JPH0728631B2 - Automatic fishing machine - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic fishing machine that automatically performs single fishing such as bonito by changing a rod angle by rotating a fishing rod.

In the conventional automatic fishing machine for single fishing, which is becoming popular due to lack of manpower, the angle of the fishing rod is controlled to raise and lower the pseudo-needle to invite fish, and the fish caught on the pseudo-needle is controlled. The pulling operation to pull the fish, the fishing operation to catch the pulled fish, the hooking operation to remove the fish from the pseudo needle, and the confirmation of whether the fish has come off the pseudo needle, and when the fish has not come off the pseudo needle, Performs multiple hook-and-hook operation to perform hook-and-hook operation.

The hooking operation in the above operation is realized by rotating the fishing rod to the sea surface side for a moment while causing the fish to fly to the awning side by fishing. Further, the confirmation of the hook removal in the double hook removal control operation is performed by detecting the tension of the road thread when the fishing rod is stopped at a certain angle and determining whether the tension is smaller than a set value.

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention The hooking operation is realized by instantaneously rotating the fishing rod in the reverse direction as described above, but this reverse rotation is caused by the fishing rod rotating toward the awning side. Since it is performed in the middle of the state, it becomes an operation to rapidly reverse the direction of the movement, so that an extremely large force is applied to the fishing rod driving device that rotates the fishing rod, and there is a problem that the fishing rod driving device is likely to malfunction. It was happening.

Also, the confirmation of the hook removal in the double hooking operation is based on the tension of the fishing line at the preset rod angle and the tension of the line thread at that angle, so the fish caught is light and the fish floats in the air. In this case, the fish sways up and down due to the bending of the fishing rod, and the tension of the line changes greatly.Therefore, it is necessary to increase the time for confirmation in order to prevent erroneous determination of hooking. There was a problem.

The present invention was devised to solve the above-mentioned problems, and an object thereof is to make it possible to reduce a failure of a drive device that rotates a fishing rod, and at the same time, make it possible to shorten a check time for removing hooks. To provide a fishing machine.

Means for Solving the Problems The automatic fishing machine according to claim 1 of the present invention detects the tension of a line thread by a load sensor, and when the detection result shows the maximum value of the tension, the fish caught the needle. Judgment is made, the angle of the fishing rod is changed, and the fishing rod is tilted from the sea side to the deck side.In this process, the fish is hooked and the hooked fish is taken into a predetermined position on the deck. Detecting the rod angle on the premise that the angle with respect to the deck that increases when the fish is tilted from the sea side to the deck side is the rod angle, and the rod angle at the time of first unhooking the caught fish is the single unhooking angle. Angle sensor,
A device for generating a command value of a rod angle necessary for removing hooked fish, which is pulled toward the deck side when the detection result of the angle sensor matches the single hooking angle. Characterized by having a single hook-and-hook control device that stops the rotation of the fishing rod only for the time when the fish will overtake the fishing rod by its inertia, and then rotates the fishing rod at a speed commensurate with the fishing rod overtaking the fishing rod. There is.

The automatic fishing machine according to claim 2 of the present invention detects the tension of the road thread by the load sensor, and when the detection result indicates the maximum value of the tension, it is determined that the fish has caught the needle, and the angle of the fishing rod is determined. The fishing rod is changed from the sea side to the deck side, the fish is dehooked in this process, and the dehooked fish is taken into a predetermined location on the deck.The fishing rod moves from the sea side to the deck side. The angle with respect to the deck that increases when tilted is the rod angle, and the rod angle when pulling the caught fish up to near the sea surface is the pulling angle, while the rod angle when checking whether or not the fish has been sloughed off Assuming that the angle is the angle for removing hooks, it is the part that corrects the angle for checking hooks so that it will be the optimum angle for checking hooks according to the weight of the fish caught, and the fish catches the needle and the fishing rod falls. The angle of the rod is matched with the pulling angle, and from this point the fish The detection result of the load sensor at the time when the time required for drawing has elapsed is input as the data of the weight of the fish, and the de-hooking confirmation angle is the data of the weight of the fish based on the preset setting value of the de-hooking confirmation angle. It is characterized in that it is provided with a hook-removal confirmation angle indicator that changes in inverse proportion to.

