JPH088825B2 - Automatic fishing machine - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fishing machine for automatically performing single fishing, and more specifically, to a speed of pulling according to the strength of pulling of a fish hooked on a dummy needle. The present invention relates to an automatic fishing machine that corrects for.

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 further rotated to take in the fish on the deck.

Problems to be Solved by the Invention The automatic fishing machine, when detecting that the fish is hooked on the pseudo-needle, pulls the fish by rotating the fishing rod to the pulling angle, but the pulling at this time is: Based on the expected fish weight and the degree of bending of the fishing rod, the speed is set in advance so that the relationship is optimal.

However, the weight of the fish often exceeds the range of the expected weight of the fish, and when the fish is heavier than expected and the pull is strong, the fishing rod may be damaged during the pulling operation. On the contrary, when the weight of the fish caught is lighter than the expected weight of the fish, the pulling speed is not fast even though the pulling is weak, which causes the fish to come off the pseudo needle in the sea.

The present invention was devised to solve the above problems, and an object thereof is to provide an automatic fishing machine capable of preventing the fish from coming off from the pseudo needle without damaging the fishing rod.

Means for Solving the Problems The automatic fishing machine according to the present invention determines whether or not the fish has hooked on the fishing hook based on the output result of the tension sensor that detects the tension of the road line, and as a result, 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. Assuming that the angular velocity of the fishing rod when pulling the hooked fish is set as the pulling speed, the maximum value M of the tension of the road thread indicated by the output result of the tension sensor when the fish is hooked is The attraction correction speed P is detected, the attraction correction speed P inversely proportional to the maximum value M is obtained, and the attraction speed is obtained by adding the attraction correction speed P and a preset attraction reference speed. are doing.

Action When the pulling force of the fish is strong, the maximum value M is large and the pulling correction speed P is small. As a result, the pulling speed becomes small toward the pulling reference speed, and the fish is pulled slowly. On the other hand, when the pulling of the fish is weak, the maximum value M is small and the pulling correction speed P is large. As a result, the pulling speed becomes large in the direction away from the pulling reference speed, and the fish is quickly pulled.

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 this operation signal to generate an operation signal. The fishing machine main body 54 operates according to the operation signal, and the fishing rod 541
Change the angle of. 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 tension sensor 23 that detects the tension of the road thread 542, it is determined whether or not the fish has hooked on the pseudo needle 543, and as a result, when it is determined that the fish has hooked, the fishing rod control unit 15 is used. Operate the fishing machine main body 54, change the angle of the fishing rod 541 and tilt it from the sea side to the deck side, and in this process decapsulate the fish and take it into a predetermined position on the deck in the direction in which the fishing rod 541 was tilted. Has become.

The angular velocity of the fishing rod 541 when pulling the hooked fish is the pulling speed.

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 including a plurality of key switches is guided to a setting control unit 32, and an output of the setting control unit 32 is a pulling speed calculation unit 34 that calculates a pulling speed, and a sent value is stored. Three instructing parts (pulling angle instructing part 33, single de-hooking angle instructing part 35, de-hooking confirmation angle instructing part 36),
And a single hook-and-hook control unit 44. The outputs of the pulling angle instructing unit 33 and the pulling speed calculating unit 34 are led to the pulling control unit 39, and the output of the single hook removal angle instructing unit 35 is led to the fishing control unit 40. In addition, the hook removal confirmation angle indicator
The output of 36 is guided to the double de-hooking 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 line thread 542 to which the pseudo needle 543 is tied passes through the inside of the fishing rod 541 and is guided to a tension sensor 23 including a load cell for detecting the tension of the line thread 542. Then, the output of the tension sensor 23 is transmitted through the A / D converter 63 to the sprouting control unit 3
8 is provided to the double de-hooking control unit 41 and the pulling speed calculation unit 34.

An output for control is sent from the sprouting control unit 38 to the squirting waveform generating unit 37, the pulling control unit 39, and the pulling speed calculation unit 34. From the pulling control unit 39, the fishing control unit 40 , And the tilt correction unit 42,
An output for each control is given from the fishing control unit 40 to the double dehooking control unit 41. 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 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 tilt sensor 21 that detects the tilt of the hull is the A / D
It is given to the inclination correction unit 42 via the converter 61.

FIG. 2 is a block diagram showing a detailed configuration of an embodiment of the pulling speed calculation unit 34.

