JPH037519A - Automatic fishing tackle - Google Patents

Abstract

PURPOSE:To improve accuracy of positions for arrival of fish bodies to be hooked up at a ship and enable even delicate fishing rod handling by adding an output signal from a ship speed sensor as a parameter for operating a driving source for hooking up the fish bodies of an automatic fishing tackle. CONSTITUTION:In an automatic fishing tackle for applying operation force to a fishing rod by utilizing parameters of output signals respectively obtained from a load electric transducer 501 for providing an electric signal corresponding to weight of hooking, such as hooking of fishes, fish body weight or further strength of fish pulling, a list sensor 102 for sensing a rolling angle of a ship and a rod angle sensor of the fishing rod, the following construction is added. That is positions for arrival of fish bodies at the ship in hooking up the fish bodies are set at nearly prescribed positions by adding correction means utilized for operation of drawing near and hooking up the fish bodies using also the speed of the own ship corresponding to an output signal of a ship speed sensor 103 as a parameter. Furthermore, an encoder for sensing the rod angle is combined with an electrically-operated actuator to further improve delicate rod handling.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an automatic fishing device equipped with a sensor that detects the weight of a fish, including the hook of a fish, and the strength of the fish's pull as electrical signals.

(Prior Art) As conventional automatic fishing devices, those having configurations as shown in FIGS. 3, 4, 5, and 6 are known. First, FIG. 3 shows a schematic diagram of a configuration in which a fishing rod is operated using an electro-hydraulic converter, and the configuration is suitable for automatic fishing on a boat such as a fishing boat.

In the same figure, when a fish hooked on a fishing line 301 is detected by a microswitch 302 (302 cannot detect the weight of the fish or the strength of the fish's pull), the microswitch turns on and a signal is transmitted via a signal line 303. The detection signal is supplied to the electronic control circuit 304. Since the detection value of the boat's rolling angle detection potentiometer 305 at that time is also supplied to the electronic control circuit 304, an electric signal as a result of information processing in that state is sent from the electronic control circuit to the signal line 306. and 307 to the coil 308. The coil 308 is a component of an electro-hydraulic converter 309, and a spool (not shown) is operated by supplying the electricity No. 48. The electrohydraulic converter 309 controls the amount of oil from the oil pump 310 by operating the spool, and controls the direction in which the oil flows.

Now, when the oil pressure in the oil passage 311 or 312 is higher than the oil pressure in the oil passage 313 or 314, the check valve 3
One of the two-path valves 15 is opened.

By the operation of the spool, for example, boats Ps+ and Pl
is connected, the oil pump 310 is connected via the oil path 312.
The oil from the cylinder 3 flows through the open circuit of the check valve 315.
16 is supplied to the lower chamber. So piston 317
is pushed upward, and the gear 318 rotates, causing the fishing rod 319 to rotate upward.

If the direction of the electrical signal that can be completely supplied to the coil 308 is opposite to that described above, the spool operates in the opposite direction to that described above, so ports Psl and P2 are in a connected state.

Therefore, pressure oil from the oil pump 310 is supplied to the upper chamber of the cylinder 316 through the oil passage 311 and the check valve 3150 open. At this time, the fishing rod 319 rotates downward, contrary to the above.

Return oil from cylinder 316 is returned to boat P2 or Pl of electrohydraulic converter 309 via check valve 315 and returns to oil tank 320 via port R.

The electronic control circuit 304 is supplied with detection signals from the hook detection microswitch 302 and the above-mentioned rolling angle detection potentiometer 305, and is also connected coaxially with the gear 318 and is connected to the rod of the fishing rod 319. A detected value from a rod angle detection potentiometer (not shown in FIG. 3) for detecting the angle, that is, the angle corresponding to the raising and lowering of the rod, is supplied via a signal line 321.

FIG. 4 shows a configuration diagram of the electrical circuits of the electronic control circuit 304, the rod angle detection potentiometer 4o1, the rolling angle detection potentiometer 305, and the needle hook detection microswitch 302, 401, 305, and 302, respectively. A DC voltage is applied to one end of the . The rod angle detection potentiometer 401 has a low output voltage when the rod tip is protruding toward the sea, and a high output voltage as the rod is swung up toward the ship.
It is added to the D converter 402 as a detection signal.

