JPH084437B2 - 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 specifically, corrects an angle for confirming de-hooking according to the weight of a fish caught. Automatic fishing machine.

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 perform a healing operation that manipulates the pseudo needle, and when the fish bites on the pseudo needle, the fishing rod Is rotated to a predetermined pulling angle, and the fishing rod is fixed at that angle. Then, the elasticity of the fishing rod fixed at that angle is used to draw the fish to the sea surface. When this pulling is completed, the fishing rod is rotated to the deck side to take in the fish, and at the rotation position where the fishing rod is further rotated to the deck side, it is configured to confirm the hook removal of the fish.

Problems to be Solved by the Invention The above-mentioned check for hooking is performed by fixing the fishing rod at a preset hooking confirmation angle and based on the tension of the road thread at that time. However, it often happens that the fish remains hooked on the pseudo needle and does not come off. When such a situation occurs, if the fish hooked on the dummy needle is light, the fish will be thrown back toward the sea side due to the recoil of the bending of the fishing rod, and the impact of the throwing back will cause the fish to fall from the dummy needle. Missing fish may be thrown into the sea.

Also, when the fish that did not come off from the pseudo needle is heavy, the fishing rod becomes large and the fish comes into contact with the deck and bounces around there, so the tension of the line thread sometimes becomes 0, and it is mistaken that the fish was hooked. Sometimes.

The present invention was devised to solve the above problems, and an object thereof is to provide an automatic fishing machine capable of preventing misjudgment of dehooking without causing the fish to be thrown back into the sea. It is in.

Means for Solving the Problems The automatic fishing machine according to the present invention determines whether or not a fish is hooked on a fishing hook based on the output result of a fish weight sensor that detects the tension of a line thread, and as a result, the needle hooking is performed. When it is determined that the fishing rod has been changed, 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 fishing rod is taken into a predetermined position on the deck in the direction in which the fishing rod was tilted. Has become
The angle to the deck that increases when the fishing rod is tilted from the sea side to the deck side is defined as the rod angle, and the rod angle when the fishing rod is stopped to confirm that the fish that has been caught has come off the dummy needle is confirmed. Assuming that the angle is set, the weight of the fish indicated by the detection result of the fish weight sensor when the pulling of the fish is completed is detected, and the detection result is compared with a preset basic weight of the fish to be caught. , When the former is smaller than the latter, it is in the direction to increase the hook removal confirmation angle, while when the former is larger than the latter, it is in the direction to decrease the hook removal confirmation angle. It is characterized in that the correction is made based on

Action If the weight of the fish caught is heavier than the preset reference weight, the fishing rod will be larger due to the weight of the fish, but the angle for confirming de-hooking will be corrected so that the fish does not contact the deck. On the other hand, if the weight of the fish caught is less than the preset reference weight, even if the fish misses the needle and is thrown back toward the sea due to the recoil of the bending of the fishing rod, it is necessary to confirm the hook removal. Since the angle is corrected to increase, the fish flies high and falls on the deck.

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 rod 541.
Fishing machine main body 54 for changing the angle of the fishing rod, a fishing rod control unit 15 for operating the fishing machine main body 54, and a central control unit 10 for controlling the fishing rod control unit 15.
It consists of 0 and. This is a configuration of a feedback control system for tracking and controlling the angle of the fishing rod 541. The reference input element corresponds to the central control unit 100, the feedback element corresponds to the angle sensor 22, the control element corresponds to the drive control unit 53, and the control target corresponds to the fishing machine main body 54.

That is, the target value given from the setter 31 is the central controller 10
When input to 0, the central controller 100 produces a reference input. The reference input 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 is hooked on the pseudo needle 543,
As a result, when it is determined that the needle has been hooked, the fishing machine main body 54 is operated via the fishing rod control unit 15, the angle of the fishing rod 541 is changed, and the fishing rod main body 54 is tilted from the sea side to the deck side. Then, the fishing rod 541 is taken in at a predetermined position on the deck in the direction in which the fishing rod 541 is tilted. 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 defined as a rod angle, and the rod angle when the fishing rod is stopped to confirm that the caught fish has come off the pseudo needle 543. Is the angle for confirming hook removal. In addition, the data of the reference weight indicating the average weight of the fish to be caught from now on, and the data of the reference angle of the hook removal confirmation which is the angle of hook removal confirmation assuming the fishing of the fish of the reference weight are set in advance through the setter 31. It has become.

