WO2017017597A1 - Method and system for purse seine fishing with a remotely controlled auxiliary vessel - Google Patents

Method and system for purse seine fishing with a remotely controlled auxiliary vessel Download PDF

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Publication number
WO2017017597A1
WO2017017597A1 PCT/IB2016/054432 IB2016054432W WO2017017597A1 WO 2017017597 A1 WO2017017597 A1 WO 2017017597A1 IB 2016054432 W IB2016054432 W IB 2016054432W WO 2017017597 A1 WO2017017597 A1 WO 2017017597A1
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WO
WIPO (PCT)
Prior art keywords
vessel
auxiliary
fishing
auxiliary vessel
engine
Prior art date
Application number
PCT/IB2016/054432
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Spanish (es)
French (fr)
Inventor
Alberto Coyo ARAYA VELÁZQUEZ
Manuel Alejandro BARRAZA RODRÍGUEZ
Original Assignee
Corpesca S.A.
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Application filed by Corpesca S.A. filed Critical Corpesca S.A.
Publication of WO2017017597A1 publication Critical patent/WO2017017597A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K73/00—Drawn nets
    • A01K73/12—Nets held vertically in the water, e.g. seines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/14—Fishing vessels

Definitions

  • the present invention relates to the purse seine fishing industry.
  • the present invention relates to a method and system of handling an auxiliary vessel, commonly called panga, for purse seine fishing.
  • panga is controlled from within by a fisherman called panguero, who due to working conditions is exposed to accidents due to the risks of the activities to be performed, alone inside the panga. Therefore, there is a need to automate the different operations with a method and control system of the auxiliary vessel of the purse seine fishing process, to avoid the presence of the panguero inside the panga and thereby eliminate personal accidents inside the panga
  • This type of fish catch is usually done in the northern part of Chile, in Peru, in Ecuador and in Spain; and the present technology is applicable to auxiliary vessels, used in fishing vessels with purse seine and in which the auxiliary vessel does not exceed the maximum authorized range of action, for these events.
  • the radius of action is up to 1,800 meters, preferably up to 1,000 meters.
  • Auxiliary fishing boats or pangas generally correspond to flat-bottomed metal vessels, with protected propeller, square stern, with large power motor. They are used during the capture operation, to keep the bow stock at the time of launch. After delivering this end of the network to the PAM, it performs other tasks. In port it is occasionally used for disembarkation and shipment of personnel and materials. In addition, auxiliary boats do not have position lights, since they scare away fish.
  • panga Unlike the high seas fishing vessel or PAM, a single person working in a panga is the panguero, a crew authorized by the corresponding Maritime Authority.
  • the panguero is a bay sailor or fisherman who works as a crew member or panga manager.
  • the panguero must have knowledge of the crash and boarding table, in addition to all the current requirements for the crew members who are registered by the corresponding Maritime Authority.
  • the auxiliary vessel (panga) has had a preponderant role in the fish capture maneuver. Its main function is to hold the end of the net corresponding to the bow calon to form the flake, where the flake is the area or portion of the sea defined by the net where the fish are entrenched or confined, which is then proceeded to suck with fish pump.
  • the PAM high seas fishery
  • panga After the delivery of its end of the net to the PAM the panga performs maneuvers requested by the fishing employer, some are:
  • the panga is installed on the stern port side (for example) to be hoisted towards the navigation position on the net. To do this in the stern there are some guides that direct and center the panga in the stern, for the next set or direction to the port.
  • panguero there are many conditions that generate accidents to the crew member (panguero), such as: night and / or day work with or without fog; slaughter with adverse sea conditions; the panguero is inside the panga when it is lowered to the sea, with no means available to dampen the fall of the panga by stern of the PAM from an approximate height of 3 meters or more; that the panguero must deal with cable maneuvers normally without light; in addition, the panguero must be mobilized on the roof of the panga on a wet and slippery floor; the lack of position lights that exposes collision by other vessels in the fishing zone. In addition the panguero is exposed to suffer an accident by the types of maneuver in the cover of the panga.