In the invention according to claim 1, when the fish overtakes the fishing rod and flies to the awning side, the fishing rod then rotates so as to overtake the fish. At, the force is strong toward the front of the fish, then when the fish overtakes the fishing rod, it becomes extremely weak toward the back of the fish, and when the fishing rod overtakes the fish and rotates, it becomes the force toward the front of the fish again. . That is, since the pseudo needle is inverted twice with respect to the fish, this inversion causes the pseudo needle to come off the fish.

In the invention according to claim 2, since the dehooking is confirmed by the rod angle that decreases in accordance with the increase in the fish weight, even if the fish weight is different, the lower part of the fish (tail Side) is always in contact with the awning, so the fish does not swing up and down.

Embodiment FIG. 1 is a block diagram showing the electrical construction of an embodiment of the present invention.

In the figure, a signal from a setting device 31 composed of a plurality of key switches and the like is led to a setting control unit 32, and an output 32a of the setting control unit 32 has five indicating units (pulling angle indicating unit 3).
3, pulling speed instruction unit 34, fishing speed instruction unit 35, single hook removal angle instruction unit 36, hook removal confirmation angle instruction unit 37). The outputs of the pulling angle instruction unit 33 and the pulling speed instruction unit 34 are led to the pulling control unit 39, and the outputs of the fishing speed instruction unit 35 are led to the fishing control unit 40. Further, the output 36a of the single hook-and-hook angle instruction unit 36 is given to the single hook-and-hook control unit 41, and the output 37a of the hook-and-hook confirmation angle instruction unit 37 is given to the double hook-and-hook control unit 42.

An angle sensor 53 that detects an angle of the fishing rod 521 is provided in a fishing rod driving device 52 that rotates the fishing rod 521, and an output 55a of the angle sensor 53 via an A / D converter 55 is provided by four control units ( Pulling control unit 39, fishing control unit 40, single hook removal control unit
41, a double-hook removal control unit 42), an inclination correction unit 43, and a rod angle error calculation unit 44.

Further, the road thread 523 to which the pseudo needle 522 is tied passes through the inside of the fishing rod 521 and is guided to the fish weight sensor 54 including a load cell for detecting the tension of the road thread 523, and the A / D converter. Five
The output 56a of the fish weight sensor 54 via 6 is provided with three control units (a sprout control unit 37, a single hook removal control unit 41, and a double hook removal control unit 42).
And two angle indicating sections (single hook removing angle indicating section 35 and hook removing confirmation angle indicating section 37).

The control output from the sprouting control unit 38 is sent to the pulling control unit 39, and the control output from the pulling control unit 39 is sent to the fishing control unit 40. Further, the output 40a from the fishing hook control unit 40 to the single hook-and-hook control unit 41, the double hook-and-hook control unit 42 from the single hook-and-hook control unit 41.
Output 41a for is sent. An output 39a, which is sent by the pulling control unit 39 and indicates the completion of pulling, is sent to the two pointing units (single tapping angle pointing unit 36, tapping confirmation angle pointing unit 37) and multiple tapping control unit 42. Has been.

The output of the heat treatment control unit 38, the output of the pulling control unit 39, the output of the fishing control unit 40, the output of the single hook-and-hook control unit 41, and the output of the double-hook and hook-release control unit 42 are output in parallel as one of the addition units 59. (The five control units 38 to 42 are shown as parallel connections because the outputs are sent to the adding unit 59 in a sequential feed). The output of the inclination correction unit 43 is given to the other input of the addition unit 59. Further, the output of a tilt sensor 57 for detecting the tilt of the hull is led to the tilt correction section 43 via an A / D converter 58.

The output of the addition unit 59 is given to the rod angle error calculation unit 44, and the output of the rod angle error calculation unit 44 is sent to the modulated pulse generation unit 45 that performs pulse width modulation. The output of the modulated pulse generator 45 is sent to the fishing rod drive device 52 via the drive circuit 51.

In the configuration described above, the block within the broken line 100 is C
It is a block processed by software executed on a microcomputer provided with PU, ROM, RAM and the like.
The single hook-and-hook control device 11 is composed of a single hook-and-hook angle indicating unit 36 and a single hook-and-hook control unit 41, and the double hook-and-hook control device 12 includes a hook-and-hook confirmation angle indicator 37 and a double-hook and hook-cut control unit 42. It is composed of and.

FIG. 2 is a block diagram showing the detailed electrical configuration of the single-hook-and-hook-control unit 41 and the single-hook-and-hook control unit 41 that constitute the single-hook-and-hook control device 11.