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.

The signal from the setting device 31 including a plurality of key switches is guided to the setting control unit 32, and the output of the setting control unit 32 is sent to the de-hooking confirmation angle calculation unit 36 that calculates the de-hooking confirmation angle. Three instruction units (pulling angle designating unit 33, pulling speed designating unit 34, single hooking angle designating unit 35) for storing different values,
And a single hook-and-hook 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. In addition, the hook removal confirmation angle calculation unit
An unhooking confirmation angle 361, which is the output of 36, is guided to the double unhooking control unit 41.

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. The path line 542 to which the pseudo needle 543 is tied passes through the inside of the fishing rod 541 and is guided to the fish weight sensor 23 including a load cell for detecting the tension of the path line 542. The output of the fish weight sensor 23 is output via the A / D converter 63 to the sprouting control unit 38, the double de-hooking control unit 41, and the de-hooking confirmation angle calculation unit 36.
Has been given to.

From the edging control unit 38, to the edging waveform generation unit 37 and the pulling control unit 39, the output for control is sent, and from the pulling control unit 39, the dehooking confirmation angle calculation unit 36,
Outputs for the respective controls are given from the fishing control unit 40 and the inclination correction unit 42 to the double dehooking control unit 41 from the fishing control unit 40. 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, and the output of the double de-hooking control unit 41 is guided to the adding unit 43 as parallel outputs (for the four control units 38 to 41, the outputs are sent to the adding unit 43 in a sequential manner, so Shown as a connection).

The output of the adder unit 43 is output to the adder 52 via the D / A converter 51.
An analog signal is guided from the angle sensor 22 to one input of the adder 52 and 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 tilt sensor 21 that detects the tilt of the hull is given to the tilt correction unit 42 via the A / D converter 61.

FIG. 2 is a block diagram showing a detailed configuration of an embodiment of the hook-and-hook confirmation angle calculation unit 36.

The output 321 from the setting control unit 32 is (the hook removal confirmation reference angle,
(Reference weight data), output to the hook removal confirmation reference angle memory 362 given to the hook removal confirmation reference angle memory 362 and the reference fish weight memory 367 which are areas provided in the RAM.
3621 is given to one input of the adder 363. Further, the fish weight detection unit 364 is led through the A / D converter 63 an output 631 of the fish weight sensor 23 and a control output 391 indicating the timing from the pulling control unit 39. 3
The output of 64 is given to one input of the adder 366.
The output of the reference fish weight memory 367 is given to the other input of the adder 366, and the output of the adder 366 is the multiplier 365.
Is given to one input.

In addition, the other input of the multiplication unit 365, output 365 showing a constant
2 is given, and the output 3651 of the multiplication unit 365 is led to the other input of the addition unit 363. The output of the adder 363 is
The de-hooking confirmation angle 361 is sent to the double de-hooking control unit 41.

FIG. 3 is a block diagram showing the detailed construction of an embodiment of the double-hooking control unit 41.

The rod angle control unit 422 includes an output 401 from the fishing control unit 40 indicating the timing, an output 621 of the angle sensor 22 via the A / D converter 62, and a hook-and-hook removal indicating a rod angle for confirming the hook removal. Confirmation angle 361 is given. Also A / D converter 63
The hook removal confirmation unit 11 and the rod angle control unit 422, to which the output 631 of the fish weight sensor 23 is guided via, are bidirectionally connected. The output 4221 of the rod angle control unit 422 is sent to the addition unit 43.

The operation of one embodiment of the present invention having the above configuration 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 2 that indicates the angle of the fishing rod 541.
So that the difference between the output of 2 and the output of D / A converter 51 becomes 0,
Since the drive control unit 53 controls the fishing machine main body 54, the angle of the fishing rod 541 is an adder given by the D / A converter 51.
It is decided by the value of the input of 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.

