JPH022310A - Fishing machine - Google Patents

Abstract

PURPOSE:To prevent fishes from slipping out of artificial bait hooks without cutting mouth of fish and damaging fishing rod by compensating pulling rate of fish taking the artificial bait hook corresponding to speed of fishing boat. CONSTITUTION:A fishing boat is equipped with a boat speedometer 11 and a boat speed compensating and calculating part to calculate a coefficient of fish weight, a value corresponding to weight of fish taking an artificial bait hook 543 and a boat speed shown by the boat speedometer. Pulling rate which reduces its value in proportion to increase in tension of a main line 543 corresponding to boat speed is calculated by the boat speed compensating and calculating part and pulling by the calculated pulling rate is carried out by a pulling controlling part 39.

Description

[Detailed description of the invention] The present invention relates to a fishing machine that performs line fishing, and more specifically,
This invention relates to a fishing machine that corrects the speed of attracting fish caught on a pseudohook in accordance with boat speed.

Automatic fishing machines for pole-and-line fishing, which are becoming popular due to a lack of manpower, perform a cradling motion that manipulates the artificial hook by controlling the angle of the fishing rod with respect to the deck, and the fish bites on the artificial hook. When the fishing rod is attached, rotate the fishing rod to a predetermined pulling angle and fix the fishing rod at that angle. Then, by using the elasticity of the fishing rod fixed at that angle, it pulls the fish to the surface. When the fish rises to the sea surface and the retrieval ends, the fishing rod is further rotated to bring the fish onto the deck.

When the above-mentioned automatic fishing machine detects that a fish is hooked on the artificial hook, it rotates the fishing rod to a retracting angle.
At this time, the fish is attracted at a preset speed based on the expected weight of the fish and the degree of bending of the fishing rod so that the relationship between them is optimal.

However, main fishing is carried out by moving the fishing boat according to the moving speed of the school of fish by inertial navigation, so if the boat is fast, the seawater moving backwards relative to the boat is fast, and this seawater Because it is necessary to pull the fish against both the large force that tries to push the fish backwards due to the flow toward the stern side of the boat, and the force that causes the fish to try to escape, it is necessary to pull the fish against both forces. The tension of the fishing rod became extremely strong, causing the fishing rod to break and break during the pulling operation.

If you slow down the pulling speed to avoid this sunburn and damage to your fishing rod, when the boat speed slows down, the force that tries to push the fish backwards becomes smaller, and the tension in the line becomes weaker. Although fishing at a high speed is required, fishing is performed at a slow speed designed to avoid cutting the fishing rod and damaging the fishing rod, causing the fish to come off the artificial hook in the sea. A situation like this had occurred.

The present invention was created to solve the above-mentioned problems, and its purpose is to provide a fishing machine that can prevent fish from falling off the artificial hook without cutting the fishing rod or damaging the fishing rod. be.

In order to solve the above-mentioned problem, the fishing machine of the present invention has a configuration that corrects the speed at which the fish caught on the artificial hook is pulled in according to the boat speed, and the fishing machine By calculating the speedometer that is attached to the fishing boat to detect the speed of the fishing boat, the fish weight coefficient that indicates the value corresponding to the weight of the fish caught on the artificial hook, and the output of the boat speedometer, the speed of the boat can be increased. The present invention includes a ship speed correction calculating section that calculates a pulling speed whose value decreases according to the pulling speed, and a pulling control section that controls pulling according to the pulling speed.

The 4L fish weight coefficient is calculated based on the maximum value of the tension that initially appears on the line when a fish is hooked on the artificial hook, so it is a coefficient that indicates the strength with which the line is pulled by a fish trying to swim away. It becomes. However, the tension that is applied to the fishing line when trying to attract the fish is due to the force caused by the fact that the fishing boat is moving by inertial navigation.In other words, the relative flow of seawater to the fishing boat causes the fish to flow toward the stern. This is the sum of the two forces: the force exerted by the fish and the force the fish pulls on the line, so the line is pulled strongly when the boat is fast, and as the boat speed becomes slower, the force becomes weaker.

Therefore, by calculating the output of the boat speedometer and the fish weight coefficient by the boat speed correction calculation section, a pulling speed whose value decreases as the tension of the line increases corresponding to the boat speed is calculated. Then, the pulling control unit performs pulling based on the calculated pulling 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.

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 a pulling speed calculation section 3 that calculates the pulling speed.
4. It is given to three instruction sections (pull angle instruction section 33, ?1QJJQ hook angle instruction section 35, unhooking confirmation angle instruction section 36) that store the sent values, and the single unhooking control section 44. The outputs of the pulling angle instruction section 33 and the pulling speed calculation section 34 are led to the pulling control section 39, and the output of the single release hook angle instruction section 35 is led to the fishing control section 40. Further, the output of the unhooking confirmation angle viewing section 36 is led to a double unhooking control section 41.