  • panguero An operation of special risk during the siege maneuver, which does not have the participation of the panguero, is the exit of the key of the main winche, by which the PAM recovers the end of the net that held the panga. Operation in which to produce any obstacle that can end with the overturned panga, with unpredictable consequences for the operator. On the other hand, the panguero may suffer some health problem that does not allow him to move inside the panga while fishing is being done and is unable to inform his teammates.
  • panguero does not have mechanical knowledge to provide a remote solution, in case the panga suffers damage to its propellant system, such as for example that some cable is entangled in the propeller or as it is normally called in marine terms it is cornered, or the engine is stopped (usually a diesel one) or there is a failure in the hydraulic counter gear, which would result in the auxiliary vessel or panga with restricted maneuvering until it is supported by its own PAM or other vessel.
  • panguero that is inside the panga is prone to accidents. Bearing in mind that over time there have been serious accidents with loss of life, serious damage to body organs and / or amputations.
  • wireless fishing boats such as the one mentioned in the GB2490448 patent.
  • the document describes a wireless fishing boat with remote control, whose fishing medium is through hook and bait, comprising a boat body and a wireless remote control communicated with the body of the boat, a microcontroller that is arranged in the body of the ship, a control circuit that is arranged in the remote controller and an electronic compass that maintains a certain direction, to know the position of said boat.
  • the GB2490448 patent fishing boat is not designed or focused on purse seine fishing, so it does not solve the same technical problem mentioned in this application.
  • this GB2490448 patent boat does not mention or suggest a fishing method in which a main boat is related, with an auxiliary vessel for the fishing maneuver, in order to minimize the possibility of accidents within the auxiliary ship
  • patent CN103448877A which describes an intelligent fishing boat equipped with temperature, steering, level sensors and global positioning system (GPS) for remote control operation.
  • GPS global positioning system
  • This document is related to a boat of smaller dimensions, for fishing and not for the management of the fence.
  • a fishing method in which a main ship is related, with an auxiliary vessel for the fishing maneuver.
  • purse seine fishing which is the type of fishing that requires an auxiliary or panga vessel, managed normally by a person on board or panguero, to stretch the fishing net and keep the deep sea fishing vessel in position, so that the fishing net does not get entangled with the propeller of high fishing vessels sea, while the network closing maneuvers are being carried out, in order to eliminate as much as possible the possibility of accidents of the person maneuvering inside the auxiliary boat.
  • Auxiliary fishing boat, fishing panga or simply panga Flat bottom metal boat, with protected propeller, square stern and, considering the size of the panga, with a large power engine. It is used during the catch to keep the bow stock at the time of launch. After delivering this end of the network to the PAM performs other tasks. In port it is occasionally used for disembarkation and shipment of personnel and materials. It also has no position lights, so as not to scare away the fish.
  • Panguero Bay sailor or fisherman sailor who serves as a crew member of the Panga, in other words he is the operator of the panga that manages it from the inside. You must have knowledge of the crash box and boarding for navigation, in addition to all current requirements for crew members who are registered by the corresponding Maritime Authority.
  • PAM Boat or Fishing of the High Seas.
  • Network Fishing art of the PAM, to catch the fish.
  • Copo Area of the net where the fish are entrenched, to subsequently suck with a fish pump.
  • Stern Back of the PAM, usually in the area where the propeller is located.
  • Prow Front of the PAM, usually where the water cuts when sailing.
  • Starboard Lateral side of the PAM, which in the position of the Captain facing forward is on the right side.
  • Port Lateral side of the PAM, which in the position of the Captain looking forward is on the left side.
  • Calón Part of the fishing net, from where the cables are hooked to close it during the fishing process. Maneuver: Set of the ends or rigging of a boat.
  • the pangas are operated by a crew member or panguero, from inside the panga, which must overcome different risks, such as poor or no visibility, strong waves and sea currents, overturning of the panga and / or accidental mechanical problems , during the fishing maneuver.