First, set the data of the reference weight and the reference angle to confirm the hooking.
Enter the settings through 31. In addition, the pulling angle, pulling speed, the angle when pulling a single hook to remove the fish from the pseudo-needle 543, and the swingback angle of the single hook are set in the same manner. Enter the settings through.

These input numerical values are areas preset on the memory for storing each numerical value by the setting control unit 32, the reference fish weight memory 367, the pulling angle instruction unit 33, the pulling speed instruction unit 34, A single hook-and-hook angle indicator 35,
It is stored in a predetermined area within the single hook-and-hook control section 44 and the hook-and-hook confirmation reference angle memory 362. After this setting is completed, the fishing operation starts.

 FIG. 4 is an explanatory diagram showing a temporal change in the rod angle.

When no fish is caught, the pulling control unit 39, the fishing control unit 40, and the double hooking control unit 41 stop their operations. Further, the output value of the single hook-and-hook control unit 44 is 0, and the output value of the eddy waveform generation unit 37 is also 0 while the operation is stopped.

The output of the tilt correction unit 42 is 0 when the hull is not tilted. The operation of the hull in a non-tilted state will be described below, and then the tilt correction when tilted will be described.

The output of the sprouting control unit 38 is guided to the adding unit 43,
The cocoon control unit 38 gradually reduces the value of the output to rotate the fishing rod 541 toward the sea surface. Then, when the fishing rod 541 is rotated to the angle at which the pseudo needle 543 reaches the sea, the sprouting control unit 38 gives an instruction to start the operation to the squirting waveform generating unit 37, and maintains the value of its own output at a constant angle.

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 adder unit 43 that indicates the angle of the fishing rod 541 repeats small changes periodically as shown in A of FIG. 4, 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 rapidly 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 compares the output value of the pulling angle instruction unit 33 with the addition unit 43 so as to rotate the fishing rod 541 to the deck side at a speed according to the output value of the pulling speed instruction unit 34. When the output value of the pulling angle instruction unit 33 matches its own value,
Stop the operation. The stop of this operation is indicated by B in FIG. 4, and the value of the rod angle 621 at this time is, for example, 30 degrees.

After this, there is a stop time for the period t1, and during the period t1, the fishing rod 541
The elasticity of draws the fish. Then, when the pulling is completed (FIG. 4C), the pulling control unit 39 sends an output indicating the end of its own operation to the fishing control unit 40 and the fish weight detection unit 364.

At the time when the attraction is completed, as shown in FIG.
The fish 91 caught is near the sea surface W, and the tension of the line thread 542 (detected by the fish weight sensor 23) indicates the exact weight of the fish 91.

Therefore, the fish weight detection unit 364 follows the A / D according to the output 391.
The weight value of the fish 91 indicated by the output 631 of the converter 63 is stored. If this value is M, the value stored in the reference fish weight memory 367 (reference weight) is N, and the output value of the addition unit 366 is P, then P = N−M is added and given to the multiplication unit 365. . If the value of the constant output 3652 is K and the value of the output 3651 of the multiplication unit 365 is Q, then Q = K × (NM) is calculated. If the value of the output 3621 of the unhooking confirmation reference angle memory 362 (the unhooking confirmation reference angle) is S, the value R of the unhooking confirmation angle 361 is R = S + K × (NM). This value R decreases as the weight M of the fish 91 that has been caught increases, and increases as the weight of the fish 91 decreases. This value R is stored in the rod angle control unit 422.

With the above operation, the fishing rod control unit 40 causes the fishing rod to
The control to rotate the 541 to the deck side starts, and the fishing rod 541 rotates by this control. By this rotation, the fish is caught in the direction of the deck, and the rod angle 621 is changed to the single hooking angle indicator 3
When the output value of 5 (90 degrees) is reached, the fishing control unit 40 sends an instruction to start operation to the single hook removal control unit 44, and
Maintains a value of 90 degrees for the duration of t2.

