KR102311747B1 - Intelligent Squid Automatic Jigging machine that respond to the movement of fishing boats - Google Patents

Abstract

The present invention relates to an intelligent jigging machine responding to movement of fishing boats, which comprises: a body unit having a rotating shaft rotating a winding drum of an automatic jigging machine for catching fishing; a motor unit connected to the rotating shaft to provide rotational force; an acceleration sensor measuring the change of position and speed according to the vertical and horizontal linear and rotational movements of the fishing boat; and a control unit receiving movement data related to a change in position and speed measured from the acceleration sensor and controlling the driving of the motor unit to adjust the speed of winding or unwinding a fishing line.

Description

Intelligent Squid Automatic Jigging machine that respond to the movement of fishing boats

The present invention relates to an intelligent catcher that responds to the movement of a fishing vessel, and more particularly, measures the movement of a fishing vessel according to waves or operation and adjusts the lifting speed of the catcher in response thereto, thereby preventing the dropout and entanglement of catches. It is about an intelligent catcher that responds to the movement of a fishing vessel that can be prevented.

The movement of the waves or operation of the fishing vessel for catching fish such as squid affects the speed during the hoisting process during fishing. In other words, the sway of the ship affects the speed of winding or unwinding the fishing line, and when an excessive load occurs, the fishing is greatly affected, such as the loss of catch or tangling of the line. In general, the manual catcher can offset the effect of the ship's agitation by appropriately adjusting the rotational speed of the fisherman. On the other hand, the automatic catcher is difficult to control, and the recently developed equipment can be controlled using an acceleration sensor, but there is a problem that it is still inferior to that of a human control in terms of reaction speed and fishing performance.

Republic of Korea Patent Registration No. 10-1184889 Republic of Korea Patent Registration No. 10-1370603

Therefore, the problem to be solved by the present invention is to solve the above problems, and in this study, the reaction speed to the movement of the fishing boat is excellent, and the intelligent fishing boat that responds to the movement of the fishing boat using the acceleration sensor through the control algorithm with improved fishing performance It provides breakthroughs.

Intelligent catcher that responds to the motion of a fishing boat according to the present invention for solving the above problem is a body portion having a rotating shaft for rotating the winding drum of the automatic catcher for catching fishing, a motor unit connected to the rotating shaft to provide rotational force, fishing vessel An acceleration sensor that measures changes in position and speed according to vertical and horizontal linear and rotational movements of It includes a control unit for adjusting the unwinding speed.

The motor unit may be configured as a BLDC motor.

The BLDC motor receives the stator voltage and outputs the stator current and the rotor speed, and by measuring the current applied to the BLDC motor, the BLDC motor generated torque can be calculated. sensorless speed control is possible.

The control unit may further include a display unit for displaying information related to the driving of the current intelligent chopper and an input unit capable of manually inputting various control signals manually.

The acceleration sensor uses a 6-axis acceleration sensor, and the control unit may remove noise by applying a simple Kalman filter to vibration in the Z-axis direction using a microcontroller.

The control unit may be controlled using an MCU (Micro Controller Unit) dedicated to motor servo control at a speed control frequency of 200 Hz and a control period of 5 ms.

As described above, according to the intelligent catcher that responds to the movement of a fishing vessel according to the present invention according to the present invention, the reaction speed to the movement of the fishing vessel is excellent, and the fishing vessel using a 3-axis acceleration sensor through a control algorithm with improved fishing performance It is possible to provide an intelligent catcher that responds to the movement of

1 and 2 are a combined perspective view and an internal perspective view of an intelligent catcher that responds to the movement of a fishing vessel according to the present invention;
Figure 3 is a longitudinal cross-sectional view of the intelligent catcher that responds to the movement of the fishing vessel according to the present invention of Figure 1;
4 is a block diagram of the main part of an intelligent catcher that responds to the movement of a fishing vessel according to the present invention;
5 is a graph of measuring the momentum of a fishing vessel using a three-axis acceleration line;
6 is an acceleration motion measurement water depth (upper), an acceleration (lower) graph of a fishing boat and a line,
7 is a flow chart of the bias estimation Kalman filter system model algorithm;
8 is a graph of deriving an optimal value for noise removal using a Kalman filter;
9 is a control block diagram of an intelligent catcher that responds to the movement of a fishing vessel according to the present invention;
10 is a block diagram of a motor unit integrated controller of an intelligent catcher that responds to the movement of a fishing vessel according to the present invention.
11 is a real photo of a dedicated motor driver of an intelligent catcher that responds to the movement of a fishing vessel according to the present invention;
12 is a flowchart of an integrated control system control algorithm of an intelligent catcher that responds to the movement of a fishing vessel according to the present invention;
13 is an explanatory diagram of the integrated control system GUI equipment setting (left) and equipment operation (right) of the intelligent catcher that responds to the movement of the fishing vessel according to the present invention.