The output 321 from the setting control unit 32 is given to the pulling reference speed memory 11 which is an area provided on the RAM, and the pulling reference speed 111 as its output is given to one input of the adding unit 14. . In addition, the maximum tension detector 12 outputs the output 631 from the tension sensor 23 via the A / D converter 63.
And an output 381 for controlling the timing, which is output from the healing control unit 38, and an output 121 of the maximum tension value detection unit 12 is input to one input of the correction speed calculation unit 13 that performs division. Has been given.

The other input of the correction speed calculation unit 13 is provided with an output 132 indicating a constant, and the output is the pulling correction speed 1
31 is led to the other input of the adder 14. The output of the adding unit 14 is sent to the pulling control unit 39 as the pulling speed 341.

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.

Corresponding to the expected fish weight of the school of fish to be caught in the future, the pulling angle, the angle at which the single hooking for removing the fish from the pseudo needle 543, the swingback angle of the single hook, and the fish from the pseudo needle 543 The angle to confirm that it is off,
Input by using the setter 31. Similarly, in addition to the pulling reference speed corresponding to the minimum weight of the fish to be caught, the constant K is also initialized.

These input numerical values are areas preset on the memory for storing each numerical value by the setting control unit 32, the pulling angle instructing unit 33, the pulling reference speed memory 11, the single hooking angle instructing unit. 35, a predetermined area in the single hook-removal control unit 44, and a hook-removal confirmation angle instruction unit 36. The value of the constant K is output as a signal 132 to the correction speed calculation unit 13 described later. After this setting is completed, the fishing operation starts.

FIG. 3 is an explanatory view showing a temporal change of the rod angle 621, and FIG.
The figure is an explanatory view showing changes in the tension of the road yarn 542.

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. The output value of the single hook-and-hook control unit 44 is 0,
The output value of the wave generator 37 is also 0 when the operation is stopped.
Is.

The output of the tilt correction unit 42 is 0 when the hull is not tilted, and the operation of the hull in the untilted 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, and the squirting 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 the angle at which the pseudo needle 543 reaches the sea, the sprouting control unit 38 gives an instruction for starting 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 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 the dummy needle 543 (T1) when the rod angle 621 is in the position I, the tension of the line thread 542 is rapidly increased (see FIG. 4).
6), this increase in tension is due to the tension sensor 23, A / D converter 63
Is guided to the edging control unit 38 and the maximum tension value detection unit 12. Upon detecting that the tension has increased and the value has exceeded N (T3), the sprouting control unit 38 determines that the fish has caught and gives the sprouting waveform generation unit 37 an instruction to stop the operation and pulling control. Section 39 and maximum tension detection section 12
Sends an instruction to start the operation to and stops itself.

The tension maximum value detection unit 12 instructed to start the operation by the output 381 measures the rate of change of the value of the output 631 from time T3, and when the rate of change becomes 0 or a value near 0 (T2 ), The value M of the output 631 is sent to the correction speed calculation unit 13 as the maximum value of the tension.

The correction speed calculation unit 13, that is, the edging control unit 38 monitors the value of the tension of the road thread 542 introduced from the tension sensor 23 through the A / D converter 63, and this value is set in advance. When it is detected that the value exceeds, the fish is determined to have caught the needle. When it is detected that the rate of change in tension becomes 0, the value of tension at this time (M in this case) is determined to be the maximum value. The thread 542 when the fish catches the needle in this way
The maximum value M of the tension of is detected.

The correction speed calculation unit 13 sets the value of the output 132 indicating the constant K to K
Then, assuming that the value of the pulling correction speed 131 which is the output is P, P = αK / M (α: proportional constant) is calculated, and the value P is sent to the addition unit 14. Adder 14
Adds this value P and the value of the pulling reference speed 111,
The addition result is set as the drawing speed 341, and the drawing control unit 39
Send to.

That is, when the fish is strongly pulled, the maximum value M is large,
As a result of the pulling correction speed P becoming smaller, the drawing speed becomes smaller (does not become smaller than the drawing reference speed),
The fish will be attracted slowly. On the other hand, when the pulling of the fish is weak, the maximum value M is small and the pulling correction speed P is large, so that the pulling speed is high,
The fish will be attracted quickly. The constant K
Is provided to finely adjust the pulling speed according to the bending of the fishing rod.

