JPH0661201B2 - Automatic fishing machine - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fishing machine that automatically performs single fishing, and more particularly, to an automatic fishing machine that corrects the angle of a fishing rod according to the inclination of a hull. .

2. Description of the Related Art Automatic fishing machines for single fishing, which are becoming popular due to lack of manpower, control the angle of the fishing rod to manipulate the artificial needle and pull it when the fish catches it. The fishing operation to take in the fish and the hook removal operation to remove the hooked fish are performed.

Among these operations, the positional relationship between the pseudo-needle and the sea surface is important for the healing operation and the pulling operation, so it is necessary to use the sea surface as the reference for the tip of the fishing rod. Therefore, by providing a tilt sensor that detects the tilt of the hull and correcting the rod angle according to the output value, even if the hull tilts, the rod angle control that does not change the tip of the rod relative to the sea surface Is being done.

Problems to be Solved by the Invention In the case of a fishing operation following a pulling operation and a hooking operation, the angle of the hull, particularly the deck and the fishing rod, is important, so it is unnecessary to correct the rod angle due to the inclination of the hull. Not only will it become harmful, it will sometimes be harmful. Therefore, in the middle of the fishing operation following the pulling operation, the correction of the rod angle based on the inclination of the hull is stopped. However, if the correction of the rod angle is suddenly stopped despite the large inclination of the hull, the indicated value of the rod angle (the reference signal for controlling the tracking of the rod angle) changes abruptly. As a result, a sudden change occurs in the angle of the fishing rod, a change in the tension of the line thread occurs, and the fish that has been hooked comes off, causing fishing drop and the like, leading to the dissipation of the school of fish.

The present invention was devised to solve the above problems, and an object thereof is to provide an automatic fishing machine capable of preventing a sharp change in the rod angle.

Means for Solving the Problems An automatic fishing machine according to the present invention detects a tension of a line thread on the premise that an angle with respect to a deck that increases when the fishing rod is tilted from the sea side to the deck side is a rod angle. Based on the output result of the load sensor to determine whether the fish has hung on the fishing rod,
As a result, when it is determined that the needle has been hooked, the fishing rod is tilted down to pull the fish and the fish is pulled up, and then the fishing rod is slightly pulled back to dehook the fish, and the dehooking is completed based on the output result of the load sensor. I confirmed whether I did it, and as a result,
When the removal of hooks is completed, the rod angle is controlled so as to perform a series of operations of returning the fishing rod to the initial position for catching the fish again, and the inclination of the hull is detected in the command value of the rod angle. An automatic fishing machine with a function to eliminate the deviation of the rod angle due to the hull tilting and the deck and the sea surface not being horizontal by adding the detection results of the tilt sensor. When the angle of the rod when pulling the fish is the pulling angle, and the angle of the rod when checking whether or not the fish that has been caught has been unhooked, the detection result of the angle sensor that detects the rod angle is introduced. When the rod angle is between the initial angle and the pulling angle, 1 is output as the tilt correction factor, while when the rod angle is between the pulling angle and the hook removal confirmation angle,
A correction rate calculation unit that outputs a value that decreases from 1 as the rod angle increases from the pulling angle and becomes 0 when the rod angle is equal to the hook removal confirmation angle, and a tilt angle command value. The tilt sensor is connected between an adding unit for adding the output result of the sensor and the tilt sensor, the detection result of the tilt sensor is multiplied by the tilt correction rate, and the multiplication result is given to the adding unit as a tilt correction value. It is characterized by including a correction value calculation unit for outputting.

Action When the rod angle is between the initial angle and the pulling angle,
A tilt correction factor of 1 is output from the correction factor calculation unit. Therefore, the detection result of the tilt sensor is output as it is as a tilt correction value from the correction value calculation unit to the addition unit.
Then, the addition unit adds the command value of the rod angle and the output result of the tilt sensor. That is, during the healing operation or the pulling operation, the function of eliminating the deviation in the rod angle caused by the inclination of the hull and the deck and the sea surface not being horizontal operates perfectly.

After that, as the rod angle increases from the pulling angle, the correction rate calculation unit outputs the tilt correction value having the following value. That is, the tilt correction rate is output such that it decreases from 1 as the rod angle increases from the pulling angle, and becomes 0 when it is equal to the hook removal confirmation angle. Such an inclination correction rate is multiplied by the detection result of the inclination sensor in the correction value calculation unit, and the multiplication result is output from the correction value calculation unit to the addition unit as the inclination correction value. Then, in the adding unit, the output value of the tilt sensor is multiplied by the tilt correction value and the command value of the rod angle is added. That is, after the pulling operation is completed, the above function is gradually lost as the rod angle increases from the pulling angle.