Specific details regarding the embodiments of the present invention are included in the detailed description and drawings.

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in a variety of different forms, and only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the technical field to which the present invention belongs It is provided to fully inform the possessor of the scope of the invention, and the present invention is only defined by the scope of the claims.

Like reference numerals refer to like elements throughout. The embodiments described herein will be described with reference to ideal perspective views, perspective views, longitudinal sectional views, block diagrams, flowcharts, explanatory drawings and graphs of the present invention.

Hereinafter, with reference to the accompanying drawings 1 to 13 will be described in detail with respect to the intelligent catcher that responds to the movement of the fishing vessel according to the present invention.

1 and 2 are a combined perspective view and an interior perspective view of an intelligent catcher that responds to the movement of a fishing vessel according to the present invention, Figure 4 is a block diagram of the main part of the intelligent catcher that responds to the movement of the fishing vessel according to the present invention.

The intelligent catcher that responds to the movement of the fishing vessel according to the present invention, as shown in FIGS. 1 to 4, the catcher 100 and the motor unit 210 for catching squid used for catching squid, and the acceleration sensor 212 , a control unit 230 and an inverter 250 .

The snatching portion 100 includes a winding drum 110 disposed on both sides of the body portion 105 .

The winding drum 100 extends through the center of a pair of winding wheels 112 and the body 105 of the winding wheel 112 facing each other at a predetermined vertical distance in the horizontal direction to rotate the winding wheel 112 . It includes a plurality of fishing line take-up frames 116 in which both ends are coupled in the vertical direction to both the take-up wheels 112 at a predetermined interval with the 114 and the fishing line is wound.

The motor unit 210 is connected to the rotation shaft 220 to provide an automatically adjusted rotational force in response to the movement of the tongue, and the motor unit 210 uses a 200W gearless shaft type BLDC motor in this embodiment. The BLDC motor of the motor unit 210 is a system that receives a stator voltage and outputs a stator current and a rotor speed. Therefore, it is possible to calculate the torque generated by the BLDC motor by measuring the current applied to the BLDC motor as shown in FIG. 8, and since the current value according to the torque is changed for constant speed operation, it can be seen that sensorless speed control is possible using this.

BLDC (Brushless DC Motor) motor refers to a DC motor in which a mechanical contact such as a brush or commutator is removed from the DC motor and an electronic commutation mechanism is installed.

The acceleration sensor 212 transmits the movement data measuring the position and speed change according to the vertical and horizontal straight line and rotational movement of the fishing vessel to the controller 230 .

The control unit 230 controls the driving RPM of the motor unit 210 based on the movement data of the fishing vessel measured by the acceleration sensor 212 to appropriately adjust the speed of winding or unwinding the fishing line using the winding drum 110 . Controls the driving RPM of the motor unit 210 to prevent excessive load on the fishing line by adjusting the fishing line to prevent dropping of catch or tangling of the line, and a display unit 232 for displaying information related to the operation of the current intelligent catcher. ) and an input unit 234 capable of manually inputting various control signals. Also, the controller 230 may remove noise by applying a simple Kalman filter to vibration in the Z-axis direction using a microcontroller.

The inverter unit 250 applies a driving voltage of a specific pulse width and frequency to the motor unit 210 through a PWM control method according to the gating signal of the control unit 210 .