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 Jg4 slope correction section 42 via an A/D converter 62. ing.

The line 542 to which the pseudo needle 543 is tied passes through the inside of the fishing rod 541 and is guided to a tension sensor 23, such as a load cell, for detecting the tension of the line 542. The output of this tension sensor 23 is sent to the A/D converter 63.
It is provided to the cradle control section 38, the double release hook control section 41, and the pulling speed calculation section 34 via the. Further, the output 111 of the boat speed meter 11 that detects the speed of the fishing boat is given to the pulling speed calculation section 34.

The cradle control section 38 sends control outputs to the cradle waveform generation section 37, the attraction control section 39, and the attraction speed calculation section 34, and the attraction control section 39 sends control outputs to the fishing control section 40. , and tilt correction section 4
2, the fishing control section 4o is a double release hook control section 4.
1, outputs for each control are given. Further, from the fishing control section 40, a single release hook control section 44 is connected.
An output for control is sent to the

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 an adding section 43, which leads to a cradle control section 38, a pulling control section 39, a fishing control section 40. The outputs of the double release hook control section 41 are led to the addition section 43 as parallel outputs (for the four control sections 38 to 41, the outputs are sent to the addition section 43 in sequence, ).

The output of the adder 43 is led to one input of an adder 52 via a D/A converter 51, and the analog signal from the angle sensor 22 is led to the other input of the adder 52. . 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. Also, the tilt sensor 2 detects the tilt of the hull.
The output from 1 is given to the tilt correction section 42 via A/D conversion '561.

FIG. 2 is a block diagram showing a detailed configuration of one embodiment of the pulling speed calculating section 34. As shown in FIG.

An output 321 from the setting control section 32 is given to the pull reference speed memory 13, which is an area provided on the RAM, and the output is given to one input of the multiplication section 16.

The tension maximum value detection section 14 receives an output 631 from the tension sensor 23 via an A/D converter 63 and a cradle control section 3.
An output 381 for control indicating timing is derived from 8, and the output of the tension maximum value detection section 14 is given to one input of the fish weight correction calculation section 15 that performs division. An output 152 indicating a constant is given to the other input of the fish weight correction calculation section 15, and the output is led to the other input of the multiplication section 16.

The output 111 of the ship speedometer 1.1 is given to the ship speed coefficient calculation unit 121, which is one of the components of the ship speed correction calculation unit 12, and the output of the ship speed coefficient calculation unit 121 is supplied to the multiplication unit 122. given to one input. Furthermore, the output of the multiplication section 16 is given to the other input of the multiplication section 122 as a fish weight coefficient 161. The output of the multiplication section 122 is sent to the attraction control section 39 as the attraction speed 341.

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 conversion 2S51 becomes 0. , the angle of the fishing rod 541 is determined by the D/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.

In response to the expected fish weight of the school of fish you are about to catch,
The drawing angle, the drawing reference speed, the angle at which to perform single unhooking to remove the fish from the artificial hook 543, the swinging back angle of the single unhooking, and the angle for confirming that the fish has come off the artificial hook 543. The angle is input by using the setter 31.

These input numerical values are stored in the pulling angle instruction section 33, the pulling reference speed memory 11, and the hook release angle instruction section, which are areas set in advance on the memory to store each numerical value by the setting control section 32. 35, single release hook control section 4
4 and the unhooking confirmation angle instruction section 36. After this setting is completed, the fishing operation begins.

Figure 3 is an explanatory diagram showing temporal changes in the rod angle 621;
The figure is an explanatory diagram showing changes in the tension of the thread 542.

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 cradle 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 below, the operation when the hull is not tilted will be explained, and then the correction of the tilt when it 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. When the fishing rod 541 rotates to an angle at which the pseudo hook 543 reaches the sea, the cradle control section 38 controls the cradle waveform generation section 3.
7 to start its operation, and maintains its own output value at a constant angle.

The waveform output from the pacifying waveform generating section 37 is a substantially triangular wave, and the value indicating this waveform is the pacifying waveform generating section 37.
is applied to the adder 43 from Therefore, the value of the output of the adder 43 is a value obtained by adding the output of the cradle waveform generator 37 to the constant value from the cradle controller 38. In other words, the output of the adder 43, which indicates the angle of the fishing rod 541, periodically repeats small changes as shown in A in FIG. 3, and the angle of the fishing rod 541 also changes in the same way. dance.