Embodiment An embodiment of the automatic fishing machine of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing the overall configuration of an automatic fishing machine.

The automatic fishing machines listed here are roughly classified into a fishing machine main body 54 that changes the angle of the fishing rod 541, a fishing rod control unit 15 that operates the fishing rod main body 54, and a central control unit 100 that controls the fishing rod control unit 15.
It consists of and. This is a configuration of a feedback control system for tracking and controlling the angle of the fishing rod 541. The central control unit 100 corresponds to the reference input element, the angle sensor 22 corresponds to the feedback element, the drive control unit 53 corresponds to the control element, and the fishing machine main body 54 corresponds to the controlled object.

That is, the target value given from the setter 31 is the central control unit 100.
Then, the central control unit 100 produces a reference signal. The reference signal and the detection result of the angle sensor 22 are compared by the adder 52 to generate an operation signal. The fishing rod control unit 15 operates according to the operation signal to generate an operation signal. The fishing machine main body 54 operates according to the operation signal to change the angle of the fishing rod 541. The angle of the fishing rod 541 is tracked and controlled by such a feedback control system.

The central control unit 100 also includes the following functions. That is, based on the output result of the fish weight sensor 23 that detects the tension of the road thread 542, it is determined whether or not the fish has caught the pseudo needle 543, and as a result, when it is determined that the fish has hooked, the fishing rod control unit 15 Operate the fishing machine main body 54 via to change the angle of the fishing rod 541 and tilt it from the sea side to the deck side.In this process, swing the fishing rod 541 back a little to unhook the fish, and the output result of the fish weight sensor 23 Check whether the hook removal is complete based on the
When the hook removal is completed, the fishing rod 541 is returned to the initial position for catching a fish (the angle of the fishing rod 541 at this time is the initial angle).

Here, the angle with respect to the deck that increases when the fishing rod 541 is tilted from the sea side to the deck side is the rod angle, and when pulling the fish caught by the needle, the fishing angle is the pulling angle, and whether the fish that has caught has been hooked or not. The angle of the rod at the time of checking is the angle for checking the hook.

It also has a function to eliminate the deviation of the rod angle due to the hull tilting and the deck and the sea surface not being horizontal. That is, the detection result of the inclination sensor 21 that detects the inclination of the hull is introduced into the inclination correction unit 421 via the A / D converter 61, the inclination correction unit 421 corrects the detection result of the inclination sensor 21, and after correction The detection result of the inclination sensor 21 of is introduced into the addition unit 43,
The adding unit 43 adds the reference signal (corresponding to the command value of the rod angle) and the detection result of the corrected tilt sensor 21 (the present invention is characterized by the tilt correcting unit 421). It can be said, for convenience of explanation, this will be described later). Reference numeral 31 in the figure is a setting device for inputting a set value. The set value includes a pulling angle, a pulling speed, a single hooking angle, a hooking confirmation angle, and the like.

Hereinafter, the structure of the automatic fishing machine will be described in more detail.
The central control unit 100 is a microcomputer including a CPU, a ROM, a RAM, etc., and each block shown in the figure has its function realized by software.

A signal from a setting device 31 composed of a plurality of key switches and the like is guided to a setting control unit 32, and the output of the setting control unit 32 is four instruction units (pulling angle instruction unit 33 for storing the sent values). , Pulling speed indicator 34, single hook removal angle indicator
35, a hook removal confirmation angle instruction unit 36), and a single hook removal control unit 44. The outputs of the pulling angle instructing section 33 and the pulling speed instructing section 34 are led to the pulling control section 39, and the output of the single hook removal angle instructing section 35 is led to the fishing control section 40. The output of the hook removal confirmation angle instruction unit 36 is guided to the double hook removal control unit 41 and the tilt correction unit 42.

An angle sensor 22 that detects the angle of the fishing rod 541 is provided in the fishing machine main body 54 that rotates the fishing rod 541. The output of the angle sensor 22 is output via the A / D converter 62 to three control units. (Drawing control section 39, fishing control section 40, double hooking control section 41) and inclination correction section 42. Further, the road thread 542 to which the pseudo needle 543 is tied passes through the inside of the fishing rod 541 and is guided to a fish weight sensor 23 including a load cell or the like for detecting the tension of the road thread 542. The output of is transmitted through the A / D converter 63,
38, and the double de-hooking control unit 41.

