JPS63273427A - Guiding method for fish school - Google Patents

Abstract

PURPOSE:To breed a fish in a group over a long term, by repeatedly subjecting a subaqueous navigation robot to patrol navigation in closed loop while intermittently operating fish-collecting means and as necessary forcingly subjecting the robot to guided navigation to other any under water course. CONSTITUTION:A subaqueous robot 4 is controlled so as to repeatedly subjecting a definite subaqueous course L0 to patrol navigation by supersonic wave S1 transmitted from a sonar of a buoy 1. A supersonic wave transmitter 9 for collecting fish and feed scattering apparatus 10 are intermittently and simultaneously operated. Then supersonic wave S2 is transmitted from other buoy 1a and simultaneously transmission of supersonic wave from a buoy 1 is stopped and the subaqueous navigation robot 4 can be moved to a new subaqueous course L0 directly under the buoy 1a and subjected to patrol navigation.

Description

[Detailed Description of the Invention] <Industrial Application Field> The present invention is a completely new technology that can be used very effectively when growing, breeding, capturing, or evacuating large numbers of fish, mainly at marine farms. Concerning methods for guiding schools of fish.

<Conventional technology> In order to keep a large number of fish within a certain area (for example, a marine farm), conventional methods have been used to install devices such as long boundary nets and energized wires around a designated body of water. Although it has been proposed, the initial cost required to construct such a large-scale device is not only extremely large, but also the running cost required for maintenance of the device is also extremely high.

The ideal form of a marine farm is to economically keep a large number of fish in a certain area without using large-scale equipment that has high running costs. Another conventional method for this purpose is to artificially construct facilities such as fish habitats (fish @) by sinking blocks etc. to the bottom of the water area (for example, in a bay) used for fish farming, and then causing the fish to settle near the fish reef. There is a way.

<Problems to be solved by the invention> However, even when such conventional methods are used, there are relatively few bodies of water such as bays that have the conditions to be used as marine farms, and therefore, locational considerations are important when selecting them. ■ Constructing artificial reefs and other facilities using blocks, etc. still requires a significant initial cost; ■ Even if the water area is suitable at the beginning, over a long period of time it will cause an increase in industrial wastewater, Sludge accumulation.

Fish may no longer be able to live in the area due to environmental deterioration due to the installation of other structures in the vicinity. ■ Even in areas where there is no risk of industrial wastewater or sludge, sudden occurrences of red tide, typhoons, tsunamis, etc. There are various problems, such as the possibility that fish may be wiped out due to an accident.

It would be good if we could always arbitrarily select a body of water with an appropriate environment for fish to live in, and keep schools of fish in that body of water without scattering them, but fish follow their instincts and move freely in the sea. Since these fish migrate, it is extremely difficult for humans to accurately grasp, predict, or control the migratory routes of such fish. This is especially true when it comes to fish populations (schools of fish); in other words, it is extremely difficult to designate an arbitrarily selected area of water as a marine pasture and artificially control it so that it does not leave that area. It takes a long time for fish to grow and multiply, but it is extremely difficult to keep fish in a certain body of water for that long period of time.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to eliminate large-scale devices or facilities such as long border nets, energized wires, artificial reefs, etc., with fewer restrictions in terms of location. To provide a method for guiding a school of fish which can be implemented relatively easily without requiring the construction of a system, and which can be effectively used to raise fish in groups reliably and safely over a long period of time.

Means for Solving the Problems> As a means for achieving the above object, the present invention provides an underwater navigation robot equipped with a fish-collecting means, which operates in a substantially closed-loop manner while intermittently operating the fish-collecting means. a process of repeating automatic patrol navigation over a relatively long period of time along a predetermined underwater course forming a closed-loop shape; The present invention proposes a method for guiding a school of fish, which includes: a process of forcibly guiding the fish to an arbitrary underwater course that is distant from the underwater course;

Effects> The effects exhibited by the fish school guiding method according to the present invention using the above-mentioned characteristic means are as follows.

When the underwater navigation robot's fish gathering means (such as a baiting device) is activated, many fish follow their instincts and gather near the underwater navigation robot. Therefore, when an underwater navigation robot equipped with this fish-collecting means is navigated, a school of collected fish will follow along its navigation trajectory. Therefore, if the underwater navigation robot is repeatedly patrolled on a predetermined closed-loop underwater course for a relatively long period of time while operating the fish collecting means, the school of fish will follow the underwater navigation robot and repeat the same patrol course, and eventually As the fish get used to the course, and since fish tend to behave in groups, the school gradually grows, and the fish become more and more at ease following the underwater navigation robot.