Since the single hook-and-hook control unit 44 sends the waveform indicating the negative half cycle of the substantially sine wave corresponding to the set value to the addition unit 43, the fishing rod is
The 541 is swung back to the side of the sea at a slight angle for a short time. 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. Period t2
After that, when the fishing rod control unit 40 rotates the fishing rod 541 to an angle of, for example, 100 degrees, the fishing rod control unit 40 sends an operation start instruction to the double de-hooking control unit 41 and ends the operation itself (time T1 in FIG. 4). ).

FIG. 5 shows the period from time T1 to time T2 shown in FIG.
It is explanatory drawing which shows the detailed time change of the rod angle of t3.

The rod angle control unit 422 is in charge of continuing the control of the fishing rod 541 rotated by the fishing control unit 40 to 100 degrees. Since the rod angle control unit 422 stores the value R calculated by the hook removal confirmation angle calculation unit 36 at the time when the pulling is completed (FIG. 4C), the value of the rod angle 621 matches the angle R. The value of output 4221 is increased until
Stop increasing the value of 21.

When the weight of the fish caught is equal to, for example, the reference weight, the value of the output 4221 is S, and the time to stop the increase is t4. The following stop period t4 has elapsed and the time
At T4, the rod angle control unit 422 gives an instruction to confirm the hook removal to the hook removal confirmation unit 11.

The hook removal confirmation unit 11 detects the value of the output 631, and when the value is close to 0, it is determined that the fish has been hooked.
A signal to that effect is sent back to the rod angle control unit 422. The rod angle control unit 422 ends the operation of receiving this signal.
After the end of this operation, the operation of the sprouting control unit 38 is started, the fishing rod 541 is rotated toward the sea side (Fig. 4D), and the sprouting operation is started.

At time T4, when the value of the output 631 is not close to 0, the de-hooking confirmation unit 11 determines that the fish has not come off the pseudo needle 543, and sends a signal indicating that fact to the rod angle control unit 422. return. The rod angle control unit 422 swings the fishing rod 541 one time toward the deck side (E) in order to dehook the fish (E), and the period t
After the passage of 5, the hook removal confirmation unit 11 confirms the hook removal again.

When the hook is not unhooked, this one swing and the confirmation of the hook is repeated. When the hook is confirmed, the rod angle control unit 42
2 finishes the operation, and starts the healing operation by the healing controller 38.

The above is the case where the fish caught is equal to the reference weight, but the case where it is not equal to the reference weight will be described below with reference to FIG.

That is, when the caught fish 91a is heavier than the reference weight, the value of the hook removal confirmation angle 361 is corrected and θ smaller than S is obtained.
It becomes a, and the hook removal is confirmed at this angle. Although the bending of the fishing rod 541a is large due to the weight of the fish 91a, the fish 91a
Does not touch the deck. Therefore, unlike the past,
This makes it possible to prevent the false recognition of hooking caused by the fish 91a bouncing around on the deck.

On the other hand, when the caught fish 91b is lighter than the reference weight, the value of the dehooking confirmation angle 361 is corrected and θ larger than S is detected.
b, and the removal of hooks is confirmed at this angle. In this case, due to the recoil of the bending of the fishing rod 541b, the fish is thrown back toward the sea side, and the impact at this time causes the fish 91b to move the pseudo needle 543.
However, unlike the past, at least fish 91b will not fall into the sea. Because the fishing rod 541b
Even when the fish 91b misses the needle and is thrown back due to the recoil of the bend, the fish 91b is high because the fishing rod 541b is slightly tilted to the deck side due to the correction of the hook removal confirmation angle 361. As a result, they do not fall into the sea but fall onto the deck. That is, the force acting when the fish 91b is thrown back is as shown by 95 in the figure, and even if the needle is missed, the fish 91b will only fly along the trajectory shown by 96 in the figure.

 The subsequent operation is the same as the operation already described.

Also, when confirming the first hook removal in fish 91a, 91b,
Similarly, when it is confirmed that the false needle 543 is still hooked, one swing of the fishing rod 541 for removing hook is performed.