  • the present invention relates to a method and system of remote and semi-automated control of the management of the auxiliary or panga boat and the systems of fishing for the control of the maneuvers of a purse seine fishing process.
  • the panga has different modes of operation: remote and semi-automated control, each associated with specific stages of the task or launch.
  • the panga operates according to a remote control by means of an electronic drive and remote operation system, from the fishing vessel (PAM).
  • PAM fishing vessel
  • the present application describes a purse seine fishing method that is carried out through a remote control to command an auxiliary vessel and a system incorporated into the auxiliary fishing vessel or panga, which executes the orders received from a remote control. , to perform said purse seine fishing process.
  • panga with an automated system has the following advantages: remote control of: the departure of the panga, of a system of government of the panga, of a drive system of a propulsion, of maneuvers for delivery of the calon , command the panga, avoid the exit of the fishing by calón, trailer of the PAM by stern or bow, remote control of approach and distance of the panga of its mother ship or PAM in a radius of action of up to 1 .800 meters preferred up to 1,000 meters.
  • Figure 1 shows the detection of fish stain.
  • Figure 2 shows the net exit and start of the Panga shot.
  • panga delivers the calón to the PAM
  • Figure 5 shows how the panga tow the PAM from starboard aft to prevent the propeller from entering the net.
  • Figure 6 shows how fishing pockets in net.
  • Figure 7 represents a schematic top view of the auxiliary boat or panga (100).
  • Figure 8 represents a schematic side view of the auxiliary boat or panga (100).
  • Figure 9 represents a schematic view of an image display module (203), a remote control (202) with wireless communication means (204);
  • Figure 10 shows the remote control (202) communicates with the image display module (203) and sensor data, the main function It is to communicate with the user and send status of the sensors and measured variables if it detects an error stops the engine (101) of the panga for review. All information is sent wirelessly, wireless signals can be WIFI, or other wireless signal with a range of more than 100 meters and less than 10 kilometers.
  • a semi-automatic fishing method is provided with an auxiliary vessel or panga (100) that avoids the accidentability of the operators inside the auxiliary vessel or panga (100 ), comprising the steps of: i) detecting a fish spot (300);
  • ii) initiate the exit of a network (201) from a vessel or PAM or fishing vessel (200);
  • iii) establish a wireless connection to remotely control the auxiliary vessel (100), through a remote control (202), associated with a display module (203), said connection established through a wireless communication medium of the fishing vessel (204), in communication with a control device (121) through a wireless communication means of the auxiliary vessel (124), without requiring an operator aboard the auxiliary vessel (100)
  • the display module (203) the operating conditions received in real time and the location of the auxiliary vessel (100) received by the wireless communication means (204);
  • j. prevent the escape of the fish spot (300), making displacements of the auxiliary boat (100) in the area of the stern calon; k. tow the stern of the fishing boat (200) with the auxiliary boat (100), so that the auxiliary boat (100) pulls the fishing boat (200) in the opposite direction of the fish spot (300), through a cable arranged for such effect between both vessels, to prevent the fishing boat's propeller (200) from becoming entangled in the net (201); Y
  • step c, of obtaining the real-time operating conditions of the engine (101) and the real-time location of the auxiliary vessel (100) comprises the following steps: i) obtain measurements of the engine parameters (101) for the variables of oil pressure, temperature, revolutions per minute (RPM) and angular position of the rudder (105) of the auxiliary vessel (101);
  • Step d of verifying the status of the operation variables comprises comparing the data of the data vector with the predetermined values.
  • remote control instructions (202) are used to be processed by the control device (121), which include starting the engine (101); turn off the engine (101); accelerate the engine (101); decelerate the engine (101); and position the rudder (105), remotely.
  • instructions from remote control (202) are used to maintain a current location of the auxiliary vessel (100) automatically, directed by the control device (121) which includes accelerating the engine (101); decelerate the engine (101); and position the rudder (105).