The pulling control unit 39 compares the output value of the pulling angle instruction unit 33 with the addition unit 4 so as to rotate the fishing rod 541 to the deck side at a speed according to the value of the pulling speed 341.
Increase the value of the output sent to 3. This pulling pulls the path yarn 542, resulting in an increase in tension (FIG. 4, FIG. 75). When the output value of the pulling angle instruction unit 33 and its own value match, the operation of increasing the output value is stopped. This pulling operation is shown in FIG.
This is indicated by 71 and the stop of the pulling action is indicated by B. The value of the rod angle 621 at this time is, for example, 3
It is 0 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. At the time when the pulling is completed (FIG. 3C), the pulling control unit 39
An output indicating the end of its own operation is sent to the fishing control unit 40. Therefore, the fishing rod 541 is
The control to rotate the to the deck side starts, and the fishing rod 541 is rotated by this control. By this rotation, the fish is pulled up from the sea, and when the rod angle 621 becomes the value (90 degrees) of the output of the single hooking angle instruction unit 35, the fishing control unit 40 instructs the single hooking control unit 44 to start the operation. Send out, during the period t2,
Maintain a delivery of a value of 90 degrees.

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 up to an angle of 120 degrees, the fishing rod control unit 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 controls the value 12 of the output 361 of the de-hooking confirmation angle 361.
The fishing rod 541 is fixed at 0 degree for a moment (E), and the tension of the road thread 542 is measured based on the output of the A / D converter 63 within this fixed time. When the tension is close to 0, it is determined that the fish is out and ends its own motion. When the tension is not close to 0, it is determined that the fish is not yet off and the fishing rod The 541 is swung once (D), and the tension of the yarn 542 is measured again (F). This one swing of the fishing rod 541 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
Is restored to the healing angle again by the healing control unit 38, and the same operation is repeated thereafter.

In the above operation, since the fish hooked on the pseudo needle 543 is large, when the maximum value M of the tension shown in FIG. 4 is large, the value P of the pulling correction speed 131 becomes small, and therefore the value of the pulling speed 341. Also, the pulling is performed at a slow speed as indicated by the broken line 72 in FIG. Then, when the value of the rod angle 621 reaches 30 degrees (G), the rotation of the fishing rod 541 stops, and similarly, the period t
In 1, pulling is performed using the elasticity of the fishing rod 541. Then, from the time H when this pulling is completed, the fishing and the swinging back of the fishing rod 541 in the period t2 are performed,
The operation proceeds to confirmation of hook removal.

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

Climbing movement (Fig. 3A) to pulling movement (Fig. 3C)
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.

The correction speed calculation unit 13 has been described with respect to the configuration in which the value of the constant output 132 is divided by the value of the output of the correction speed calculation unit 13. It is possible to adopt a configuration such as division by a value.

Regarding the configuration of the correction speed calculation unit 13, the constant output 13
The value of the output of the correction speed calculation unit 13 may be subtracted from the value of 2.

As described above, in the case of the automatic fishing machine according to the present invention, the pulling speed is corrected according to the pulling strength of the hooked fish. The fishing rod will not be damaged when it is large and unexpectedly, and the needle will not fall off when it is unexpectedly small. Of course, when the fishing rod is damaged during the operation, the operation has to be stopped once even if the fish that has missed the needle falls into the sea. The reason for this is that if the fish that comes off the needle falls into the sea, the school of fish will move away from the ship. Since such a situation can be avoided in the present invention, a very great merit can be expected.

[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 pulling speed calculation unit, FIG. 3 is an explanatory diagram showing a temporal change of a rod angle, and FIG. 4 is a time variation of a tension of a road thread. It is an explanatory view shown. 12 …… Tension maximum value detection unit 13 …… Correction speed calculation unit 14 …… Adding unit 23 …… Tension sensor 39 …… Drawing control unit 111 …… Drawing reference speed 131 …… Drawing correction speed 341 …… Drawing speed 542… … Michiji 543 …… Pseudo needle.

Claims (1)

[Claims] 1. A method for determining whether or not a fish has caught a hook based on the output result of a tension sensor for detecting the tension of a road thread, and as a result, when it is judged that a fish has hooked, the angle of the fishing rod is changed. In an automatic fishing machine that tilts a fishing rod from the sea side to the deck side, removes the fish in this process, and captures it at a predetermined position on the deck in the direction in which the fishing rod was tilted, Assuming that the angular velocity is set as the pulling speed, the pulling correction speed that is inversely proportional to the maximum value M by detecting the maximum value M of the tension of the road thread indicated by the output result of the tension sensor when the fish is hooked An automatic fishing machine, characterized in that P is obtained and the pulling speed is obtained by adding the pulling correction speed P and a preset pulling reference speed.