JPS63291524A - Automatic fishing machine - Google Patents

Abstract

PURPOSE:To enable sure unhooking of fish and improve the efficiency of fishing operation, by providing a fishing rod of an automatic fishing machine in a manner to be swivellable between a fishing position at a head of a fishery boat and an unhooking position at the rear part and snapping the fishing rod forward at the unhooking position. CONSTITUTION:The main body 1 of a fishing machine is composed of (A) a protection case 11 containing a hydraulic actuator, (B) a fishing rod 10 supported on the case in a manner swivellable between the head fishing position and the rear unhooking position and (C) a proportional solenoid valve 12 composed of e.g. a 4-port 2-position change-over valve, connected between the hydraulic actuator and a hydraulic pump unit 7, setting the flow rate and direction of hydraulic oil supplied to the hydraulic actuator according to the command transmitted from an arithmetic and controlling unit and controlling the swiveling direction, speed, etc., of the fishing rod 10.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic fishing bridge that is installed on a fishing boat and used for fishing for fish species such as bonito and tuna.

In order to improve efficiency and save manpower in fishing operations, fishing boats are now being equipped with automatic fishing bridges.

As a conventional example of this type of automatic fishing bridge,
There is one disclosed in Japanese Patent No. 288 (hereinafter referred to as the first conventional example). The system is equipped with a variable fishing force mechanism, and is configured to catch fish with a desired fishing force that is adapted to the size, weight, and weight of the fish, and allows small or light fish to be carried into the boat without being scattered backwards. We will make sure to incorporate it.

Further, as another conventional example, there is one disclosed in Japanese Patent Application Laid-open No. 153737/1983 (hereinafter referred to as the second conventional example).

In this system, the lifting and lowering operations of the fishing rod are controlled to approximate human operations, and the fishing rod is temporarily stopped at a predetermined position on the boat in order to reliably bring the fish into the boat.

However, in both the first and second conventional examples mentioned above, there is a limit to the ability to reliably remove the fish from the hook due to the following reasons. There was a limit to reducing the closing rate, that is, increasing the efficiency of fishing operations.

That is, in order to reliably remove the fish from the hook, the fisherman usually lightly snaps the fishing rod forward on the boat to rapidly loosen the tension on the fishing line (hereinafter referred to as unhooking operation). 2. In the conventional example, there is no such unhooking operation, so the fish could not be reliably removed from the hook.

The present invention has been made to solve the problems of the prior art, and provides an automatic fishing bridge that can reliably remove fish from fishing hooks on board a boat, thereby improving the efficiency of fishing operations. The purpose is to

For oral fortune-telling.

The automatic fishing bridge according to the present invention is provided in one or more on a fishing boat,
The fishing bridge body includes a fishing rod that is rotatable between a front fishing position and a rear fish removal position, and an arithmetic and control device that controls rotational operation of the fishing rod, and in the fish removal position, The fishing rod is configured to perform a forward snap motion.

If this is the case, the tension of the fishing line will suddenly loosen during the snapping action, so the fish will definitely come off the hook.

Chigan elbow Embodiments of the present invention will be described below based on the drawings.

FIG. 1 is a block diagram showing the overall configuration of an automatic fishing bridge according to the present invention, FIG. 2 is a schematic front view showing the structure around the fishing rod, and FIG.
The figure is an explanatory diagram showing the angular position of the fishing rod 10.

This automatic fishing bridge consists of, for example, a fishing bridge body 1 that has two fishing spots on each side of a fishing boat, for a total of four (only one on one side is shown in the drawing), and a fishing bridge body 1 that allows fish to be placed on each fishing bridge body 1. A calculation and control device 2 that automatically rotates the fishing rod 10 provided in each fishing bridge body 1 for fishing, and a calculation and control device 2 that is provided at the fishing spot and the bridge (upper bridge), and the fishing bridge body 1 and the calculation and control device 2 In order for fishermen to monitor the fishing operation performed in combination with the fishing spot or the boat bridge, remote controllers 5a and 5b are used to perform switching operations, and the wave surface and the fishing rod 10, more specifically, the wave surface and the fishing hook (not shown). wave height detector 6 that detects the height of
0, and a hull tilt detector 61 that detects the rolling of the hull.