  • the fishing method includes the instruction to position the rudder (105) of an auxiliary vessel (100), comprising the following steps: i) indicate a reference voltage value that indicates a position where the rudder should be (105) to address the auxiliary vessel (100);
  • step g) compare the rudder outlet angle (105) with the reference voltage value.
  • step g) of maintaining the position of the auxiliary vessel (100) while the fishing vessel (200) surrounds the fish spot (300) is directed by the operator by means of the remote control (202).
  • step g) is automatically directed when the operator sets the position on the remote control (202).
  • steps h) to I) of the method are directed by the operator by means of the remote control (202).
  • steps h) to I) of the method are directed by the operator by means of the remote control (202).
  • it is assisted by visualization cameras (1 16) installed in the auxiliary vessel (100), which displays images in the visualization module (203), allowing operation when the viewing conditions are limited .
  • the present invention if it also relates to a semi-automatic fishing system with an auxiliary vessel or panga (100) that avoids the accidentability of the operators inside the auxiliary vessel or panga (100), comprising: a net (201) to capture a school of fish that look like a fish spot (300); a vessel or PAM or fishing vessel (200); and also comprises a remote control (202), associated with a display module (203), to be operated by an operator aboard the fishing vessel (200); a wireless communication means of the fishing vessel (204), which communicates with a control device (121) through a wireless communication means of the auxiliary vessel (124) arranged in the auxiliary vessel (100), to remotely control the auxiliary boat (100); the auxiliary boat (100) comprises a motor (101) for its displacement; and real-time operating conditions and a real-time location is detected by a GPS (1 14) of the auxiliary vessel (100) and said information is sent to the control device (121); to verify the status of the operation variables of the auxiliary vessel (100) in real time,
  • the auxiliary boat (100) and the control device (121) further comprise: gear reduction means (102), which are connected to the motor (101); at least one drive shaft (103) with a propeller (104), which are connected to the gear reduction means (102); at least one rudder (105); which pivotally connects to the stern of the auxiliary vessel (100); means for starting and stopping (108) the engine (101) of the auxiliary vessel (100); a reverse gear control (123); a rudder motor (125), which moves the rudder (105); acceleration means (1 12) of the engine (101); a power source or generator (1 15), which powers the electrical and electronic devices of the auxiliary vessel (100); where, the control device (121), which receives the information through the wireless means of the auxiliary vessel (124), to command the acceleration means (1 12), the rudder motor (125) and the means for start-up and stop (108), which are energized by the power source or generator (1 15).
  • the auxiliary boat (100) comprises a fuel tank (1 13), a bow maneuver support (1 17)
  • the control device (121) receives information from: a sensor box (106); an engine oil pressure sensor (109); a counter pressure oil pressure sensor (1 10); viewing cameras (1 16); an emergency stop device (1 19); an angular rudder sensor (122); and the control device (121) sends control signals to: a starting servo (107); a stop servo (1 1 1); an acceleration servo (1 12); a reverse gear control (123); and a rudder motor (125); to command the auxiliary boat (100).
  • the control device (121) comprises means for switching on the wireless communication device; means for reading a data vector with values of the motor sensors (101) and the auxiliary vessel (100); media to send the data vector wirelessly to the image and sensor data display module (203); means for comparing the data vector sent with a new data vector received in real time; and means for stopping the motor (101) in case of detecting an error and sending a wireless signal to the image display module (203) of sensors and data.
  • the control device (121) comprises means for reading values of communication channels; means to verify if the communication channel values are correct; media to the corresponding channel in real time.
  • the wireless communication means (124, 204) operate in a range between 1.5 to 6 GHz. Preferably they operate in a range between 2 to 2.5 GHz.
  • the viewing cameras (1 16) located in the auxiliary boat (100) are CCTV or CCTV cameras.
  • the viewing cameras can also be infrared, for night vision.
  • the reverse gear control includes a timer, to change the gear when the engine is at low revolutions per minute, between 650 and 500 RPM.