An output for control is sent from the cradling control unit 38 to the cradling waveform generation unit 37 and the pulling control unit 39, and the pulling control unit 39 sends a fishing control to the fishing control unit 40. From the control unit 40 to the double hooking control unit 41,
Outputs for each control are given. Further, an output for control is sent from the fishing control unit 40 to the single hook removal control unit 44.

Then, the output of the healing waveform generator 37, the output of the inclination corrector 42, and the output of the single hook removal controller 44 are guided to the adder 43,
Ayashi control unit 38, pulling control unit 39, fishing control unit 4
0, the output of the double de-hooking control unit 41 is output in parallel as the addition unit 4
3 (the four control units 38 to 41 are shown as parallel connections because the output is sent to the adding unit 43 in a sequential feed).

The output of the adder 43 is guided to one input of an adder 52, which is a component of the fishing rod controller 15, via a D / A converter 51,
An analog signal from the angle sensor 22 is led to the other input of the adder 52. The output of the adder 52 is sent to the drive controller 53, and the output of the drive controller 53 is introduced into the fishing machine main body 54. The output from the inclination sensor 21 that detects the inclination of the hull is given to the inclination correction unit 42 via the A / D converter 61.

FIG. 2 is a block diagram showing a detailed configuration of an embodiment of the inclination correction section 42.

The output 621 of the angle sensor 22 via the A / D converter 62 is
The rod angle 621 is provided to the rod angle determination unit 122 and the angle difference calculation unit 124, and the output of the pulling angle instruction unit 33 is the pulling instruction angle 331 to the rod angle determination unit 122 and the denominator calculation unit 123. Has been given. The output of the unhooking confirmation angle instructing unit 36 is the unhooking confirmation angle 361 and the denominator calculation unit 1
23, provided to the angle difference calculation unit 124.

And the output of the rod angle determination unit 122, the output of the denominator calculation unit 123,
Three outputs of the angle difference calculation unit 124 are given to the division unit 125. The output of the division unit 125 is sent to the multiplication unit 126 to which the constant input 1261 is guided, and the output thereof is sent to the correction value calculation unit 11 as an output indicating the inclination correction rate 121. The output of the rod angle determination unit 122 is sent to the denominator calculation unit 123 and the angle difference calculation unit 124 as an output for control.

The output 611 of the inclination sensor 21 is further guided to the correction value calculation unit 11 via the A / D converter 61, and the output of the correction value calculation unit 11 is an output indicating the inclination correction value 421.
It has been sent to the adder 43. The output of A / D converter 61
611 is provided to the rod angle determination unit 122 and the denominator calculation unit 123.

The correction rate calculation unit 12 includes a division unit 125 and three blocks (the rod angle determination unit 12 that outputs the output to the calculation unit 125).
2, a denominator calculation unit 123, and an angle difference calculation unit 124).

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

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

The fishing rod control unit 15 includes an angle sensor 22 that indicates the angle of the fishing rod 541.
Of the fishing rod body 541 is controlled by the drive control unit 53 so that the difference between the output of the fishing rod and the output of the D / A converter 51 becomes zero. It is determined by the given input value of the adder 52. That is, the value of the output of the addition unit 43 determines the angle of the fishing rod 541.

Next, the operation performed prior to the start of fishing will be described.

Corresponding to the expected fish weights of the fish school to be caught, the pulling angle, the pulling speed, the angle (single tapping angle) at which the single hooking for removing the fish from the pseudo needle 543 is performed, and the fish is the pseudo needle 543. The angle (confirmation angle for unhooking) for confirming that it has come off is input by using the setter 31. These input numerical values are set by the setting control unit 32.
The values are stored in a pulling angle instructing section 33, a pulling speed instructing section 34, a single de-hooking angle instructing section 35, and a de-hooking confirmation angle instructing section 36 which are areas set in advance in the memory for storing each numerical value. After this setting, the fishing operation starts.

FIG. 3 is an explanatory diagram showing a temporal change of the rod angle 621,
5A and 5B are explanatory views showing the relationship between the inclination of the hull and the rod angle 621.