First, the fishing bridge body 1 will be explained. In addition, since the structure of each fishing bridge body and the control details described later are the same, the following 1.
The basic fishing bridge body 1 will be explained as a representative. As shown in Fig. 2, the fishing bridge main body l is rotatably supported by a protective case 11 that houses a hydraulic actuator (not shown) therein between a fishing position in the front and a fishing position in the rear. The fishing rod 10 is connected between a hydraulic actuator and the hydraulic pump unit 7, and is configured to include, for example, a 4-point/2-position switching solenoid valve, and the hydraulic actuator is activated by a predetermined drive command signal from the arithmetic and control device 2. The fishing rod 10 has an electromagnetic proportional valve 12 that sets the flow rate and direction of the hydraulic oil supplied to the fishing rod 10 and controls the rotational force direction, rotational speed, etc. of the fishing rod 10.

The hydraulic actuator consists of a rack and pinion mechanism, a hydraulic cylinder, etc., and uses hydraulic oil supplied from the hydraulic pump unit 7 via the electromagnetic proportional valve 12 to transmit the reciprocating motion of the rod of the hydraulic cylinder advancing and retracting to the rack. The reciprocating movement of the rack rotates the pinion, thereby rotating the fishing rod 10.

A fishing line 13 is inserted into the inside of the fishing rod 10. fishing line 13
A fishhook (not shown) is attached to the tip of the hook, and a load detector 14 for detecting the weight of the fish caught is connected to the rear end. Further, as shown in FIG. 1, the fishing bridge main body 1 is provided with a rod angle detector 15 for detecting the rotational position of the fishing rod 10 rotated as described above. Rod angle detector 1
The detection result No. 5 is provided to the arithmetic and control device 2.

Next, the remote controllers 5a and 5b will be explained. The remote controllers 5a and 5b are installed at the fishing spot and the ship's bridge, respectively, and consist of an operating connection/disconnection switch 5 that switches the start and stop of these devices.
0a, 50b, and function switchers 51a, 51 for switching between an automatic operation state and a manual operation state of the device of the present invention, for example.
b, and lever angle detectors 52a and 52 that detect the setting angle of the setting lever that sets the rotation operation range of the fishing rod 10.
b. The remote controllers 5a and 5b are manually operated by fishing workers, and the operation connection/disconnection switches 50a and 5
The on/off state of the switch 0b, the switching state of the function switchers 51a and 51b, and the detection results of the lever angle detectors 52a and 52b are provided to the arithmetic and control unit 2, respectively. Note that switching to the manual operation state is performed when an unexpected accident or the like occurs.

Next, the wave height detector 60 and the hull inclination detector 61 will be explained. The wave height detector 60 detects the height between the wave surface and the fishhook as described above, and is composed of, for example, an ultrasonic sensor. The detection result of the wave height detector 60 is provided to a calculation unit 20 of the calculation control device 2, which will be described later. on the other hand,
The hull inclination detector 61 detects the inclination of the ship determined by the rolling pinch of waves, and the detection result thereof is similarly provided to the calculator 20. When the wave height detector 60 and the hull inclination detector 61 are provided and the height position between the wave surface and the fishhook is calculated by the calculator 20 as described later, the inclination of the hull due to the influence of waves and the fluctuation in the height position are detected. This makes it possible to always set the position of the fishhook at a predetermined position in the sea.

Next, the arithmetic and control unit 2 will be explained. Arithmetic control device 2
is a computing unit 2 consisting of CP[I, RAM, ROM, etc.
0 and an analog circuit to be described later, the fishing rod 1 is
The fishing bridge body 1 is made to carry out a cradling motion, a single unhooking action, a double unhooking action, etc., which will be explained later, to cause the fishing bridge body 1 to catch a fish, the details of which are as follows.

The operation device determination circuit 21 of the arithmetic control device 2 has the operation contact/
On/off signals from the disconnectors 50a and 50b are input, and the operator determination circuit 21 determines which remote controller is in the on state based on this input signal.
In other words, it is determined whether fishing operations are being monitored at the fishing spot or on the bridge, and the determination result is input to the interface, Ace 2.
2 to the arithmetic unit 20.

If an embodiment is adopted in which fishing operations are monitored from the bridge, it becomes possible to visually check each fishing spot from the bridge, in other words, it becomes possible for one person to monitor a large number of fishing bridge bodies 1. In order to save on manpower, it is desirable to implement monitoring from the bridge.