  • the auxiliary boat (100) maintains its position while the fishing vessel (200) surrounds the fish spot (300) automatically when the operator sets the position on the remote control (202), proceeding the control device (121) to maintain the location of the auxiliary vessel (100), which includes accelerating the engine (101); decelerate the engine (101); and position the helm (105), through the sensors and servos.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Marine Sciences & Fisheries (AREA)
  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
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Abstract

The invention relates to a semiautomatic fishing system and method, with an auxiliary vessel or skiff (100), which reduces the rate of accidents among workers in the auxiliary vessel or skiff (100), the method comprising the steps of: detecting a school of fish (300); initiating the release of a seine (201) from a vessel, high seas fishing vessel or fishing boat (200); establishing a wireless connection to remotely control the auxiliary vessel (100) by means of a remote control (202) associated with a display module (203), the connection being established via a wireless communication means (204) of the fishing boat, in communication with a control device (121) via a wireless communication means (124) of the auxiliary vessel, without needing to have a worker on board the auxiliary vessel (100).

Description

MÉTODO Y SISTEMA DE PESCA SEMIAUTOMÁTICO Y CON MANDO A DISTANCIA PARA CONTROLAR UNA EMBARCACIÓN AUXILIAR O PANGA QUE EVITA LA ACCIDENTABILIDAD DE LOS OPERARIOS AL INTERIOR DE DICHA EMBARCACIÓN AUXILIAR O PANGA.  METHOD AND SYSTEM OF SEMIAUTOMATIC FISHING AND WITH REMOTE CONTROL TO CONTROL AN AUXILIARY OR PANGA BOAT THAT AVOID THE ACCIDENTABILITY OF THE OPERATORS INSIDE THE SIDE OF THE AUXILIARY BOAT OR PANGA.
MEMORIA DESCRIPTIVA DESCRIPTIVE MEMORY
CAMPO DE LA INVENCIÓN FIELD OF THE INVENTION
La presente invención se relaciona con la industria de la pesca de cerco. En particular la presente invención se relaciona con un método y sistema de manejo de una embarcación auxiliar, comúnmente llamada panga, para la pesca de cerco.  The present invention relates to the purse seine fishing industry. In particular, the present invention relates to a method and system of handling an auxiliary vessel, commonly called panga, for purse seine fishing.
Actualmente la panga es controlada desde su interior por un marinero pescador llamado panguero, que debido a las condiciones de trabajo está expuesto a sufrir accidentes por los riesgos propios de las actividades que debe realizar, de forma solitaria al interior de la panga. Por ello, existe la necesidad de automatizar las diferentes operaciones con un método y sistema de control de la embarcación auxiliar del proceso de pesca de cerco, para evitar la presencia del panguero al interior de la panga y con ello eliminar los accidentes personales al interior de la panga.  Currently the panga is controlled from within by a fisherman called panguero, who due to working conditions is exposed to accidents due to the risks of the activities to be performed, alone inside the panga. Therefore, there is a need to automate the different operations with a method and control system of the auxiliary vessel of the purse seine fishing process, to avoid the presence of the panguero inside the panga and thereby eliminate personal accidents inside the panga
Este tipo de capturas de peces, normalmente se realiza en la zona Norte de Chile, en Perú, en Ecuador y en España; y la presente tecnología es aplicable a las embarcaciones auxiliares, utilizadas en pesqueros con red de cerco y en las cuales la embarcación auxiliar no exceda del radio de acción máximo autorizado, para estos eventos. Normalmente el radio de acción es de hasta 1 .800 metros preferente hasta 1 .000 metros.  This type of fish catch is usually done in the northern part of Chile, in Peru, in Ecuador and in Spain; and the present technology is applicable to auxiliary vessels, used in fishing vessels with purse seine and in which the auxiliary vessel does not exceed the maximum authorized range of action, for these events. Normally the radius of action is up to 1,800 meters, preferably up to 1,000 meters.