That is, an underwater navigation robot equipped with a fish-collecting means is repeatedly automatically patrolled along a predetermined underwater course forming a fixed closed loop, while intermittently operating a bait dispensing device to keep bait consumption as small as possible. This makes it possible to keep fish in groups within a certain area without constructing large-scale devices or equipment such as long boundary nets, energized wires, or artificial reefs. . The construction of the above-mentioned device or equipment involves various requirements such as few waves and shallow water depth, but in the case of the method of guiding a school of fish using an underwater navigation robot having a means of collecting fish according to the present invention. , there are almost no restrictions from such conditions, and it is relatively economical in terms of cost. In particular, if a place is provided for fish to live, the conditions for selecting a water area, such as offshore, are significantly relaxed, rather than being limited to a bay or the like.

After automatically navigating the closed-loop predetermined underwater course for a long period of time as described above,
The schools of fish are well accustomed to the underwater navigation robot and will follow with confidence, so when it becomes necessary to move the school of fish for fishing or evacuation, the underwater navigation robot can be used as the fish collecting means. While operating intermittently or continuously, it is possible to reliably guide a school of fish to a desired location by forcibly guiding them to an arbitrary underwater course away from the closed-loop predetermined underwater course that they had been patrolling previously. become.

<Example> Hereinafter, specific examples of the present invention will be described in detail based on the drawings.

A buoy 1 equipped with a power source consisting of a solar cell and a storage battery with a relatively large capacity, and a sonar (not shown) etc. operated by the power source is moored and installed via a wire 3 by an anchor 2 sunk in the seabed. ing. Ultrasonic waves S1 transmitted into the water from a sonar (not shown) in the buoy I
The underwater navigation robot 4 guided by the ultrasonic receiving sensor 5 receives the ultrasonic wave S. Propulsion device6. Ladder 7 in the left and right direction, ladder 8 in the vertical direction. Ultrasonic transmitter for collecting fish9. Baiting device for collecting fish10. Underwater television camera for forward monitoring11. Searchlight for forward illumination12. It is equipped with a water depth detector 13, a power supply device for operating the above devices, a microcomputer (both not shown) for controlling them, and the like.

The microcomputer is configured to perform the following various controls.

That is, based on the data from the water depth detector 13, the vertical ladder 8 is controlled so as to be located within a predetermined water depth (for example, 40 to 50 m). Based on the data from the ultrasonic reception sensor 5, the propagation range of the ultrasonic waves S emitted by the sonar in the buoy I is determined, and a predetermined radius (for example, 50 to 100 m) is drawn within the propagation range to create a substantially closed loop. The left and right rudders 7 and the propulsion device 6 are controlled so that the vehicle automatically cruises by repeating a predetermined underwater course L0 forming a shape. In addition, the searchlight 12 illuminates the underwater television camera 1.
Based on the video data captured by 1, the left and right, top and bottom rudders 7.8 are controlled to avoid obstacles. Then, the ultrasonic transmitter 9 for collecting fish and the baiting device 10 are activated intermittently (
In this example, a built-in timer periodically operates at predetermined time intervals) and simultaneously.

Many fish are attracted by the smell of HA (dry pellets) sprinkled into the water from the baiting device 10. At this time, since the ultrasonic wave transmitter 9 transmits ultrasonic waves S at a frequency preferred by fish into the water, fish are attracted even from far away where the smell cannot reach.

Negatively controlled fish grow and multiply. In addition, since the ultrasonic wave Sll is always emitted when bait A is scattered, bait A
The close and inseparable relationship between S11 and ultrasonic wave S11 becomes fixed in the fish's brain (Baprof's conditioned reflex).If you repeat this process repeatedly, you will eventually receive ultrasonic waves even without feeding bait A. Fish will start to gather just by sending S11.

At a suitable distance away from the buoy 1, another buoy 1a (having the same structure as the buoy 1) is moored by an anchor 2a via a wire 3a. However, this buoy 1
The ultrasonic wave S transmitted by the sonar at a! The frequency is different from the sonar transmission frequency of buoy 1. If the configuration is configured to switch the timing between the built-in timer of buoy 1 and the built-in timer of buoy la, the transmission of ultrasonic waves Sl from buoy l can be stopped and the buoy l can be stopped depending on the ebb and flow of the tide.
By transmitting an ultrasonic wave S from a, the underwater navigation robot 4 can be moved to a new closed-loop predetermined underwater course L0 directly below the buoy 1a, and automatically patrolled along it.