Since the rolling angle detection potentiometer 305 is fixed integrally with the fishing machine on the side, a high output voltage is output when the side is lowered, and a low output voltage when the side is raised is sent to the A/D converter as a detection signal. 403. Each of A/D converters 402 and 403 is converted into a digital signal and applied to input port 404. The input boat 404 is
A signal from the CPU in the microcomputer 406 is received from a signal line 405, and a rod angle detection signal 401, a rolling angle detection signal 305, or a needle hook detection signal 302 is selected and supplied as an output signal to the CPU. . The CPU performs control according to a program stored in the ROM. The mode of control is that it receives necessary external data from the input port 404, performs arithmetic processing, and outputs the processed data to the output port 407. 407 receives the boat designation No. 18 given from the CPU via the signal line 408, temporarily stores the data, and also outputs the D/A converter 4.
Output on 09. 409, output boat 4
It receives the digital signal from 07, converts it into an analog signal, and outputs it to the electro-hydraulic converter 309.

In this conventional example, as shown in Japanese Unexamined Patent Publication No. 52-34288, the horizontal angle is corrected for the rolling of the ship, so the rod always maintains a constant angle with respect to the water surface. This means that fish are less likely to stray off the deck when being caught. In this case, since a detection signal means is adopted in which the micro switch 302 for detecting hooked fish only operates on and off, delicate rod handling is not possible when the weight of the fish is hooked. The action of catching fish becomes monotonous. In addition, the rolling angle detection potentiometer 305 is also
Since it has a structure that slides the resistance of the potentiometer according to the movement of the pendulum accompanying the rolling of the ship, it is not suitable for use at sea because the angle detection signal is detected frequently at the mechanical contact point. The structure becomes complicated in terms of selecting a material that can withstand it, and selecting a material that meets the condition that a slight change in the detection value of the rolling angle can be detected as a detection signal even with gentle rolling. I don't get it. In particular, the fishing hook is 15 degrees below sea level.
In the case of automatic fishing for bonito, which requires a cradle movement at a position of about 1.5 cm, the rod tip itself maintains a constant position regardless of this rolling while adjusting the angle even for slight changes in the rolling angle. Since it is necessary to perform a cradling operation based on a horizontal plane, an alternative to the rolling angle detection potentiometer is required in view of the frequency of output of detection signals from the rolling angle detector.

FIG. 5 is a schematic configuration diagram showing another conventional example, and FIG. 6 is a block diagram of its electrical circuit. 501, in addition to identifying whether a fish is hooked or the size of the fish body, it also outputs the strength of the fish's pull as a detection signal converted into an electric signal.
For example, a load electrical transducer (also called a load cell) whose electrical characteristics change due to strain, such as a strain gauge.

), 502 is a gyro for detecting rolling angle.

The gyro for detecting the rolling angle can be a gyro that can detect pitching as well as rolling, but when fishing, the angle is parallel to the swimming direction of the fish, and after a while the boat's angle is detected. Since the boat is maneuvered perpendicular to the swimming direction so that the head of each fish is placed on the gunwale side, that is, on the side where the fishing machine is attached, there is no problem in practical use with a device that can only detect the rolling angle. Reference numeral 504 indicates an electro-hydraulic conversion device, and 505 indicates a hydraulic pressure generating device in which an oil pump 310 and an oil tank 320 are combined. Other symbols are substantially the same as those in FIG. 3, except that the electrical control circuit 3
The program control functions within 04 are not the same, as will be apparent from the discussion below.

First, in FIG. 5, the tip of the fishing line 301, for example,
When a fish hooks on the artificial hook, the electrical characteristics of the load electrical converter 501 change due to the tension, and the hook hook is detected via the signal line 503 (No. 8 is connected to the electronic control circuit 304).
supplied to At that time, the fishing rod 319 enters the fishing operation. This is because, within the electronic control circuit 304, a fishing program operates based on the hook detection signal.

The point at which the fishing rod 319 rotates upward will be described next.

A signal having a specific polarity is supplied from the electronic control circuit 304 to the electro-hydraulic conversion device 504, and the hydraulic pressure generating device 505 operates in the same manner as shown in FIG. 3 to increase the hydraulic pressure in the path of the oil passage 314. , oil is supplied to the lower chamber of the cylinder 316. Then, the piston 317 pushes up the gear 31
8 rotates, the fishing rod 319 rotates upward. (The fishing rod 319 is rotated downward by the electro-hydraulic conversion device 50.
4 is of opposite polarity to the specific signal mentioned above. ) During the upward rotation of the fishing rod 319, a detection signal from the gyro 502 for detecting the rolling angle of the boat is supplied to the electronic control circuit 304 as information every time the angle changes.