ESTADO DEL ARTE STATE OF ART
En el tiempo, los barcos pesqueros de alta mar (PAM's) han evolucionado en cuanto a eslora, manga, puntal, capacidad de bodega, acomodaciones y tecnología. Esto también se ve reflejado en el progreso de las embarcaciones auxiliares. Las embarcaciones auxiliares de pesca o pangas, corresponden generalmente a embarcaciones metálicas de fondo plano, con hélice protegida, popa cuadrada, con motor de gran potencia. Se emplean durante la faena de captura, para mantener el calón de proa al momento del lance. Luego de entregar este extremo de la red al PAM, realiza otras faenas. En puerto se emplea ocasionalmente para desembarque y embarque de personal y materiales. Además las embarcaciones auxiliares no poseen luces de posición, ya que estas ahuyentan a los peces. In time, offshore fishing vessels (PAM 's) have evolved in terms of length, beam, strut, hold capacity, accommodations and technology. This is also reflected in the progress of auxiliary vessels. Auxiliary fishing boats or pangas, generally correspond to flat-bottomed metal vessels, with protected propeller, square stern, with large power motor. They are used during the capture operation, to keep the bow stock at the time of launch. After delivering this end of the network to the PAM, it performs other tasks. In port it is occasionally used for disembarkation and shipment of personnel and materials. In addition, auxiliary boats do not have position lights, since they scare away fish.
A diferencia de la embarcación pesquera de alta mar o PAM, en una panga trabaja una sola persona que es el panguero, tripulante autorizado por la Autoridad Marítima correspondiente.  Unlike the high seas fishing vessel or PAM, a single person working in a panga is the panguero, a crew authorized by the corresponding Maritime Authority.
El panguero es un marinero de bahía o marinero pescador que se desempeña como tripulante o encargado de la panga. El panguero debe tener conocimiento del cuadro de choque y abordaje, además de todas las exigencias actuales para los tripulantes que se encuentran con matricula autorizada por la Autoridad Marítima correspondiente.  The panguero is a bay sailor or fisherman who works as a crew member or panga manager. The panguero must have knowledge of the crash and boarding table, in addition to all the current requirements for the crew members who are registered by the corresponding Maritime Authority.
Desde los inicios de la pesca de cerco la embarcación auxiliar (panga) ha tenido un rol preponderante en la maniobra de captura del pez. Su función principal es la de sujetar el extremo de la red correspondiente al calón de proa para formar el copo, en donde el copo es la zona o porción de mar definida por la red donde se atrinca o confina los peces, que posteriormente se procede a succionar con bomba de pescado. El PAM (pesquero de alta mar) se desplaza en dirección opuesta a la de la panga, para realizar el cerco hasta aproximarse al extremo del calón de proa que tiene sujeto la panga.  Since the beginning of purse seine fishing, the auxiliary vessel (panga) has had a preponderant role in the fish capture maneuver. Its main function is to hold the end of the net corresponding to the bow calon to form the flake, where the flake is the area or portion of the sea defined by the net where the fish are entrenched or confined, which is then proceeded to suck with fish pump. The PAM (high seas fishery) moves in the opposite direction to that of the panga, to make the fence until it approaches the end of the bow calon that the panga holds.
Posteriormente a la entrega de su extremo de la red al PAM la panga realiza maniobras solicitadas por el patrón de pesca, algunas son:  After the delivery of its end of the net to the PAM the panga performs maneuvers requested by the fishing employer, some are:
- Navegar en la popa del PAM para evitar que se salgan los peces mientras se cierra la red.  - Navigate in the stern of the MAP to prevent fish from getting out while the net is closed.
- Tomar la popa del PAM, por el lado estribor para evitar que la red entre en contacto con la hélice y evitar que la popa del PAM ingrese dentro del cerco de red. - Tomar la proa del PAM y remolcar, dependiendo de la necesidad del patrón del PAM, las que dependen de las corrientes marinas en el momento de inicio de la faena de pesca. - Take the stern of the PAM, on the starboard side to prevent the network from coming into contact with the propeller and prevent the stern of the PAM from entering the network fence. - Take the bow of the PAM and tow, depending on the need of the pattern of the PAM, those that depend on sea currents at the time of the start of the fishing task.