In the initial base state, the pulling control unit 39, the fishing control unit 40,
And the double hook-and-hook control unit 41 has stopped its operation. Further, the output value of the single hook-and-hook control unit 44 is 0, and the output value of the swell waveform generation unit 37 is also 0. The output of the tilt correction unit 42 will be described in detail later. When the hull is not tilted, its output value is 0. Below, the operation of the hull in a non-tilted state will be described, and then the tilt The operation in such a case will be described.

The output of the sprouting control unit 38 is guided to the adding unit 43, and the sprouting control unit 38 rotates the fishing rod 541 toward the sea surface side by gradually reducing the value of the output. Then, when the fishing rod 541 rotates to an angle (initial angle) at which the pseudo needle 543 reaches a predetermined position in the sea, the sprouting control unit 38 gives an instruction to start the operation to the squirting waveform generating unit 37 and keeps its own output value constant. Maintain the angle of.

The waveform output from the healing waveform generator 37 is a substantially sine wave, and a value indicating this waveform is given from the healing waveform generator 37 to the adder 43. Therefore, the value of the output of the adder 43 is equal to the constant value from the heating controller 38
It is the sum of the 37 outputs. That is, the output of the addition unit 43 that indicates the angle of the fishing rod 541 repeats small changes periodically as shown in A of FIG. 3, and the angle of the fishing rod 541 also changes in the same manner. dance.

When the fish bites into the pseudo needle 543, the tension of the path yarn 542 suddenly increases, and this increase in tension is guided to the sprouting control unit 38 by the fish weight sensor 23 and the A / D converter 63. Upon detecting this increase in tension, the sprouting control unit 38 determines that the fish is caught, gives an instruction to stop the operation to the squirting waveform generation unit 37, and sends an instruction to start the operation to the pulling control unit 39, thereby Stops working.

The pulling control unit 39 outputs the output 331 of the pulling angle instruction unit 33.
While comparing with the value of, the value of its output is increased so as to rotate the fishing rod 541 to the deck side at a speed according to the value of the output of the pulling speed instruction unit 34, and the value of the output 331 is changed to its own value. When the two match, the operation is stopped. The stop of this operation is shown by B in FIG. 3, and the rod angle 621 at this time is a pulling angle which is a set value, and is 30 degrees here. After this, there is a stop time of period t1,
FIG. 5 shows the state of C when the suspension period has ended.

Since the inclination of the hull is 0, the inclination of the deck line K coincides with the horizontal line H, and the value of the output of the inclination sensor 21 is 0. The angle θh-a between the fishing rod 541 and the horizontal line H is 30 degrees, and the fish 91 caught is attracted by the elasticity of the fishing rod 541 during the period t1 and its position is on the sea surface W. The pulling angle is an angle when the fish 91 is located near the sea surface W, and is shown as an angle θh-a.

The above-mentioned healing operation and the operation from catching the fish to pulling the fish are operations when the pseudo needle 543 is under the sea. Therefore, the positional relationship between the sea surface W and the pseudo needle 543 is important. Therefore, as shown in FIG. 5b, when the hull is tilted, it is necessary to increase the actual pulling angle from 30 degrees because the hull is tilted and the port is lowered.

The inclination of the hull is the angle θ611-b between the deck line K and the horizontal line H.
This value is given by the output 611 of the A / D converter 61. The value of the output 391 of the pulling control unit 39 is the angle of the fishing rod 541 with respect to the deck line K, and the angle θ3
91-b, the value is the pulling angle which is the set value. Angle θh − of fishing rod 541 with respect to horizontal line H
In order to set b to be 30 degrees or more of the pulling angle, the inclination θ611-b of the deck line K with respect to the horizontal line H is changed to the angle θ391-b.
Need to add to. This inclination θ611-b is calculated by the inclination correction unit 4
The inclination correction value θ421-b, which is the value of the output 421 of 2, is added, and the addition result is indicated by the value θ431-b of the output 431 of the adder 43.

The operation of the tilt correction unit 42 that sends the tilt correction value 421 will be described below.

The rod angle determination unit 122 determines the value of the output 611 indicating the inclination of the hull (θ611-b) and the value of the output 331 of the pulling angle instruction unit 33 (30
Degree) and the addition result and the A / D converter 62
Of the rod angle 621 given by the output 621 of When the rod angle 621 (indicated by θ) is −40 ≦ θ ≦ 30, an instruction to that effect is sent to the division unit 125. At this time, the division unit 125 sends a value 1 to the output 121 as the inclination correction factor.