That is, the habitat of the fish can be moved from directly below the buoy 1 to directly below the buoy 1a, or vice versa. Alternatively, the underwater navigation robot 4 can be controlled to move back and forth between the buoys 1 and 1a in order to increase the activity of the fish in accordance with the rapid growth period of the fish.

Furthermore, as shown in FIG. 2, when catching adult fish, the sonar (not shown) installed on the fishing boat 14
The underwater navigation robot 4 is captured by transmitting a forced control ultrasonic wave S for forcibly guiding the underwater navigation robot 4 to an arbitrary underwater course L that deviates from the predetermined underwater course L0 forming the closed loop shape. Forced guidance control by remote control such as guidance into the network 15 is also possible. In this case, by operating the fish collecting ultrasonic transmitter 9 and the baiting device 10 in the underwater navigation robot 4 simultaneously and preferably continuously (periodically is fine), schools of fish can be collected. It is possible to reliably guide the fish into the fishing m15 and catch the fish to its fullest.

Such a remote-controlled forced guidance control unit to any underwater course L can be used in various cases as described below.

For example, when an emergency situation such as red tide occurs,
forced control ultrasonic waves S for forcing a high-speed boat or the like to depart in an emergency and forcibly guiding the underwater navigation robot 4 from the high-speed boat;
is transmitted, and the underwater navigation robot 4 is urgently moved to a safe place. At this time as well, it is preferable that the underwater navigation robot 4 simultaneously and continuously operate the ultrasonic transmitter 9 for collecting fish and the bait casting device 10.

Furthermore, when supplying (or replacing) power to the power supply device in the underwater navigation robot 4 or supplying bait to the baiting device 10, the management layer sends a forced control ultrasonic wave S0.
The underwater navigation robot 4 may be floated to recover the fish and carry out the work.
do not need to be activated together.

In the above embodiment, the ultrasonic transmitter 9 and the bait bag ff1O are used together as fish collecting means, but only one of them may be used.

<Effects of the Invention> As is clear from the above detailed description, the method for guiding schools of fish according to the present invention does not require the use of large-scale devices such as long boundary ropes, energized wires, or artificial fish reefs as in the past. Alternatively, it is a relatively simple and economical method that does not require construction of equipment, and various beneficial effects such as those described below can be obtained.

In other words, an underwater navigation robot equipped with a fish-collecting means is repeatedly operated automatically on a predetermined closed-loop underwater course while periodically operating the fish-collecting means, so that it can always attract a large number of fish with peace of mind. It is possible to select a wide range of breeding areas, not only in bays but also offshore, as long as the area is suitable for fish to live. Therefore, it is possible to set up arbitrarily selected areas of water as marine pastures and easily and economically control the fish from leaving them over long periods of time. The growth and proliferation of fish can be promoted extremely efficiently.

In addition, the underwater navigation robot is forcibly guided along an arbitrary underwater course that is different from the closed-loop predetermined underwater course that it has been automatically patrolling while operating the fish collecting means intermittently or continuously. Due to this, when fishing, schools of fish are guided into fishing nets and caught all at once, or, for example, there is an increase in industrial wastewater and the accumulation of sludge.

This also applies when fish can no longer live in the area due to environmental deterioration due to the installation of other structures in the vicinity, or when there is a risk that fish will be wiped out due to sudden accidents such as red tide, typhoon, tsunami, etc. , schools of fish can be easily moved to new or safer waters with better environments.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram of a method for guiding a school of fish according to an embodiment of the present invention, and FIG. 2 is an explanatory diagram of a fishing state. 4...Underwater navigation robot 9...Ultrasonic transmitter (fish collecting means) 10...
...Baiting device (fish collecting means) Lo......Closed loop predetermined underwater course, L......Optional underwater course.

Claims (1)

[Scope of Claims] [1] An underwater navigation robot equipped with a fish-collecting means is operated along a predetermined underwater course in a substantially closed loop shape for a relatively long period of time while the fish-collecting means is operated intermittently. and forcibly guiding the underwater navigation robot to an arbitrary underwater course away from the predetermined closed-loop underwater course while operating the fish collecting means intermittently or continuously. A method for guiding a school of fish, the method comprising: [2] Claim 1 in which the fish collecting means is a baiting device, an ultrasonic transmitter, or a baiting device and an ultrasonic transmitter that can be operated simultaneously.
1] The method for guiding a school of fish as described in item 1).