the output 121 of 2 is derived measures the interval between these pulses, and when the interval is short, the ship speed is high.
If it is long, it is assumed that the ship's speed is slow, and a numerical value that increases in accordance with the ship's speed is sent to the timer section 374 and the multiplication section 375.

The timer part 374, which is instructed to start operating by the output 381 from the cradle control part 38, is operated by the coefficient calculation part 376.
A down count is performed using the value given by the output of as an initial value, and a delay of period to is performed until the count result becomes 0. Then, at time TI, an instruction to start operation is given to the waveform successive section 372.

The timer section 379 counts down using the numerical value given by the output 321 of the setting control section 32 as an initial value, and each time the count result becomes 0, the timer section 379 outputs one piece of data from the waveform data ROM 373 to the waveform successive section 372. In addition to giving an instruction to read out data, the waveform data ROM 373 stores data indicating the waveform of the substantially triangular wave 71 shown in the period from time T1 to T2. , and sends sequentially increasing addresses starting from the start address where the above waveform data is stored to the waveform data ROM 373 in accordance with instructions from the timer section 379.

The waveform successive output section 372 transmits the data output from the waveform data ROM 373 to the multiplication section 377 in response to the transmission of these addresses. The multiplication section 377 multiplies the output value of the waveform successive section 372 and the output value of the set value memory 378, and sends the result to the multiplication section 375. This second multiplication section 375 multiplies the output value of the waveform successive section 372 and the output value of the coefficient calculation section 376, and sends the result to the addition section 43.

Then, at time T2, the waveform succession section 372 returns the address given to the waveform data ROM 373 to the same start address as the address at time TI, 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 10, and the fishing rod 541 is fixed at the angle where the tip is located near the sea surface.
The pseudo hook 543 thrown toward the sea surface at LO sinks into the sea during the period LO 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
During inertial navigation, the hull sinks and dances in the sea over a long period of time during period t1, and moves in the forward direction in a short period of time during period t2.

Regarding the operation of the pseudo needle 543 after time T2,
The same operation as in the period tL t2 is repeated.

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 stoppage of the operation is indicated by B in FIG. 3, and the rod angle 21 at this time is equal to the value of the output of the hook release 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. Due to this rotation, the fish is landed on the deck, and the rod angle changes to the value Z of the output of the hook release angle instruction section 35.
2 (this value is indicated by the output of the single release hook angle instruction unit 35), the fishing control unit 40 controls the single release hook angle control unit 4.
4, and sends an instruction to start the operation to 4, and for the period [9],
Keep sending out 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 come off the pseudo hook 543 and fly toward the deck. After the period t9, when the fishing rod 541 is rotated to an angle Z3 (this value is given by the hook confirmation angle instruction section 36), the fishing control section 40 sends an instruction to the double hook control section 41 to start the operation. , itself ends its operation.

The double release hook control unit 41 fixes the fishing rod 541 at an angle z3 for an instant E), and measures the tension of the fishing line 542 within this fixed time based on the output of the A/D converter 63. do. And when the tension is close to 0,
If it is determined that the fish is out, and the tension is not close to 0, the fishing rod 541 is swung once, assuming that the fish is not out, and the fishing line 542 is moved again. Measure the tension (F). This fishing rod 1 of 541
Swinging and measuring the tension are repeated until the tension reaches a value close to 0, and when the tension approaches θ, 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. Since these operations are repeated while the ship moves forward due to inertial navigation, the ship's speed gradually slows down as time passes. Therefore, the value sent from the coefficient calculation section 376 to the timer section 374 and the multiplication section 375 gradually decreases.

The change in the rod angle indicated by the broken line 72 in FIG. Since the number of values is decreasing, the time is shorter than the period to. Also, the pseudo needle 54
Period t4 for sinking 3, period t5 for raising
are equal to periods t1 and t2, respectively, but
The amplitude S2 is smaller than the amplitude S1 of the rod angle in the cradling motion described above.

FIG. 5 is an explanatory diagram showing the position of the pseudo needle 543 at different boat speeds.

The fishing rod 541, whose rod angle changes according to the output of the cradle waveform generator 37 (shown in FIG. 4 73) when the boat speed is high, has its rod tip 5411 closest to the sea surface W at time T3. Also, the output of the cradle waveform generator 37 when the ship speed is slow (as shown by 72 in FIG. 4)
Accordingly, the rod tip 5411a of the fishing rod 541a comes closest to the sea surface W at time T4.

At this time, the relationship between the respective distances H1 and H2 to the sea surface W is Hl<H2.

However, since the hull K is sailing by inertia in the direction of arrow A, a force is applied to the pseudo needle 543 in the direction indicated by arrow B, so the pseudo needle 543 is pulled diagonally upward. Become. This force is strong when the ship is fast and small when the ship is slow. Therefore, the water depth DI of the pseudo needle 543 at time T3 is the sea level W of the rod tip 5411.
Even though the distance H1 is smaller than the distance H2 from the rod tip 5411a to the sea surface W at time T4, it is equal to the water depth 02 of the pseudo needle 543a at time T4.

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,
The numerical value for tilt correction is set to 0.

Note that the present invention is not limited to the above-mentioned embodiment, and the cradling waveform generating section 37 and the single unhooking 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.

Further, although the configuration in which the present invention is applied to an automatic fishing machine has been described, it can also be applied to a semi-automatic fishing machine.

Regarding the timer part 374, although a configuration in which the delay time changes depending on the ship speed has been described, a configuration in which the delay time is constant is possible.

Regarding the cradling waveform generating section 37, we have described a configuration in which the amplitude of the output 371 is varied using the multiplication section 375. Then, one of the plurality of data can be selected and read out by the waveform successive section 372.

The fishing machine according to the present invention is equipped with a boat speedometer that detects the speed of the boat, and a cradle waveform generator that sends out a repetitive waveform whose amplitude changes in accordance with the boat speed. Since the cradle operation is performed by controlling the rod angle according to the output of the waveform generator, the force that tries to push the pseudo needle in the direction opposite to the direction of the ship's movement due to changes in ship speed is reduced. Even in such a case, it is possible to maintain the water depth of the artificial hook at a constant depth, and this has the effect of increasing the chances of fish biting the artificial hook.

[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, Fig. 3 is an explanatory diagram showing temporal changes in the rod angle, and Fig. 4 is a detailed time diagram of the rod angle in the cradle operation. FIG. 5 is an explanatory diagram showing the position of the pseudo needle in different states of ship speed. 11... Rod angle control section 12... Boat speed meter 37... Cradle waveform generation section 541... Fishing rod 543... Pseudo needle. Patent applicant Furuno Electric Co., Ltd.

Claims (1)

[Claims] (1) In a fishing machine that performs pole and line fishing by controlling the rod angle, where the angle of the fishing rod with respect to the deck is defined as the angle whose value increases as the fishing rod rotates toward the deck, A boat speedometer that detects the speed of the boat to which the fishing machine is attached, a cradle waveform generator that generates a repetitive waveform whose amplitude changes in response to the output of the boat speedometer, and the output of this cradle waveform generator. A fishing machine characterized by comprising: a rod angle control section that controls the rotation of the fishing rod according to the following.