A detection signal from the rod angle detection potentiometer 401 is also supplied to 304 in the form of momentary information.

In FIG. 6, a gyro 50 for detecting rolling angle
2 is fixed to a part of the hull, and a synchro signal indicating an angle as a detection number 48 according to the rolling angle is applied to an S/D converter 601, converted to a digital value, and applied to an input boat 404. On the other hand, the detection signal of the load electric converter 501 is converted into a digital value by an A/D converter 604 via a low-pass filter 602 and a voltage amplifier 603, and is applied to the input port 404.

The input boat 404 is the microcomputer 4
Detection signals received from the CPU in 06 and converted into electric signals corresponding to the rod angle detection signal 401, rolling angle detection 502 No. 48, or hooking and fish weight 501, as well as the strength and weakness of the pull of the fish. Select the corresponding CPU
Output to.

A program is written in the ROM in the microcomputer 406, and the CPU reads necessary external data from the input port 4o4 according to this program, and also receives and receives data from the RAM in the microcomputer 406. Perform calculation processing while teaching. The processed data is output to the output boat 407. The output boat 407 has the CP given to it.
Upon receiving the output boat designation signal from U, data is temporarily stored in the port and output to the D/A converter 409. 409 converts the digital signal obtained from the output boat 407 into an analog signal for controlling the electro-hydraulic converter 504 and outputs it to the current amplifier 605.

(Refer to Japanese Patent Application Laid-open No. 153737/1983).

(Problems to be Solved by the Invention) Conventional examples have been described above in relatively detail from Fig. 3 to Fig. 6. In the conventional fishing machine shown in each of these figures,
An electrohydraulic conversion device is used as a source of driving force for raising and lowering a fishing rod.

Fishing machines that use such electro-hydraulic conversion devices require a lot of effort in terms of hooking, cradling, etc., in order to perform delicate movements that are closer to those of humans when fishing for fish. It is undeniable that some technical improvements were needed to improve the catch rate.

In addition, with conventional fishing machines (automatic fishing devices), the pulling and fishing operations of the fish may be insufficient, such as pulling the fish out of the sea surface. If the trajectory is not constant, unforeseen situations such as the fish jumping out of the boat or being dropped may occur, and as a result, the landing position of the fish caught may change. It seems that the actual situation was that they were looking for a solution even though they were hoping for a fixed location.

(Means for Solving the Problem) The present invention has been made in view of this point, and it is possible to obtain an electric signal corresponding to the weight of the hook, such as the hook of the fish, the weight of the fish, and the strength of the pull of the fish. load electrical converter,
In an automatic fishing device that applies operating force to the drive source of a fishing rod by using the parameters of the output signals obtained from the tilt sensor for rolling angle detection and the rod angle detector of the fishing rod, the output signal of the boat speed sensor is also used as a parameter. and
The correction means that can pull the fish and fish the fish is capable of driving and controlling the drive source, such as an electric actuator, so that the landing position when catching the fish is almost at the fixed position, and it is also possible to detect subtle rod angles. It has the following characteristics.

(Function) As a means for creating a relationship between the angle of drawing the body of a fish to a substantially constant location on the front of the fishing machine body and the angular velocity and other angles of the fishing rod when fishing, depending on the boat speed corresponding to the output signal from the boat speed sensor. Because a program is created and the program controls, for example, an electric actuator, the accuracy of the landing position of the fish to be caught is improved compared to conventional fishing machines that do not take boat speed into consideration as a parameter. Not only can you do it, but you can also make delicate movements with the rod. By combining the electric actuator with an encoder for detecting the rod angle, we can expect to further improve the subtle movement of the rod.

(Embodiment) FIG. 1 is a block diagram for explaining the principle of an embodiment of the apparatus of the present invention, and FIG. 2 is a block diagram that makes it more concrete.

In Fig. 1, reference numeral 1.01 is a remote control operation panel, and this operation panel 101 includes a tilt sensor 102, such as an inclinometer, which detects the rolling angle of the ship, and a ship speed sensor 103 (for navigation equipment, other fish schools, etc.). A remote panel consisting of control switches such as "start/stop" switch, "cradle up/down" switch, and "emergency stop" switch. In addition to the printer 104, there is also a printer 105 for printing out the catch amount for each day or for each operation.