The operating device determination circuit 21 also provides an operation command signal to the function determination circuit 23 and the detector switching circuit 24 to cause them to perform a predetermined operation based on the determination result. Here, the function determination circuit 23 includes the function switchers 51a and 5.
1b, and lever angle detection signals are input from the lever angle detectors 52a and 52b to the detector switching circuit 24, respectively.
3, when the determination result of the controller determination circuit 21 is a fishing spot and a function switching signal is input from the function switch 51a, the functional state of the remote controller is determined to be a fishing spot, and the controller is determined. If the determination result of the circuit 21 is the bridge and a function switching signal is input from the function switch 51b, the remote control determines that the functional state of the device is the bridge, and transmits the determination result via the input interface 22. The information is reported to the computing unit 20. Further, the determination result of the function determination circuit 23 is provided to an output connection/disconnection switch 38, which will be described later.

On the other hand, the detector switching circuit 24 has a zero point/gain adjuster 25,
Lever angle detectors 52a, 5 via A/D converter 26
The lever angle detection signal of either one of the lever angles 2b and 2b is supplied to the calculator 20. That is, when the judgment result of the operating device judgment circuit 21 is a fishing spot, the detection signal of the lever angle detector 52a is given to the calculator 2o, and when the judgment result is a ship's bridge, the detection signal of the lever angle detector 52b is calculated. It is designed to be given to a container 20. Further, these detection signals are applied to a command angle switch 40 that changes the set angle of the lever, that is, the rotational operation position of the fishing rod 10, as will be described later.

The detection result of the rod angle detector 15 of the fishing bridge body 1 is sent to the A/D converter 2 via the zero point/gain adjuster 30 of the arithmetic and control unit 2.
6. The rod angle range determination circuit 32 and the deviation detection circuit 34 (described later) are each supplied with the detection results, and the detection results of the load detector 14 are supplied to A via the zero point/gain adjuster 31.
The signal is supplied to the /D converter 26, the fish flesh determination circuit 35, and the overload determination circuit 36. Here, the rod angle detector 15 detects the inclination of the fishing rod 10 with respect to the horizontal plane, and the rod angle of the fishing rod 10 changes within the range shown in FIG. Further, the load detector 14 is connected to the rear end of the fishing line 13 as described above, and is used to detect the weight of the hooked fish.

Based on the detection signal of the annual cycle detector 15, the annual cycle range determination circuit 32 determines where the fishing rod 10 is in the rod angle position shown in FIG. A control circuit 3 determines which operating range of the single release hook range or the double release hook range the user is in and what kind of fishing operation is to be performed at that point in time, and adds the result of the determination.
It is designed to output to 3. The specific details of the fishing operation will be explained later and shown in FIG. 4.

On the other hand, the fish fill determination circuit 35 determines whether or not a fish is hooked based on the detection signal of the load detector 14, and reports the determination result to the calculator 20 via the input interface 22. Further, the overload determination circuit 36 is for determining whether the hooked fish weighs more than a predetermined weight, that is, whether the caught fish is the target fish species. The signal is reported to the arithmetic unit 20 via the input interface 22 and output to the output disconnector 38. If the hooked fish weighs more than a predetermined weight, the overload determination circuit 36 outputs an output signal.
A cut-off command signal is issued to the cut-off switch 38, which stops the rotation of the fishing rod 10 and protects the fishing bridge body 1. Note that while the drive of the device of the present invention is stopped, a similar cutoff command signal is inputted from the function determination circuit 23 to the output connection/disconnector 38 to prevent the device of the present invention from being driven unexpectedly. It is designed to prevent

Now, in addition to the determination from the annual cycle range determination circuit 32, the addition control circuit 33 receives cradle operation command signals from the cradle operation setting device 41, the single release hook operation setting device 42, and the double release hook operation setting device 43; A single release hook operation command signal and a double release hook operation command signal are selectively given, respectively, and based on these signals, the fishing rod 10 is selectively made to perform a cradling operation, a single release hook operation, and a double release hook operation. It is designed to be controlled to make it happen. That is, the addition control circuit 33 that receives these signals issues a predetermined operation command signal to the deviation detection circuit 34. Circumference detection signal and command angle switch 40
The PWM amplifier 3 detects the deviation from the angle setting command signal from
7, a deviation cancellation command signal is issued. Then, the PWM amplifier 3 that receives this deviation cancellation command signal
7 issues a predetermined duty ratio setting command signal to the electromagnetic proportional valve 12 via the output connection/disconnection switch 38, sets the solenoid position and valve opening, and controls the outflow direction and flow rate of the hydraulic oil. become. In this way, the hydraulic oil drives the actuator of the hydraulic pump unit 7, and the fishing rod 10 is set at a desired rotational operation position (rod angle position).