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

Climbing motion (Fig. 4A) to pulling motion (Fig. 4C)
Since the distance between the pseudo needle 543 and the sea surface W is important in the period up to, when the ship is tilted, the tilt correction unit 42 uses the A / D converter 6
By sending the output of the inclination sensor 21 via 1 to the addition unit 43, the influence of the inclination of the hull appearing in the rod angle is corrected, and at the angle to check the hook, the positional relationship between the pseudo needle 543 and the deck is Since it becomes important and correction is unnecessary, the numerical value for inclination correction is set to 0 during the operation of the fishing control unit 40 in accordance with the instruction from the pulling control unit 39 indicating the end of the operation.

Note that the present invention is not limited to the above-mentioned embodiment, and the eddy waveform generator 37 and the single de-hooking controller 44 are configured by hardware, and the output of the D / A converter 51 is provided by an adder provided outside. It is possible to adopt a configuration in which addition is performed.

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

Further, with respect to the hook removal confirmation angle calculation unit 36, the difference between the weight of the fish caught and the expected fish weight is first calculated, and a value based on the calculation result and a preset rod angle for hook removal are set. Although the configuration for calculating the hook removal confirmation angle 361 by addition has been described, the value based on the weight of the fish caught is added to or subtracted from the preset rod angle for hook removal to remove the hook. It is possible to adopt a configuration in which the hook confirmation angle is calculated.

Effects of the Invention As described above, in the case of the automatic fishing machine according to the present invention, since the dehooking confirmation angle is corrected according to the weight of the fish caught, unlike the conventional case, the fish caught is heavy. Occasionally, the fish will not come into contact with the deck and cause false recognition of hooking. In addition, there is an advantage that even when the fish caught is light and the fish comes off the needle due to the recoil of the bending of the fishing rod, at least the fish does not drop into the sea. Not only that, the fish will not fall into the sea and the school of fish will move away from the ship, hindering the subsequent operation, which is of great significance in improving the performance of the device.

[Brief description of drawings]

FIG. 1 is a block diagram showing the configuration of one embodiment of the present invention,
FIG. 2 is a block diagram showing a detailed configuration of an embodiment of the de-hooking confirmation angle calculation unit, and FIG. 3 is a block diagram showing a detailed configuration of an embodiment of the double-Hanging control unit, and FIG. Is an explanatory view showing a change over time of the rod angle, FIG. 5 is an explanatory view showing a detailed change over time of the rod angle in the period from time T1 to time T2 shown in FIG. 4, and FIG. FIG. 7 is an explanatory view showing the relationship between the fish and the sea surface, and FIG. 7 is an explanatory view showing the relationship between the weight of the fish caught and the angle for confirming the hook removal. 11 …… De-hooking confirmation part 23 …… Fish weight sensor 36 …… De-hooking confirmation angle calculation part 91 …… Fish caught 361 …… De-hooking confirmation angle 543 …… Pseudo needle 621 …… Rod angle.

Claims (1)

[Claims] 1. A method for determining whether or not a fish hangs on a hook based on an output result of a fish weight sensor for detecting a tension of a road thread,
As a result, when it is determined that the needle has been hooked, the angle of the fishing rod is changed and the fishing rod is tilted from the sea side to the deck side. In the automatic fishing machine taken in, the angle with respect to the deck that increases when the fishing rod is tilted from the sea side to the deck side is set as the rod angle, and the fishing rod is stopped to confirm that the fish caught has come off the dummy needle. Assuming that the rod angle at this time is the hooking confirmation angle, the weight of the fish indicated by the detection result of the fish weight sensor when the pulling of the fish is completed is detected, and the detection result is set in advance with respect to fishing. Compared with the reference weight of the fish, when the former is smaller than the latter, it is in the direction to increase the hooking confirmation angle, while when the former is larger than the latter, it is in the direction to decrease the hooking confirmation angle. The automatic fishing machine is characterized in that it is configured to be corrected according to the difference between the two.