Since a plurality of fishing machine operators are actually installed on a fishing boat or the like, the operation panel 101 is used to commonly remotely control these fishing machine operators.

Reference numerals 304, 301, 319, and 501 in the same figure are all similar to the conventional ones, and correspond to an electronic control circuit, a fishing line, a fishing rod, and a load electrical converter, respectively. 106 is a servo amplifier that receives information signals from the previous stage, that is, electronic control circuit 304
A motor 107 as an electric actuator is driven in accordance with the output signal. The motor 107 corresponds to a drive source that is involved in swinging the fishing rod 319. This motor 107
A shaft encoder (an encoder for detecting rod angle) is attached to the shaft of the fishing rod.For example, when a disc with a hole is attached to the shaft, the rod angle of the fishing rod can be detected by using light passing through the hole. It has become.

Compared to rod angle detectors and potentiometers, there are no mechanical sliding parts, so there is almost no deterioration over time, and you can expect a long service life, especially at sea. Its utility value is extremely great when it is adapted to the environment. Note that 108 is a speed reducer 4 to which the shaft portion of the fishing rod 3190 on the proximal side is fixed.

Among the symbols shown in FIGS. 1 and 2, the symbols corresponding to those in FIGS. 3 to 6, which show conventional fishing machines, mean the same type of fishing machine.

In FIG. 2, an A/D converter 201 connected to the input side of an electronic control circuit 205 of an element constituting an operation panel 101 includes an inclination sensor 1 for detecting rolling of the ship.
In addition to 02 (inclinometer), various analog signals are supplied from the cradle adjustment volume 206 on the operation panel 101 and the fishing angle adjustment volume 207 also on the operation panel 101, so each signal is converted into a digital signal and input. boat 2
02. Further, digital signals from the ship speed sensor 103 and the remote panel 104 are also supplied to this 202 . The output signal of this input boat 202 is processed by a microcomputer 203 and supplied to an output boat 204.

Now, when you turn on the "start/stop" switch on the remote panel 104, each fishing machine body is ready for operation (details will be described later when explaining the program for operating the fishing machine body). Since the initial values have been set and the preparations for each fishing machine have already been completed, the tip of the fishing rod 319 is kept at a constant angle on the side, but when the tip of the fishing rod 319 rotates to protrude toward the sea, it becomes "cradle". Starts vertical movement as a movement. (Please refer to the conventional explanation for details.

) At this time, the ship speed is being read sequentially from the ship speed sensor 103, so the ship speed is at a high speed (for example, 7 knots).
The vessel is maneuvered in such a way as to change from speed to medium speed, slow speed, and stop. Specifically, it refers to the maneuvering of a fish boat from a state where the fish boat is parallel to the swimming direction of the school of fish to a state where the head of the school of fish is placed on the side. In the present invention, if a fish is hooked when the boat speed is high, the detected value of the load electric converter 501 due to the hooking is naturally very large, so that value is read into the input boat 404 and sent to the servo amplifier 106. A driving voltage from the motor 107 is supplied to the motor 107 at a large value. In short, the detection level of fish biting (pulling) is variable depending on the boat speed, and the higher the boat speed, the higher the detection level and the greater the instantaneous force of the raising angle of the fishing rod 319. It is designed so that the instantaneous force of the raising angle becomes smaller as the ship's speed goes from medium to stopped.

In that case, after the fish's "pull" is detected, the roll correction based on the output value from the inclination sensor 102 is also appropriately angularly corrected, so the value obtained using the weight of the fish, boat speed, and type of fishing rod as parameters is the roll. The fishing operation is performed up to the angle that has been corrected. Note that each of the microcomputers 203 and 406 has a
According to instructions from PU, in 203, ship speed sensor 1
03, remote panel 104, A/D converter (corresponding to the respective output signals of the tilt sensor 102, cradle adjustment volume 206, and fishing angle adjustment volume 207)
406, the output information from the output boat 204, the servo amplifier 106, and the A
The output information from each /D converter 604 is stored in RAM.
The operating function is almost the same as that of the conventional example in that it is temporarily stored in the memory. Furthermore, the ROMs in 203 and 406 store programs for performing their respective functions. In this embodiment, the weight of the fish is taken from the input/output boat 404 to the input/output boat 204 (microcomputer 203
According to instructions from the CPU. ) The information is stored in a non-volatile storage device (EEPROM in this example), ie, the daily catch amount, etc., and printed out by the printer 105 as needed.