When the rod angle 621 is at position J, when the fish bites the pseudo hook 543 (Tl), the tension in the line 542 increases rapidly (Fig. 4, 76), and this increase in tension is caused by the tension sensor 23, The A/D converter 63 leads to the cradling control section 38 and the tension maximum value detection section 12 . Cradle control section 38
When detecting that this tension increases and its value exceeds N (T3), it determines that a fish is hooked and gives an instruction to the cradle waveform generating section 37 to stop the operation, and also sends an instruction to the attracting control section 39 and An instruction to start the operation is sent to the tension maximum value detection section 14, and the operation itself is stopped.

The tension maximum value detection unit 12, which is instructed to start operation by the output 381, measures the rate of change in the value of the output 631 from time T3, and when the rate of change reaches Ol or a value near 0 (T2) , the value M of the output 631 is sent to the fish weight correction calculation unit 15 as the maximum tension value.

Fish weight correction calculation section 15 calculates P = K / M, where K is the value of output 152 indicating a constant and P is the value of the output, and sends the calculation result to multiplication section 16 . Multiplication part 1
6 is the set value stored in the pulling standard speed memory 13 according to the procedure already explained, and the fish weight correction calculation unit 1.
5 is multiplied by the value P, and the result is sent to the multiplication unit 122 as a fish weight coefficient 161.

As explained above, the value of the fish weight coefficient 161, which is the output of the multiplication unit 16, is an output indicating the pulling speed corresponding to the weight of the fish hooked on the pseudo hook 543.

The boat speed meter 11 is configured to send out one pulse each time the fishing boat travels a certain distance from the water, so the boat speed coefficient calculation unit 121 measures the interval between sending out these pulses and calculates the pulse. When the interval is short, it is assumed that the ship's speed is high, and a small value is sent to the multiplication unit 122. As the interval between pulses sent from the boat speedometer 11 becomes longer, the value sent to the multiplier 122 is increased, assuming that the boat speed becomes slower. This value is maximum when the ship speed is O, and 1 is output as the maximum value.

The pulling control unit 39, which has been given the pulling speed 341 as a result of the above operation, moves the fishing rod 541 toward the deck side at a speed according to the value of the pulling speed 341 while comparing the output value of the pulling angle instruction unit 33. The value of the output sent to the adder 43 is increased so as to rotate the adder 43 . This pulling pulls the guide thread 542, resulting in an increase in tension (FIG. 4, 75). When the value of the output of the pulling angle instructing section 33 matches its own value, the operation of increasing the output value is stopped. This pulling action is
This is indicated by 71 in FIG. 3, and the stop of the pulling motion is indicated by B. The value of the rod angle 621 at this time is, for example, 30 degrees.

After this, there is a stop time of period t1, and during period tl, fishing rod 5
Fish are attracted by the elasticity of 41. At the time when the pulling is completed (FIG. 3C), the pulling control unit 39
From there, an output indicating the end of its own operation is sent to the fishing control section 40. Therefore, the fishing control unit 40 starts controlling the fishing rod 541 to rotate toward the deck side, and the fishing rod 541 is rotated by this control. Due to this rotation, the fish is pulled up from the sea, and when the rod angle 621 reaches the output value (90 degrees) of the single release hook angle instruction section 35, the fishing control section 40 instructs the single release hook control section 44 to start operation. The output itself maintains the output value of 90 degrees during the period t2.

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 941 needle 543 and fly toward the deck. After the period L2, the fishing control unit 40 controls the fishing rod 541.
When rotated to an angle of 120 degrees, the double release hook control section 41
It sends an instruction to start the operation, and ends the operation itself.

The double release hook control unit 41 outputs an output 361 of the release confirmation angle 361.
The fishing rod 541 is fixed at a value of 120 degrees for an instant (E), and the tension of the fishing line 542 is measured based on the output of the A/D converter 63 within this fixed time.

When the tension is close to 0, it determines that the fish is off and ends its own operation, and when the tension is not close to 0, it assumes that the fish has not come off and moves the fishing rod. 541 once again (D), and measure the tension of the thread 542 again (F).

This one swing of the fishing rod 541 and the measurement of the tension are repeated until the tension reaches a value close to O, and when the tension becomes close to O, the operation is ended.

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

The above operations indicate operations when the speed of the fishing boat has not decreased much because it has not been long since the fishing boat started inertial navigation.While these operations are repeated, seawater The ship's speed gradually slows down due to resistance.

The following is an explanation of what happens when the ship's speed decreases.

The fish bites the pseudo hook 543 by the cradle motion shown in A in FIG. 3, and the cradle control unit 38 detects that the fish bites. Therefore, according to the output 381, the maximum tension value detection section 14 starts detecting the maximum value of the tension of the guide thread 542. If the weight of the fish at this time is approximately equal to the weight of the fish at the time of the explanation already given, the maximum value of the tension of the road line 542 will also be the value M of the line 542, and the fish weight coefficient 161 which is the output of the multiplication unit 16 will be The values will also be equal.