When the rod angle 621 (θ) is θ> 30, an instruction to that effect is issued to the denominator calculation unit 12
3, to the angle difference calculation unit 124 and the division unit 125. At this time, the denominator calculation unit 123, from the value 120 indicated by the output 361 of the dehooking confirmation angle instruction unit 36, the value 30 of the output 331 of the pulling angle instruction unit 33, and the inclination θ611-b of the hull indicated by the output 611, The value (120− (30+ (θ611−b))) is transmitted, and the angle difference calculation unit 124 outputs the value 120 indicated by the output 361.
And the rod angle indicated by the output 621, the value 120-θ is output. The division unit 125 calculates the value (120−θ) / 90 based on these two values and sends it out.

When the rod angle 621 (θ) is θ <−40, an instruction to that effect is issued to the denominator calculation unit 12
3, to the angle difference calculation unit 124 and the division unit 125. At this time, the denominator calculation unit 123 outputs a value 20 to the output 1231 thereof, and the angle difference calculation unit 124 outputs the output 1241 of the minimum value of the rod angle 621 of −60 degrees and the rod angle 621 (θ). Send the value θ + 60, which indicates the difference. The division unit 125 calculates the value (θ + 60) / 20 based on these two values and sends it out.

The above description is for a state where the hull is not tilted as shown in FIG. 5a. Also, as shown in FIG. 5b, when the hull is tilted around G, the fishing machine main body when the hull is horizontal 54 position
A difference SH occurs in the height between O54-a and the position O54-b of the fishing machine main body 54 when tilted. This difference SH is a constant output 1261 determined by the ship width, the center of gravity position, and the mounting position of the fishing machine main body 54.
And the output of the division unit 125 are corrected. This product is calculated by the multiplication unit 126, and the output is the slope correction factor 1
The value 21 is given to the correction value calculator 11.

The tilt correction factor 121 calculated as described above is guided to the correction value calculation unit 11 including a multiplication unit, and the product of the value and the value indicated by the output 611 of the tilt sensor 21 is calculated. Then, the calculation result is sent to the adder 43 as a tilt correction value 421.

The value of the tilt correction factor 121 is, as shown in FIG.
When (θ) is −40 ≦ θ ≦ 30 + (θ611-b), the value is 1.

Similarly to the above, when the rod angle 621 (θ) is θ <−40, the value is θ + (θ611−b) +60/20, −40 ≦ θ ≦ 30 +
When (θ611-b), the value is 1, θ> 30+ (θ611-
In the case of b), it is (120-θ) / 90.

When the rod angle 621 (θ) is θ <−40, the inclination correction value 421 gradually decreases because the movable range of the rod angle 621 is limited to −60 degrees or more. It is designed so that the angle specification beyond this range does not occur.

The operation of the tilt correction unit 42 is configured to be performed in parallel with the operation of other blocks at regular time intervals according to an interrupt signal from a timer or the like.

Returning to FIG. 3, after the point C, the fishing control unit 40 controls the fishing rod 541 to rotate to the deck side. With this rotation of the fishing rod 541, the inclination correction value for correcting the inclination of the hull is performed. 421 decreases. When the rod angle 621 reaches the value (90 degrees) of the output of the single hook-and-hook angle indicating unit 35, the fishing control unit
The 40 sends an instruction to start operation to the single hook-and-hook control unit 44, and keeps sending the value of 90 degrees for the period t2.

Since the single hook-and-hook control unit 44 sends a waveform showing a negative half cycle of a substantially sine wave to the adder 43, the fishing rod 541 is
It is swung back to the side of the sea by a slight angle. By this operation, the tension of the road thread 542 is relaxed, and the fish disengages from the pseudo needle 543 and flies toward the deck. After the period t2, the fishing control unit
When the fishing rod 541 is rotated up to an angle of 120 degrees, the 40 sends an operation start instruction to the double hook-and-hook control unit 41, and ends itself.

The double de-hooking control unit 41 sets the value of the output 361 of the de-hooking confirmation angle 361 to 120.
Each time the fishing rod 541 is fixed for a moment, and based on the output of the A / D converter 63 within this fixed time, the fishing line 54
Measure the tension of 2. When the tension is close to 0, it is determined that the fish has come off, and it terminates its own motion. When the tension is not close to 0, it is considered that the fish has not come off and the fishing rod The 541 is swung once (D), and the tension of the yarn 542 is measured again. This fishing rod 541
1 and the measurement of the tension are repeated until the tension becomes a value close to 0, and when the tension becomes close to 0, the operation is finished.