In the present invention, the motor 107 corrects fish bite, strong fishing rod pulling force, and other weak pulling forces by roll correction to each parameter such as the weight of the fish, boat speed, and type of fishing rod, and the values are converted to the D/A converter. Motor 10 as output signal
7, but since its function is aimed at an ideal form that corresponds to the function of fishing by humans, the drive source for its subtle movements is better than the conventional electro-hydraulic converter 309. The motor 107 (combined motion including the speed reducer 108) can provide a motion force that is closer to that of a human being. Since the motor 107 is a component of the fishing machine body 5, recent technology is sufficient to take technical measures to prevent salt damage on the ocean, such as a significant drop in insulation resistance.

Next, I would like to explain the operation of the program to help you better understand the functions of the device of the present invention.

First, regarding Figure 7, which shows the flowchart of the operation panel,
From the switch on the operation panel (101), select (1) Mounting positions P1-4 of the fishing machine on the boat; [(Xi, Yi);

Z i) 11~A■ Rod length (m) i L
1+ ■Length of thread (m); L2, ■Cradling angle; φ^(
(according to the cradle adjustment volume 206), ■ cradle angular velocity (degrees/second); ω (according to the fishing angle adjustment volume 207), ■ fish catch determination value; Wo (for example, adopt a fish weight of 1 to 20 kg); Outlier judgment value; Wl, ■
Rear stopping angle; φE, ■Ship speed i V s, 0 rod angle; φ
S%Q Fishing adjustment angle; φF%G Type of fishing rod used i
Input P, Q fishing angle; φNNO rod raising angle; φυ as initial values, read the start switch of the control switch, and start.

At this stage, initial values and control signals can be sent to each fishing machine body. After this, the fishing machine enters a pacifying operation, and a flowchart for entering this operation will be described later.

When this cradle operation is started, the fish fishing operation begins in accordance with the boat speed at that time in response to the hooking of the fish.

The fish caught in this manner are input to the microcomputer 203 as the fish catch for each fishing machine.

The CPU then determines whether or not the fishing operation has ended, and if the fishing operation has ended, the fish catch (by weight) for each fishing machine and the overall weight are stored in the EEPROM. Therefore, if necessary, the EE of the external storage device is
Output information is sent from the PROM to the printer side. If the operation is not completed, the system will proceed to the initial value setting procedure.

The flowchart of the fishing machine shown in FIG. 8 will be explained.

With the "start/stop" control switch turned on, the initial values and control signals described in FIG. 7 are input to the fishing machine operator, and the fishing rod 319 is ready to catch a fish. Specifically, the constant value of the fishing angle JH is supplied to the servo amplifier 106 via the D/A converter 409. The fishing rod 319 protrudes from the side of the boat in a direction perpendicular to the boat, and the fish is prepared to "cradle" at a depth of about 15 cm above the sea surface within a range where the fishing hook does not protrude above the sea surface. Then, since the rod angle signal φS is read, this φS is compared with the origin angle signal φG of the fishing machine arm, and if the signals are the same, "cradle" is started. By turning on the above-mentioned "start/stop" switch, a series of programs function, and the "cradle" state is entered in the state of φS=φG. When the "Start/Stop" switch is operated again, the fishing machine arm stops and the rod is moved to the neutral position. Rear stopping angle φE
If the program functions so that the control signal is supplied by the CPU to the fishing machine's servo system, the rod will move to the rear stop position. As described above, the ``cradle'' starts when φS=φG, and the ``cradle'' operation enters the starting state when the program shown in the flowchart of FIG. 9 functions.

In that state, the pitch angle (θ) (constant value) and roll angle (φ) of the ship are read, so at that time, the ship speed sensor 103 is sent via the CPU of the microcomputer 203 according to instructions from the CPU of the microcomputer 406. The ship speed Vs is read into the RAM 406 via the RAM 203.

Therefore, by calculating the roll correction value φ0 and the cradling angle φA, the cradling angular velocity signal φA(t) can be obtained.
The CPU outputs this value of φA to the servo system (from the D/A converter 409 to the servo amplifier 106). Then φ
The CPU of 406 determines whether S (control signal indicating the angle of the rod) and φA (cradle angle) are equal or not, and the answer is YES.
Then, whether the fish is hooked or not is determined by W≧Wo, that is, the weight W of the fish hooked at that time is the fish hooking determination value W.