However, since the ship speed is slow, ship speed coefficient calculation section 1
Since the value of the output of 21 increases and the value of the pulling speed 341 increases, the pulling control unit 3
The pull performed by 9 is a fast pull. Therefore, the change in the tension of the fishing line 542 is expected to change as shown by the broken line 77 in Figure 4, but since the boat speed is slowing down, the force of seawater that tries to push the fish toward the stern when it is pulled in is expected. Since the tension is weak and can be easily pulled, the actual change in the tension of the thread 542 is the change between the curve 75 and the line 75.

The change in rod angle during this pulling is shown by the broken line 7 in Figure 3.
2, there is a stop time of period tl when the rod angle reaches 30 degrees. During this stop time, the elasticity of the fishing rod 541 causes the fish to float near the sea surface, followed by fishing (dotted line 73) and single unhooking operation in period t2. The subsequent operations are the same as those already described.

In addition, during faster inertial navigation, when a fish of a weight such that the maximum tension of the line 542 is M is bitten by the pseudo hook 543, pulling as shown by 71 in FIG. Since the force of the seawater trying to push away is large, it is expected that the tension will change as shown by the curve 77 in FIG. ．． The attraction occurs at a speed indicated by 74 in FIG. Therefore, the change in the tension of the thread 542 is the change shown by the curve 75 in FIG. 4 and the change between the two.

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

Since the distance between the pseudo needle 543 and the sea surface W is important during the period from the cradle operation (A in FIG. 3) to the pulling operation (C in the same figure), the inclination correction unit 42 adjusts the A/D The output of the tilt sensor 21 via the converter 61 is added to the adder 43
By sending it to
Since the positional relationship between the fishing rod 43 and the deck is important and there is no need for correction, during the operation of the fishing control section 40, according to the instruction from the bow pulling control section 39 indicating the end of the operation, the correction of the inclination is performed. Let the value of .

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.

Further, regarding the fish weight correction calculation section 15, a constant output 152
Although a configuration has been described in which the value of is divided by the output value of the tension maximum value detection unit 14, a configuration in which a preset expected fish weight is divided by the output value of the fish weight correction calculation unit 15, etc. It is possible to do so.

Regarding the ship speed correction calculation unit 12, a ship speed coefficient calculation unit 121 whose output value decreases as the ship speed increases is provided, and the output of this ship speed coefficient calculation unit 121 and the fish weight coefficient 161 are
We have explained the configuration in which the result is multiplied by
It is possible to have a configuration that sends out an output whose value increases as the boat speed increases, subtract this output (output of the boat speed coefficient calculation section) from the fish weight coefficient 161, and use the subtraction result as the pulling speed. be.

Further, in the above embodiment, the case where the present invention is applied to an automatic fishing machine has been described, but it can be similarly applied to a semi-automatic fishing machine.

- In recent years, the fishing machine according to the present invention has been equipped with a boat speedometer for detecting the speed of the fishing boat, and has also been equipped with a fish weight coefficient, which is a value corresponding to the weight of the fish caught on the artificial hook, and the boat speed indicated by the boat speedometer. The structure is equipped with a ship speed correction calculation unit that performs calculations on the ship speed, and as the ship speed increases, the pulling speed is slowed down.
Changes in the force that tries to push the fish toward the stern of the boat are absorbed as changes in the pulling speed, so even when the boat speed changes, the fish can be easily dislodged from the artificial hook in the sea without causing damage to the fishing rod. This makes it possible to prevent

[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 pulling speed calculating section, Fig. 3 is an explanatory diagram showing the temporal change in the rod angle, and Fig. 4 is a diagram showing the temporal change in the tension of the line. FIG. 11...Ship speed meter 12...Ship speed correction calculation section 39...Attracting control section 161...Fish weight coefficient 341...Attracting speed 543...Pseudo needle. Patent applicant Furuno Electric Co., Ltd.

Claims (1)

[Claims] (1) A fishing machine that corrects the speed at which fish caught on a pseudo hook is drawn in according to the boat speed, and the fishing machine includes a boat speedometer that detects the boat speed of the fishing boat to which the fishing machine is attached, and a pseudo hook. A ship speed correction calculation unit that calculates the pulling speed, whose value decreases as the ship speed increases, by calculating the fish weight coefficient, which indicates a value corresponding to the weight of the fish caught on the hook, and the output of the ship speedometer. A fishing machine comprising: and a pulling control unit that controls pulling according to the pulling speed calculated by the boat speed correction calculation unit.