The intelligent catcher that responds to the movement of the fishing vessel according to the present invention is very important in real-time measurement and speed control by the acceleration sensor in order to control the effect of the fluctuation of the vessel on the underwater fishing. In other words, it is known that the shaking of the fishing vessel during the fishing affects the lifting speed of the automatic catcher and affects the dropout of the catch and the entanglement of the fishing. In order to measure the movement of a fishing vessel during offshore fishing, a total of three on-site measurement tests were conducted using a 29-ton offshore squid catching vessel actually shipped from Pohang, Gyeongbuk (Guryongpo Port). The acceleration sensor 212, which is a 3-axis accelerometer (GDX-ACC, Vernier) according to the present invention, is installed at the center point of the bow deck of the ship and on the port side automatic catcher, and the Z-axis acceleration (Heave) and X-axis rotation among the motion components of the fishing vessel. Rolling was measured, and values were analyzed by measuring 50 times per second for 1 minute. The measurement and analysis software used at this time is Vernier Software & Technology's Graphical analysis v4.1, and the Z-direction acceleration (gravity direction) is 11.8㎨ (approximately 1.2G), X-axis as shown in FIG. 5 at a wave height of 2.0 to 2.5 m. The maximum rotational momentum was ±0.33 rad/s and the period was 1.78 sec. 5 is a graph of measuring the momentum of a fishing vessel using a 3-axis acceleration line.

In addition, an acceleration sensor, an accelerometer (GY-521, MPU 6050), was installed on the central side of the fishing vessel to measure the effect of the fluctuation of the fishing vessel on fishing to know the effect of the fluctuation of the fishing vessel on the fishing speed. An accelerometer, an underwater accelerometer, was additionally attached to the surface and measured. As a result, it can be seen that the change in Z-axis acceleration appears almost similar to the fluctuation of the fishing boat as it rises from the depth of 150 m as shown in FIG. It was confirmed that the changes are being synchronized. 6 is a graph of acceleration motion measurement water depth (top), and acceleration (bottom) of a fishing boat and a line.

On the other hand, the acceleration was measured by applying the bias estimation Kalman filter. The control method using a commercial PLC in the automatic handler does not have a problem in general motion control. 210) has a problem of poor followability. Therefore, in order to accurately measure the fluctuations of the fishing vessel and transmit it to the automatic catcher, a low-cost MEMS (Micro Electro-Mechanical Systems) 6-axis accelerometer used in mobile equipment such as drones and ROVs is used, and for noise removal and accurate measurement, A bias estimation Kalman filter was applied.

The Kalman filter is a filter developed by Rudolf E. Kalman in the early 1960s. It uses old information and new measurement values to remove noise included in the measurement values to estimate (optimal). The algorithm used to track the value of ) is shown in FIG. 7 . FIG. is a flowchart of a bias estimation Kalman filter system model algorithm.

Meanwhile, FIG. 8 is a graph of deriving noise removal values using a Kalman filter. Using a 6-axis accelerometer (GY-521 MPU-6050) and an Arduino Nano board, vibrations in the Z-axis direction are randomly generated, and a simple Kalman filter (SimpleKalmanFilter) is used. It is the result of deriving the optimal value by applying .h) to remove the noise.

<Improvement and supplementation of prototype>

○ Development of BLDC driver integrated controller of intelligent catcher according to the present invention.

In order to compensate for the shortcomings of the commercial PLC used in the automatic controller developed in 2019, the development of a controller for BLDC driver was promoted.

It was confirmed that very fast control was possible with a speed control frequency of 200Hz and a control period of 5ms using MCU (Micro Controller Unit) dedicated to motor servo control.

The position and speed PI controller is configured by measuring the resistance value and current inside the circuit, and the switching signal of the power element is controlled and calculated by receiving the Hall sensor HALL1, HALL2, HALL3 input of the BLDC Motor, and the PWM output according to the current output is shown in Fig. was controlled as 9 is a control block diagram of an intelligent catcher that responds to the movement of a fishing vessel according to the present invention.

The intelligent chopper exclusive motor drive (IGCM06F60GA, Infineon) integrated controller is a model applicable to a 1kW high output AC type BLDC motor. Its performance was improved as 10 is a block diagram of a motor unit integrated controller of an intelligent catcher that responds to the movement of a fishing vessel according to the present invention, and FIG. 11 is a real photograph of a dedicated motor driver of an intelligent catcher that responds to the movement of a fishing vessel according to the present invention.