It is determined whether the two are equal or greater. If YES, the state enters the fishing start state.

By entering the fishing start state, the program shown in the flowchart of FIG. 10 starts functioning.

First, the roll correction value φ0 is calculated in the same manner as in the case of FIG. 9, and the control signal φF indicating the fishing adjustment angle is set to RA 203
M is read into the RAM of 406, and the ship speed Vs is also read. Therefore, a load electric transducer 50 corresponding to the W detector
1, the W signal is read into the RAM of the 406 and the fishing angle No. 48 φ is calculated, and the fishing angle signal $N(t) can be calculated.
/A (409) to output to the servo system (106). Therefore, the CPU (40
If YES is determined by 6), as in the case of Figure 9,
Compare W≦W, and see if there is a sound in the fish's mouth. If YES, return the rod. If there is no sound in the fish's mouth, record the fish weight and then use W.
≦W1 checks if the fish is off, and if YES, the rod is returned; if NO, the fish moves to the sushi program.

FIG. 11 is a flowchart showing a rod return program. When returning the rod (for example, after fishing), the rod angle to be returned changes every moment due to the hull's rotoring, so before returning the rod, calculate the roll correction value (see Figure 9). Therefore, the rod return angle (φ(t)) is calculated from the cradling angle (φA) and the roll correction value (φ0). Rod return angular velocity (φ(t))
is obtained by subtracting the current rod angle (φS) from the rod return angle (φ(t)) and differentiating it over time. 4060CPU
is this value (φ(t)) in the servo system (D/A converter 4
09 to the servo amplifier 106).

The CPU of 406 determines whether φS (control signal indicating the angle of the rod) and φ(1) are equal, and if YES, the weight of the fish caught is sent from the input/output boat (404) of the fishing machine body (A). It is sent to the input/output boat (204) of the operation panel (101). After this transmission is completed, a cradle operation (see FIG. 9) is performed. FIG. 12 is a flowchart showing the start of fish removal. After the fish has been caught (see FIG. 10), this fish removal operation is performed when the fish does not come off. At the start of the fish removal program, the necessary variables n=O and C0UHT=O are set. n is a variable that determines the fineness of control of the rod raising angle, and in this example, n=5 is adopted. C0UNT is a variable that determines the number of times the rod is raised, and in this example, C0UNT=7 is adopted. The rear stopping angle (φE) of the rod that bumps the fish against the hull of the boat, such as a campus, to promote the fish's mouth release, is determined by the fish weight (
W), rod type (P) and time (1). The angular velocity (φE) of the rod when stopping backwards is determined by the temporal differentiation of the backward stopping angle (φE). The rod raising angle (φU) is the angle set to raise the rod slightly so that the fish floats slightly above the canvas, etc., and is determined by the fish weight (W), grass species (
P), is determined as a function of the rod-up angle control variable (n) and time (1). The rod raising angular velocity (φU) is the rod raising angle (
It is obtained by the temporal differentiation of φU).

In the fish removal operation, the CPU (406) first sets φE to D.
/A (409) to output to the servo system (106). The CPU (406) determines whether the rod angle (φS) and the rear stop angle (φE) are equal, and if they are equal, the CPU (406) then changes φU to D/A (409).
output to the servo system via.

Whether the rod angle (φS) and rod raising angle (φU) are equal
It is determined by PU (406), and if they are equal, CPU
(406) compares the fish weight (W) at this time with the fish-missing determination value (W + ), and if W is smaller than Wl, it is determined that the fish has missed, and the rod return operation (FIG. 11) is performed.

If W is larger than Wl, the calculation of n=n+1 is performed, and the same operation is performed with the next rod raising angle (φυ(n)) and rod raising angular velocity ($u). When the rod reaches the final rod raising angle at n = 5, check the fish weight (W) and the fish deviation judgment value (Wl) again.
If W is smaller than Wl, the CPU (406) determines that the fish has missed and performs the rod return operation (FIG. 11). If W is larger than Wl, then C0UNT = C00
A calculation of NT+1 is performed, and the above operation is performed seven times.

Even after 7 fish removal operations, the fish weight (W) continues to determine the fish removal (
If it is larger than Wl), the CPU (406) determines that the fish has swallowed the hook and will not come off, and the fishing machine (A) will stop (WAI).
T) Do.