The output 32a of the setting control unit 32 is guided to the set value storage unit 361, and the correction value calculation unit 362 outputs the output 56a of the fish weight sensor 54 via the A / D converter 56 and the pulling control unit 39. The output 39a from is derived. The output of the set value storage unit 361 and the output of the correction value calculation unit 362 are given to the addition unit 363.

The output 56a of the fish weight sensor 54 and the pulling control unit 3
The output 39a of 9 is also given to the stop time calculation unit 411, and the output of this stop time calculation unit 411 and the output of the addition unit 363 are guided to the rotation control unit 412. The rotation control unit 412 also includes an output 55a of the angle sensor 53 and a fishing control unit 40.
The output of 40a and the output of the adder 363 are introduced,
From the rotation control unit 412, the control output 41a for the double de-hooking control unit 42 and the output 41b for the addition unit 59 are sent.

FIG. 3 is a block diagram showing a detailed electrical configuration of the hook-and-hook confirmation angle indicating section 36.

The output 32a of the setting control unit 32 is guided to the set value storage unit 371, and the output 56a of the fish weight sensor 54 is input to the correction value calculation unit 372.
And the output 39a of the pulling control unit 39 is guided. The output of the set value storage unit 371 and the output of the correction value calculation unit 372 are guided to an addition unit 373 that adds these two outputs.

The operation of one embodiment of the present invention having the above configuration will be described below.

Before explaining the overall operation, the control of the rod angle will be described.

The modulated pulse generator 45 drives the pulse modulated signal whose duty ratio changes according to the output of the rod angle error calculator 44.
The output to the fishing rod driving device 52 causes the fishing rod driving device 52 to rotate the fishing rod 521 at a speed according to the output of the modulated pulse generation unit 45.

On the other hand, the rod angle error calculation unit 44 calculates the difference between the output of the addition unit 59 indicating the rod angle and the output 55a indicating the actual rod angle of the fishing rod 521, and outputs the calculation result to the modulated pulse generation unit 45. Therefore, the fishing rod drive device 52 rotates the fishing rod 521 in a direction in which the output of the rod angle error calculation unit 44 goes to zero. Therefore, the fishing rod driving device 52 performs rotation to match the rod angle of the fishing rod 521 with the rod angle indicated by the output of the adding unit 59. That is, the output value of the addition unit 59 determines the rod angle of the fishing rod 521.

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

Corresponding to the expected fish weight of the school of fish to be caught,
To set the pulling angle, pulling speed, fishing speed, angle for single hook removal to remove the fish from the pseudo needle 522, and the hook removal confirmation angle for confirming that the fish has come off the pseudo needle 522. Input each value using the setter 31.

These input values are sent to the five instruction units (the pulling angle instruction unit 33 and the pulling speed instruction unit 3 via the setting control unit 32.
4, the fishing speed instruction unit 35, the single hook removal angle instruction unit 36, the hook removal confirmation angle instruction unit 37) is guided and stored therein (the single hook removal angle instruction unit 36 and the hook removal confirmation angle instruction unit 37). , The set value storage units 361 and 371 provided inside the respective
Stored in). When the initial setting is completed, the fishing operation is started.

FIG. 4 is an explanatory diagram showing changes in the rod angle. In the following, the operation will be described with reference to FIG.

When the fish is not hooked on the pseudo needle 522, the pulling control unit 39, the fishing control unit 40, the single hook-and-hook control unit 41, and the double hook-and-hook control unit 42 have stopped their operations, and the adder unit 59 does The output of the control unit 38 and the output of the inclination correction unit 43 are guided.

The inclination correction unit 43 performs an operation of correcting the rod angle in accordance with the inclination of the hull detected by the inclination sensor 57, but this correction method has already been filed and is not directly related to the present invention. Therefore, the description will proceed assuming that the inclination of the hull is 0 and the output of the inclination correction unit 43 is 0.

The cradling control unit 38, which outputs the output to the addition unit 59, gradually reduces the value of the output to rotate the fishing rod 521 toward the sea surface side (indicated by 60). And pseudo needle
When the angle 522 at which the 522 reaches the sea is reached, the period t1 is stopped, and the quasi needle 522 waits for it to sink into the sea. Then, by sending an output (indicated by 61) indicating an angle change approximate to a substantially sine wave, a healing operation for causing the pseudo needle 522 to dance in the sea is performed.