The drive control of the command angle switch 40, cradle operation setting device 41, single release hook operation setting device 42, and double release hook operation setting device 43 is performed by the computing unit 20 via the D/A converter 47. It has become. This drive control of the arithmetic unit 20 is performed by program control. The calculator 20 also receives a fishing speed adjustment command signal and a return speed adjustment command for the fishing rod 10 from a fishing speed setting device 44, a rod return speed setting device 45, and a single release hook position setting device 46 via an input interface 22. A signal and a single release hook position adjustment command signal for adjusting the single release hook range shown as the adjustment range of the single release hook range in FIG. 3 are respectively given. Setting operations of these setting devices are performed by fishing workers, and specifically, they function to appropriately adjust the speed and position programmed in the calculator 20 according to the species of fish to be caught.

Here, the single unhooking action refers to the first snap action performed by the fishing rod 10 in order to remove the caught fish from the hook, and the double unhooking action refers to the initial snap action that is performed when the fish is not released by the single unhooking action. This refers to the snap action performed when

The configuration of the arithmetic and control unit 2 is as described above.
This will be explained based on the drawings and FIG.

In addition, in Fig. 4, the horizontal axis shows time t (seconds), and the vertical axis shows the rod angle (the angular position of the fishing rod 10 from the horizontal plane, where the tip of the fishing rod 10 is directed upward with respect to the horizontal plane with a positive sign). , the downward direction is indicated by a minus sign.) Timing charts for explaining the fishing operation, Figures 5 (a), (b), and (c) each plot time on the horizontal axis.
FIG. 3 is an explanatory diagram of a cradling operation, a single unhooking operation, and a double unhooking operation, in which the vertical axis shows the rod angle from the reference position of the fishing rod 10.

The computing unit 20 receives information from the remote controllers 5a and 5b via the input interface 22 and the A/D converter 26, and when it learns that the fishing operation is being carried out on the bridge,
A fishing operation is executed according to a fishing program stored in advance.

Here, at the time of starting execution of the fishing operation, the angular position of the fishing rod 10 is at the rod standby position where the rod angle is 90° as shown in FIG. The arithmetic unit 20 makes a determination based on the detection signal.

Now, according to the fishing program, the calculator 20 first sends a predetermined drive command signal to the command angle switch 40 in order to tilt the fishing rod 10 downward so that the rod angle of the fishing rod 10 is 130 degrees at the fishing starting position. emits. Then, as mentioned above (
Deviation detection circuit 34, four-amplifier 37, output connection/disconnection 38
The fishing rod 10 is then rotated downward via the electromagnetic proportional valve 12 and temporarily stopped at the fishing starting position. This operation is performed for a time T shown in FIG.

It is supposed to be done internally. The fishing start position and the angle position of the fishing rod 10 during the fishing operation described below are based on the detection signals from the wave height detector 60 and the hull inclination detector 61, and are based on the inclination and height of the hull due to the influence of waves. It is adapted to be appropriately corrected each time to eliminate positional fluctuations.

Next, the computing unit 20 issues a predetermined drive command signal to the cradle operation setting unit 41, and the deviation detection circuit 34 and PWM amplifier 3
7. Drive the fishing rod 10 via the output connection/disconnection switch 38 and the electromagnetic proportional valve 12, as shown in broken lines in FIG. 4, and as shown in FIG. 5(a).
The cradle operation shown in is performed a set number of times over time T2. Here, as shown in FIG. 4, the start of time T2 is within time T, but this is due to consideration of the responsiveness of the drive system such as the electromagnetic proportional valve 12 and the hydraulic actuator. It is at time T1 that ゜ actually performs the cradling motion.
It is after the elapsed time. The cycle of this cradle operation and the cradle angle are selected depending on the species of fish to be caught, and are set in the fishing program.

Note that if a fish is hooked during the execution of the cradle operation, that is, if the fish species determination circuit 35 determines that the fish is hooked as described above and reports this to the computing unit 20, the computing unit 2
0 stops the pacifying operation at that point, and issues a predetermined drive command signal to the command angle switch 40 to cause the fishing rod 10 to perform the fishing operation. Here, the trajectory of the fishing rod 10 shown by the solid line in FIG. 4 shows the movement when the fish is hooked at the start of the cradle motion, and the recasting motion that is connected to the cradle motion, shown by the broken line in FIG. This is performed when the fish is not hooked even after performing the cradle motion a set number of times, and this motion is performed to entice the fish to bite. This re-throwing operation is also performed by the computing unit 2 in the same manner as above.
0, and the time is T3
is set to . Furthermore, once the rethrow action is complete,
Following this, a cradling motion similar to that described above is performed.