- Finalizada la faena de pesca, la panga se instala en lado babor popa (por ejemplo) para ser izada hacia la posición de navegación sobre la red. Para ello en la popa existen unas guías que direccionan y centran la panga en la popa, para el próximo lance o dirección al puerto.  - Once the fishing task is finished, the panga is installed on the stern port side (for example) to be hoisted towards the navigation position on the net. To do this in the stern there are some guides that direct and center the panga in the stern, for the next set or direction to the port.
Establecido lo anterior, debe reconocerse que en las operaciones a realizar por una panga existen muchas condiciones que generan accidentes al tripulante (panguero), tales como: trabajo nocturno y/o diurno con o sin neblina; faena con condiciones de mar adversas; el panguero está al interior de la panga cuando esta es bajada al mar, no disponiéndose medios para amortiguar la caída de la panga por popa de la PAM desde una altura aproximada de 3 metros o más; que el panguero debe tratar con maniobras de cables normalmente sin luz; además el panguero debe movilizarse sobre la cubierta de la panga en piso húmedo y resbaladizo; el no disponer de luces de posición que expone a colisión por otras embarcaciones en zona de pesca. Además el panguero está expuesto a sufrir un accidente por los tipos de maniobra en la cubierta de la panga.  Having established the foregoing, it must be recognized that in the operations to be carried out by a panga there are many conditions that generate accidents to the crew member (panguero), such as: night and / or day work with or without fog; slaughter with adverse sea conditions; the panguero is inside the panga when it is lowered to the sea, with no means available to dampen the fall of the panga by stern of the PAM from an approximate height of 3 meters or more; that the panguero must deal with cable maneuvers normally without light; in addition, the panguero must be mobilized on the roof of the panga on a wet and slippery floor; the lack of position lights that exposes collision by other vessels in the fishing zone. In addition the panguero is exposed to suffer an accident by the types of maneuver in the cover of the panga.
Una operación de especial riesgo durante la maniobra de cerco, que no cuenta con la participación del panguero, es la salida de la llave del winche principal, por la cual el PAM recupera el extremo de la red que sujetó la panga. Operación en la cual de producirse alguna traba que puede terminar con la panga volcada, con consecuencias impredecibles para el operador. Por otro lado, el panguero puede sufrir algún problema de salud que no le permita su movilidad al interior de la panga mientras se está realizando la faena de pesca y queda imposibilitado de informar a sus compañeros.  An operation of special risk during the siege maneuver, which does not have the participation of the panguero, is the exit of the key of the main winche, by which the PAM recovers the end of the net that held the panga. Operation in which to produce any obstacle that can end with the overturned panga, with unpredictable consequences for the operator. On the other hand, the panguero may suffer some health problem that does not allow him to move inside the panga while fishing is being done and is unable to inform his teammates.
En épocas del año cuando las noches son muy frías y el panguero debe utilizar mucha ropa de abrigo, su movilidad queda restringida, lo que complica aún más sus operaciones dentro de la panga, aumentando la probabilidad de accidentes, entre otros. Se debe tener presente, que a través del tiempo han ocurrido accidentes con lesiones graves y muertes de pangueros, pérdidas de vidas humanas. Además, normalmente el panguero no posee conocimientos mecánicos para dar solución a distancia, en caso que la panga sufra daños en su sistema propulsor, como por ejemplo que algún cable se enrede en la hélice o como se llama normalmente en términos marinos se acorbata, o se detenga el motor (normalmente es uno diésel) o se produzca alguna falla en la contramarcha hidráulica, con lo que quedaría la embarcación auxiliar o panga con maniobra restringida hasta que sea apoyada por su mismo PAM u otra embarcación. At times of the year when the nights are very cold and the panguero must use a lot of warm clothes, its mobility is restricted, which further complicates its operations within the panga, increasing the probability of accidents, among others. It should be borne in mind that, over time, accidents have occurred with serious injuries and deaths of pangueros, loss of human life. In addition, normally the panguero does not have mechanical knowledge to provide a remote solution, in case the panga suffers damage to its propellant system, such as for example that some cable is entangled in the propeller or as it is normally called in marine terms it is cornered, or the engine is stopped (usually a diesel one) or there is a failure in the hydraulic counter gear, which would result in the auxiliary vessel or panga with restricted maneuvering until it is supported by its own PAM or other vessel.