When a series of operations is completed in this way, the fishing rod 541
It is returned to the healing angle again by the healing control unit 38,
After that, the same operation is repeated.

Note that the present invention is not limited to the above-mentioned embodiment, and the eddy waveform generation unit 37 and the single hook removal control unit 44 are configured by hardware,
It is possible to add the output of the D / A converter 51 by using an adder provided outside.

Further, the output waveform of the single hook-and-hook control unit 44 is not limited to a waveform similar to a negative half cycle of a sine wave, and other waveforms can be a negative triangular waveform or the like.

Further, the inclination correction rate 121 is decreased by the configuration in which the decrease is started when the rod angle 621 exceeds the pulling angle (θh-a, θh-b), but the angle is larger than the pulling angle such as pulling angle +10 degrees. However, it is possible to adopt a configuration in which the reduction starts when the angle exceeds the angle near the pulling angle.

When the rod angle 621 becomes equal to the hook removal confirmation angle 361,
Although the configuration in which the inclination correction rate 121 is 0 has been described, the angle is less than or equal to the hook removal confirmation angle 361, such as the hook removal confirmation angle 361-10 degrees, and the angle of the rod angle 621 is close to the hook removal confirmation angle 361. It is possible to make the inclination correction factor 121 zero when the values become equal.

As described above, in the case of the automatic fishing machine according to the present invention, the deviation of the rod angle due to the hull tilting and the deck and the sea surface not being horizontal is eliminated during the healing operation or the drawing operation. While the function is fully operational, after the pulling operation is completed, the above function is gradually lost as the rod angle increases from the pulling angle. There is no change in the thread, and the tension of the thread is changed, and the fish does not miss the needle. Therefore, it is of great significance in enhancing the performance of the device.

[Brief description of drawings]

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention,
FIG. 2 is a block diagram showing a detailed configuration of an embodiment of the inclination correction unit, and FIG. 3 is an explanatory diagram showing a temporal change of the rod angle.
FIG. 4 is an explanatory diagram showing the relationship between the inclination correction rate and the rod angle, and FIGS. 5a and 5b are explanatory diagrams showing the relationship between the inclination of the hull and the rod angle. 11 …… Correction value calculation unit 12 …… Correction rate calculation unit 15 …… Fishing rod control unit 21 …… Inclination sensor 43 …… Addition unit 91 …… Fish 121 …… Inclination correction ratio 361 …… Decoupling confirmation angle 421 …… Inclination correction value 541 …… Fishing rod 621 …… Rod angle θh-a, θh-b …… Drawing angle.

Claims (1)

[Claims] 1. A rod angle is defined as an angle with respect to a deck that increases when the fishing rod is tilted from the sea side to the deck side.
Based on the output result of the load sensor that detects the tension of the road thread, it is determined whether or not the fish has hung on the fishing rod, and as a result, when it is determined that the fish has caught the needle, the fishing rod is tilted down and the fish is pulled up for fishing. After that, the fishing rod is pulled back a little to dehook the fish, and based on the output result of the load sensor, it is confirmed whether or not the dehooking is completed. As a result, when the dehooking is completed, the fishing rod is used to catch the fish. The basic configuration is to follow the rod angle so as to perform a series of operations to return it to the initial position again.By adding the detection result of the inclination sensor that detects the inclination of the hull to the command value of the rod angle, the hull With an automatic fishing machine that has the function of eliminating the deviation of the rod angle caused by the fact that the deck is inclined and the deck and the sea surface are not horizontal, the rod angle when pulling the fish caught by the needle is set as the pulling angle, and fishing is done. When the angle of the rod when confirming whether or not the fish has been hooked is used as the angle for checking the hook, the detection result of the angle sensor that detects the rod angle is introduced, and the rod angle changes from the initial angle to the pulling angle. When the rod angle is between the pulling angle and the de-hooking confirmation angle, 1 is output as the tilt correction factor when the rod angle is between 1 and 2, and the rod angle decreases from 1 as the rod angle increases from the pulling angle. And between the inclination sensor and the correction rate calculation unit that outputs a value that becomes 0 when it is equal to the hook removal confirmation angle, and an addition unit that adds the output result of the inclination sensor to the command value of the rod angle. And a correction value calculation unit that multiplies the detection result of the tilt sensor and the tilt correction rate and outputs the multiplication result to the addition unit as a tilt correction value. Fishing machine.