When the fish bites on the pseudo needle 522 (time T1) by this healing action, the tension of the road thread 523 increases rapidly,
This increase is made through the fish weight sensor 54 and the A / D converter 56.
Guided by the cocoon control unit 38. Upon detecting this increase in tension, the edging control unit 38 determines that the fish has caught the pseudo needle 522 and instructs the pulling control unit 39 to start the operation and stops its own operation.

The pulling control unit 39 compares the output value of the pulling speed instructing unit 34 (the value set by the setter 31) with the rod angle output by itself, and at a speed according to the output of the pulling speed instructing unit 34. Since the fishing rod 521 is rotated to the awning side, its own output value (guided to the addition unit 43) is increased. When the output value of the pulling angle instruction unit 33 (indicated by θ2) matches its own output value, the operation is stopped (time T2).

In the period t2 following the time T2, the elasticity of the fishing rod 521 pulls the fish near the sea surface. Then, at time T3, the pulling control unit 39 determines that pulling has been completed, and outputs the output 39a for instructing that pulling-out angle instructing unit 3
6. Deliver to the two instruction sections of the de-hooking confirmation angle instruction section 37 and the single de-hooking control section 41. Further, it outputs an operation start output to the fishing control unit 40 and stops its own operation.

At time T3, the correction value calculation units 362 and 372 in the single hook-and-hook angle indicating unit 36 and the hook-and-hook confirmation angle indicating unit 37 store the value indicated by the output 56a as the fish weight of the fish caught, The calculation is performed based on the stored values, and the calculation results are sent to the corresponding adders 363 and 373.

As shown in FIG. 5, the calculation performed by the correction value calculation unit 362 in the single unhooking angle instruction unit 36 is such that the value increases as the fish weight increases. On the other hand, the calculation performed by the correction value calculation unit 372 in the hook removal confirmation angle instruction unit 37 is such that the value decreases as the fish weight becomes heavier, as shown in FIG. Then, these calculation results are stored in the set value storage unit 36 in the corresponding addition units 363 and 373.
1, is added to the initial value stored in 371, the addition result as an instruction angle, the rotation control unit 412 in the single hook-and-hook control unit 41,
And to each of the double de-hooking control units 42.

Further, in the stop time calculation unit 411, from the value of the output 56a (which indicates the fish weight) fetched in accordance with the timing of the output 39a, as shown in FIG. 6, the value increases as the fish weight becomes heavier. The calculation result is output to the rotation control unit 412.

At time T3, the above calculation is performed and the fishing control unit 40 awns the fishing rod 521 according to the speed output by the fishing speed instruction unit 35 (not shown).
Control to rotate to the side (indicated by 62) is performed. With the rotation of the fishing rod 521 under this control, the fish fly out of the sea surface into the air and fly toward the awning.

When the rod angle becomes θ4 (time T8), the fishing control unit 40 instructs the single hook-and-hook control unit 41 to start the operation and stops its own operation (this time T8 is the last stage of fishing). The control of the final part of fishing is taken over by the single hook-and-hook control unit 41).

Assuming that a fish having a light fish weight has been caught, the value of the rod angle output from the addition unit 363 is θ3, the value output from the stop time calculation unit 411 is t3, and the rotation control unit 412 determines that the stop period is t3. Until the rod angle becomes equal to the output (value θ3) of the adding unit 363, the fishing rod 521 is rotated (shown by 64) at a speed equal to the rotation speed performed by the fishing control unit 40, and the value of the rod angle (output 41b) becomes θ3, the rotation of the fishing rod 521 is stopped (time T4).

FIG. 8 shows the rotation position of the fishing rod 521 and the position of the fish at this time. Since the fish 71a is pulled by the line 523,
Flying towards the awning. When the period t3 indicated by the output of the stop time calculation unit 411 has elapsed,
The position of the fish 71b that continues to fly due to inertia is located closer to the awning than the fishing rod 521a, and the pseudo needle 52
2 is twisted toward the rear of fish 71b.

At time T5 when the period t3 has elapsed, the rotation control unit
The 412 rotates the fishing rod 521 at the maximum speed,
When a short time has passed since the rotation started (time
T6), the fishing rod 521c will overtake the fish 71c, and the pseudo needle 5
22 is twisted toward the front of fish 71c. Therefore, the pseudo needle 522 is hooked from the fish 71c.

Shortly thereafter, the single hook-and-hook control unit 41 is replaced by the double hook-and-hook control unit 42.
And gives an instruction to start the operation to stop its own operation.