The intelligent catcher interface minimized unnecessary functions to increase user convenience and changed from a screen touch method to a soft button touch method according to the needs of fishermen. In addition, the intelligent chopper integrated control system was configured using a Windows CE 6.0-based 15-inch touch panel PC (Cortex A8 1GHz, RAM: 512MB, Flash: 256MB), and a communication method for transmitting and receiving data between the intelligent chopper and the integrated controller configured RS-485 communication network through PLC (Power Line Communication) network.

The intelligent catcher is configured to control up to 12 each port and starboard at the same time. When registering equipment, the ID must be accurately entered to match the installation location of each equipment. Hardware contact button to stop the controller in case of emergency stop and emergency situations A configuration was added (see FIGS. 12 and 13). 12 is a flowchart of an integrated control system control algorithm of an intelligent catcher that responds to the movement of a fishing vessel according to the present invention, and FIG. 13 is an integrated control system GUI equipment setting of an intelligent catcher that responds to the movement of a fishing vessel according to the present invention ( Left) and equipment operation (right) explanatory diagrams.

○ Definition of the intelligent catcher integrated control system protocol according to the present invention

The communication method is RS-485 half-duplex communication method, and only one-way communication is possible. The device ID is assigned to each device as an individual ID (Address), and the ID is Hexacode, 2 digits, and assigned from 0x0A to 0x80 (10 to 128). When ID 0xFF (255), it is mainly used for data emergency situations for all reception (ex: emergency stop). It is processed when the corresponding ID is itself, and the response time after receiving is within 10ms

Protocol data format: ([)(ID)(CMD)(DATA)(CHKSUM)(]), up to 32bytes

[ : Start of data (STX), 1 byte

ID: Equipment identification number (Hex: 0A ~ 80), 2bytes

CMD : Command for request (Hex : 00 ~ FF), 2 bytes

DATA is up to 24 bytes

] : End of data (ETX), 1 byte

In order to reduce the amount of data, the setting data is processed as bit-unit data for each item and then converted into bytes.

○ Intelligent chopper control communication test according to the present invention

For the communication test of the intelligent catcher integrated control system, the stable operation status was checked using power line communication, and transmission and reception were performed according to the communication protocol using a virtual signal simulator.

Although the preferred embodiment of the present invention has been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements by those skilled in the art using the basic concept of the present invention as defined in the following claims are also provided. is within the scope of the

100: catch section 105: body
110: winding drum 112: winding wheel
114: axis of rotation 116: fishing line wound frame
210: motor unit 212: acceleration sensor
230: control unit 232: display unit
234: input unit 250: inverter unit

Claims (6)

A body portion having a rotating shaft for rotating the winding drum of the automatic catcher for catching fishing;
A motor unit connected to the rotation shaft to provide rotational force,
An acceleration sensor that measures the change in position and speed according to the vertical and horizontal linear and rotational movements of the fishing vessel; and
A control unit that receives movement data related to a change in position and speed measured from the acceleration sensor and controls the driving of the motor unit to adjust the speed of winding or unwinding the fishing line
includes,
The acceleration sensor uses a 6-axis acceleration sensor,
The control unit removes noise by applying a simple Kalman filter to vibration in the Z-axis direction using a microcontroller.
An intelligent catcher that responds to the movement of the fishing vessel. In claim 1,
the motor unit
Consists of BLDC motors
An intelligent catcher that responds to the movement of the fishing vessel. In claim 2,
The BLDC motor is
It receives the stator voltage and outputs the stator current and rotor speed, and by measuring the current applied to the BLDC motor, the torque generated by the BLDC motor can be calculated. speed controllable
An intelligent catcher that responds to the movement of the fishing vessel. In claim 1,
the control unit
A display unit that displays information related to the operation of the current intelligent catcher and an input unit that can manually input various control signals
further comprising
An intelligent catcher that responds to the movement of the fishing vessel. delete In claim 1,
the control unit
Using MCU (Micro Controller Unit) dedicated to motor servo control, it can be controlled with a speed control frequency of 200Hz and a control cycle of 5ms.
An intelligent catcher that responds to the movement of the fishing vessel.

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