Now, when we execute the fishing operation and find out that the rod angle of the fishing rod 10 is about 80 degrees based on the date detection signal from the rod angle detector 15, it has reached the single unhooking operation start position shown in FIG. , the computing unit 20 issues a predetermined drive command signal to the single unhooking operation setting device 42. In this case, the fishing rod 10 performs a single hooking motion as shown by the broken line in FIG. 4 and as shown in FIG. 5(b). However, if you perform this single unhooking action, the tension on the fishing line will suddenly loosen, making it easier for the fish to come off the hook. However, if the fish still does not come off, try the multiple unhooking action described below. I will have to do it.

In this case, the calculation unit 20 determines whether the fish has been missed based on the detection signal from the load detector 14, but the calculation unit 20 determines that the fish has been lost before the fishing rod 10 reaches the single hook release start angle. In this case, a predetermined drive command signal is issued to the command angle switch 40 to control the fishing rod 10 to return to the fishing starting position. Here, the times for the fishing operation and the single unhooking operation are indicated by T4 and T5, respectively, in FIG.

Now, when the single unhooking operation is completed, according to the fishing program, the computing unit 20 sends a predetermined drive command signal to the command angle switch 40 in order to cause the fishing rod 10 to perform a rod return operation to rotate the fishing rod 10 to the rear position. emits. This rod return operation is performed for a time period T6 that is continuous with the single hook release operation.

When the rod returning operation is completed, the computing unit 20 issues a predetermined drive command signal to the double unhooking operation setting device 43 in order to cause the fishing rod lO to perform a double unhooking operation. As shown in FIG. 4, this double unhooking operation is performed multiple times (four times in the illustrated example) within time T7.
This ensures that the fish will be caught. Incidentally, FIG. 5(C) shows the relationship between the rod angular position of the fishing rod 10 and time in this double unhooking operation.

According to the device of the present invention, the above-mentioned single unhooking operation and double unhooking operation ensure that the fish is dislocated, but in case the fish is not dislocated, in this case, The arithmetic unit 20 issues a predetermined cutoff command signal to the output terminal/llj'i unit 38, and the fishing rod 10
is now suspended. In this stopped state, fishermen will remove the fish.

In the case of the present invention described above, fish can be caught automatically, which not only saves labor, but also makes it possible to reliably remove the fish from the hook on board the boat. Therefore, the efficiency of fishing operations can be significantly improved compared to the conventional example described above.

[Brief explanation of drawings]

1 to 5 show embodiments of the present invention, FIG. 1 is a block diagram showing the overall configuration of the automatic fishing bridge according to the invention, and FIG. 2 is a schematic front view showing the structure around the fishing rod. , Fig. 3 is an explanatory diagram showing the angular position of the fishing rod, Fig. 4 is a timing chart for explaining the fishing operation, Fig. 5 (a),
(b') and (c) are explanatory diagrams of a cradling motion, a single unhooking motion, and a double unhooking motion, respectively. 1...Fishing bridge body 10...Fishing rod 12...Solenoid proportional valve 14...Load detector 15...Rod angle detector 2...Arithmetic control device 20...Arithmetic unit 21... Operator judgment circuit 23... Function judgment circuit 24... Detector switching circuit 32... Rod angle range judgment circuit 33... Addition control circuit 34... Deviation detection circuit 35... Fish species judgment Circuit 37... P dark amplifier 40... Command angle switch 41... Cradle operation setting device 42... Single release hook operation setting device 43... Double release hook operation setting device 5a, 5b... Remote controllers 52a, 52b...Lever angle detector 60...
・Wave height detector 61...Hull inclination detector 7...Hydraulic pump unit

Claims (1)

[Claims] (1) A fishing bridge body provided with one or more fishing rods that is provided on a fishing boat and that is rotatable between a fishing position in the front and a fishing position in the rear, and an arithmetic and control device that controls the rotational operation of the fishing rods. An automatic fishing bridge, characterized in that the fishing rod is caused to perform a forward snap action at the fish removal position.