The double de-hooking control unit 42 causes the rotation control unit 412 to rotate the fishing rod 521 until the rotational position of the fishing rod 521 reaches the rod angle θ5 output from the addition unit 373 in the de-hooking confirmation angle instruction unit 37. The fishing rod 521 is rotated at a speed equal to the above speed (indicated by 65), and the rotation of the fishing rod 521 is stopped when the fishing rod angle is rotated to θ5 (see FIG. 10). Then, the value of the output 56a of the fish weight sensor 54 is determined. If the value at this time is smaller than the set value, it is determined that the fish has been hooked, and the operation is stopped. Then, after that, the fishing rod 521 by the Ayashi control unit 38
The rotation toward the sea side and the healing motion are restarted.

Assuming that the fish has not been unhooked, the rod angle θ5 at this time is, as shown in FIG. 10, that the fish 71g hanging from the bent fishing rod 521 corresponding to the weight of the light fish 71g hits its tail. Awning 72 because it will be in contact with awning 72
The vibration caused by contact with the fish 71g is given and the direction of the fish 71g is changed, so that at this time, hook removal occurs. If the fish was not hooked, the tail of the fish 71g was in contact with the awning 72, so the vibration due to the deflection of the fishing rod 521g immediately stopped, and the weight of the fish 71g was accurately changed to 523g. I can tell you
Confirmation of hooking is performed in a short time.

If it is detected in this determination that the hook has not been unhooked, the fishing rod 521 is swung once toward the awning 72 (broken line 66).
, Again, the value of the output 56a is determined again (broken line 67).
Indicated by). The same operation is repeated thereafter, but this repetition is limited to 5 times, and if it is still not hooked, stop operation is performed with the fishing rod 521 rotated to the awning 72 side to the maximum and manually. Wait for the fish to dehook (indicated by dashed line 68).

On the other hand, when the value output from the adder 363 is θ6 when the fish caught is heavy, this value is θ6> θ3, and when the value output from the stop time calculation unit 411 is t4, this value is t4>. It becomes t3. Further, when the value output from the adder 373 is θ7, this value is θ7 <θ5.

Therefore, as shown in FIG. 9, the rotation stop position of the fishing rod 521d (indicated by the broken line 81 in FIG. 4) controlled by the single hook-and-hook control unit 41 is closer to the awning side. However, since the fish 71d is heavy, the fishing rod 521d
It has a large bend, and it takes a longer period for the flying fish 71d to reach the awning side from the position of the fishing rod 521d as compared with the case where the fish is light. However, the time t4 during which the rotation of the fishing rod 521d is stopped is longer than t3, so
When the fishing rod 521d starts rotating again (time T7),
71e will be located on the awning side of the fishing rod 521d. Then, later, the fishing rod 521f rotates at the maximum speed, so that the fishing rod 521f will pass the fish 71f.

When the rod angle becomes θ7, the double hooking control unit 42 controls the rotation of the fishing rod 521 to stop, and confirms the hooking. When the hook is removed, control is transferred to the sprouting control unit 38,
Rotation to the sea side and sprouting are restarted.

In addition, when the fish has not been unhooked, the rod angle θ7 for confirming the unhooking is smaller than the angle for confirming unhooking θ5 when the fish is light, so rotation stops at this rod angle. Although the fishing rod 521 that has been bent greatly bends due to the heavy weight of the fish 71h, the tail of the fish 71h will contact the awning 72, so the same movement as when the fish is light occurs in the fish 71h. . Therefore, the fact that the fish 71h is likely to be hooked is the same as in the case of a light fish.

The operation subsequent to this operation is similar to that of the case where the fish is light, and thus the description thereof will be omitted.

Note that the present invention is not limited to the above-described embodiment, and the two correction value calculation units 362 and 372 have been described for the case where the change in the correction value of the rod angle with respect to the fish weight changes temporarily. As the calculation of, it is possible to adopt a configuration in which a calculation that changes secondarily with respect to the fish weight is performed.

Further, the stop time calculation unit 411 has been described with respect to the case where the change of the correction value of the stop time with respect to the fish weight changes temporarily. However, as another calculation, the change changes secondarily with respect to the fish weight. It is possible to adopt a configuration in which calculation or the like is performed.

Further, regarding the configuration for performing the feedback control of the rod angle, the configuration in which the error calculation and the generation of the modulated pulse based on the calculation result are performed by the software has been described, but as another configuration, the feedback control by the hardware may be performed. It is possible.