(Effects of the Invention) According to the present invention, the number of knots of the boat speed corresponding to the output signal from the boat speed sensor is set to a specific maximum value at the start of fishing in a state parallel to the swimming direction of the school of fish. The ship itself slows down as the ship maneuvers over time, with its side gradually changing direction perpendicular to the swimming direction.
Until the ship's speed is almost zero, that is, the ship's head is just on the side of the ship, the ship's speed is directly used as a parameter for the hooking of the fish, the weight of the fish, and the strength of the fish's pull. Employs programmatic aids to increase engagement. Therefore, compared to conventional fishing machines that do not use boat speed as a parameter, it is possible to improve the accuracy of fixing the landing position of the fish body, and as a result, it is extremely effective in contributing to increasing the amount of fish caught. . In addition, by using an electric actuator, not only can you expect finer control of the rod, but by combining an encoder with an electric actuator, for example, an optical encoder can be used to control the rotational speed of the motor. It is possible to detect subtle angles of the rod angle by lowering the rotation speed, that is, decelerating, and as a result, the rod handling can be made more delicate, making it possible to hook fish more accurately than with conventional methods, and expect to increase the amount of fish caught. It can be done, and the results are remarkable.

[Brief explanation of drawings]

FIG. 1 is a diagram illustrating an embodiment of the apparatus of the present invention. g
A schematic configuration diagram, Fig. 2 is a concrete block diagram, Fig. 3,
4, 5, and 6 are all configuration diagrams for explaining the conventional fishing machine, FIG. 7 is a flowchart of the operation panel of the program applied in the present invention, and FIG. 8 is a flow chart for explaining the conventional fishing machine. A flowchart of the fishing machine until the main body of the fishing machine starts ``cradle'', Figure 9 is a flowchart of the ``cradle'' operation, Figure 10 is a flowchart of catching a fish, and Figure 11 is a flowchart of the fishing machine after the fish has spoken. FIG. 12 is a flowchart showing a flowchart for removing a caught fish without making a mouthful. 101...Remote control operation panel, 102...Inclination sensor, 103...Ship speed sensor, 304・φ・Electronic control circuit, 106...Servo, amplifier, 107...Electric actuator (rotation A shaft encoder is attached to the shaft), 108... Reduction gear, 501... Load electrical converter, 319... Fishing rod.

Claims (4)

[Claims] (1) A load electrical converter that can obtain electrical signals corresponding to the hooking of a fish, weight of the fish, and other weights of hooking such as the strength and weakness of the fish's pull, an inclination sensor for detecting the rolling angle of a boat, and a fishing rod angle detector In an automatic fishing device that applies operating force to a fishing rod by using parameters of output signals obtained from each of An automatic fishing device characterized in that by adding a correction means to adjust the landing position of a fish at a substantially fixed position when the fish is caught. (2) A load electrical converter that can obtain electrical signals corresponding to the hooking of a fish, weight of the fish, and other weights of hooking such as the strength and weakness of the fish's pull, an inclination sensor for detecting the rolling angle of a boat, and a fishing rod angle detector In an automatic fishing device that applies operating force to a fishing rod by using parameters of output signals obtained from each of An automatic fishing device characterized in that it is equipped with a correcting means for adjusting the angle of movement, and an electric actuator as a driving source to perform delicate rod handling. (3) A load electrical transducer that can obtain electrical signals corresponding to the hooking of a fish, weight of the fish, and other weights of hooking such as the strength and weakness of the fish's pull, an inclination sensor for detecting the rolling angle of a boat, and a fishing rod angle detector In an automatic fishing device that applies operating force to a fishing rod by using parameters of output signals obtained from each of An automatic fishing device characterized in that it is equipped with a correction means for controlling the angle of the rod, an electric actuator as a driving source, and an encoder for detecting the angle of the rod to perform delicate rod handling. (4) A load electrical transducer that can obtain electrical signals corresponding to the hooking of a fish, weight of the fish, and other weights of hooking such as the strength and weakness of the fish's pull, an inclination sensor for detecting the rolling angle of a boat, and a fishing rod angle detector In an automatic fishing device that applies operating force to a fishing rod by using the parameters of the output signals obtained from each of the above, at least the speed of the own boat corresponding to the output signal of the boat speed sensor is also used as a parameter to attract and catch fish. The system stores the weight and number of fish caught as parameters for each fishing machine, such as operation position, purpose, and time, aggregates the information, and outputs the information to an external storage device to obtain fishing information. An automatic fishing device characterized by collecting and analyzing data.