Effect of the Invention In the invention according to claim 1, by stopping the rotation of the fishing rod, the fish flying to the awning due to fishing is caused to overtake the fishing rod once, and then the fishing rod is controlled to overtake the fish again. Since the reverse rotation of the fishing rod for removing the hook is not required, it is possible to reduce the failure of the driving device for the fishing rod. In the invention according to claim 2, the fish weight When the number increases, the hook angle is checked with a decreasing rod angle, so the vertical vibration of the fish when checking the hook is stopped immediately, and it is possible to shorten the hook removal determination time. In addition to the effect that the fish will be hooked at the hook removal confirmation position.

[Brief description of drawings]

FIG. 1 is a block diagram showing an electrical configuration of an embodiment of the present invention, and FIG. 2 is a detailed electrical diagram of a single hook-and-hook angle indicating section and a single hook-and-hook control section which constitute a single hook-and-hook control device. 3 is a block diagram showing a detailed electrical configuration of a hook-and-hook confirmation angle indicator, FIG. 4 is an explanatory diagram showing a change in rod angle, and FIG. For explaining the relationship between the stop angle of the fishing rod and the fish weight, FIG. 6 is an explanatory view showing the relationship between the stop time of the fishing rod for hook removal and the fish weight, and FIG. 7 for confirming the hook removal. 8 is an explanatory view showing the relationship between the rod angle of the fishing rod and the fish weight, FIG. 8 is an explanatory view showing the positional relationship between the fish and the fishing rod when a light fish is caught, and FIG. 9 is a heavy fish. Fig. 10 is an explanatory view showing the positional relationship between the fish and the fishing rod in the case of Fig. 10, and Fig. 10 shows the positional relationship between the fish, the awning, and the fishing rod at the dehooking confirmation position. It is an explanatory diagram. 11 …… Single hook-and-hook control device 12 …… Double hook-and-hook control device 36 …… Single hook-and-hook angle indicator that composes the single hook-and-hook control device 37 …… De-hook detection angle indicator that constitutes the double-hook and hook control device 41 …… Single hook-and-hook control part that constitutes the single hook-and-hook control device 42 …… Double tap-and-hook control part that constitutes the double hook-and-hook control device 54 …… Fish weight sensor 72 …… Awning 521 …… Fishing rod.

Claims (2)

[Claims] 1. When the tension of a road thread is detected by a load sensor, and when the detection result shows the maximum value of the tension, it is determined that the fish has caught a needle, the angle of the fishing rod is changed, and the fishing rod is moved from the sea side. In an automatic fishing machine that tilts the fish to the deck side, decaptures the fish in this process, and takes the decapsulated fish into a predetermined location on the deck, the angle to the deck that increases when the fishing rod is tilted from the sea side to the deck side is set. Assuming that the angle of the rod is the angle of the rod and the angle of the rod when the fish is first hooked, the angle sensor that detects the rod angle and the rod that is necessary to remove the rod of the fish that has been caught A device for generating an angle command value, at the time when the detection result of the angle sensor matches the single hooking angle, the time when the fish being pulled toward the deck will overtake the fishing rod by its inertia. Only stop the rotation of the fishing rod, then the fishing rod Automatic fishing device, characterized in that a single de-hook control device for rotating the fishing rod at a rate commensurate with the overtake the fish. 2. The tension of the road thread is detected by a load sensor, and when the detection result shows the maximum value of the tension, it is determined that the fish has caught a needle, the angle of the fishing rod is changed, and the fishing rod is moved from the sea side. In an automatic fishing machine that tilts the fish to the deck side, decaptures the fish in this process, and takes the decapsulated fish into a predetermined location on the deck, the angle to the deck that increases when the fishing rod is tilted from the sea side to the deck side is set. It is assumed that the fishing rod angle is the fishing rod angle when the fish caught near the sea surface is the fishing rod angle, while the fishing rod angle is the unhooking confirmation angle when checking whether the fish has been unhooked. In addition, it is a part that corrects the hook removal confirmation angle so that it becomes the optimum hook removal confirmation angle according to the weight of the fish caught, and the fish catches the needle and the fishing rod is knocked down and the rod angle matches the pulling angle. ,
From this time, the detection result of the load sensor at the time when the time required for drawing the fish has elapsed is input as the weight data of the fish, and the dehooking confirmation angle is set based on the preset setting value of the dehooking confirmation angle. An automatic fishing machine characterized by having an unhooking confirmation angle instructing unit that changes the data in inverse proportion to the weight data of the fish.