En las consideraciones de trabajo anteriormente mencionadas, el panguero que está al interior de la panga, está propenso a sufrir accidentes. Teniendo presente que a través del tiempo se han registrado accidentes de gravedad con pérdidas de vida, daño grave a órganos del cuerpo y/o amputaciones.  In the work considerations mentioned above, the panguero that is inside the panga is prone to accidents. Bearing in mind that over time there have been serious accidents with loss of life, serious damage to body organs and / or amputations.
A continuación se muestra la cantidad de accidentes registrados en los últimos 8 años, en el cual se ha tenido que lamentar pérdidas de vidas. Estos datos corresponden a la flota del puerto de Iquique en Chile, operando con 24 embarcaciones pesqueras de alta mar o PAM.  Below is the number of accidents recorded in the last 8 years, in which life losses have been regretted. These data correspond to the fleet of the port of Iquique in Chile, operating with 24 fishing vessels of the high seas or PAM.
Figure imgf000006_0001
Con estos antecedentes se ha buscado en el estado del arte tecnologías disponibles, para automatizar y manejar de manera externa las pangas y con ello poder disminuir al máximo la posibilidad de accidentes.
Figure imgf000006_0001
With this background, available technologies have been sought in the state of the art, to automate and externally manage the pangas and thereby be able to minimize the possibility of accidents.
En el ámbito del comando remoto de embarcaciones se encuentran barcos de pesca inalámbricos tales como el mencionado en la patente GB2490448. El documento describe un bote de pesca inalámbrico a control remoto, cuyo medio de pesca es a través de anzuelo y carnada, que comprende un cuerpo de barco y un mando a distancia sin cables comunicado con el cuerpo del barco, un microcontrolador que está dispuesto en el cuerpo del barco, un circuito de control que está dispuesto en el controlador remoto y una brújula electrónica que mantiene una cierta dirección, para conocer la posición de dicho bote. El bote de pesca de la patente GB2490448 no está diseñado ni enfocado a la pesca de cerco, por lo que no resuelve el mismo problema técnico mencionado en la presente solicitud. Es más, este bote de la patente GB2490448 no menciona ni sugiere, un método de pesca en el que se relacionen un barco principal, con una embarcación auxiliar para la maniobra de pesca, con la finalidad de disminuir al máximo la posibilidad de accidentes dentro del barco auxiliar.  In the scope of the remote command of boats are wireless fishing boats such as the one mentioned in the GB2490448 patent. The document describes a wireless fishing boat with remote control, whose fishing medium is through hook and bait, comprising a boat body and a wireless remote control communicated with the body of the boat, a microcontroller that is arranged in the body of the ship, a control circuit that is arranged in the remote controller and an electronic compass that maintains a certain direction, to know the position of said boat. The GB2490448 patent fishing boat is not designed or focused on purse seine fishing, so it does not solve the same technical problem mentioned in this application. Moreover, this GB2490448 patent boat does not mention or suggest a fishing method in which a main boat is related, with an auxiliary vessel for the fishing maneuver, in order to minimize the possibility of accidents within the auxiliary ship
Otro ejemplo se encuentra en la patente CN103448877A que describe un bote de pesca inteligente provisto de sensores de temperatura, de gobierno, de niveles y sistema de posicionamiento global (GPS por sus siglas en inglés) para el manejo a control remoto. Dicho documento se relaciona con un bote de menores dimensiones, para pesca y no para el manejo del cerco. Además, tampoco menciona ni sugiere, un método de pesca en el que se relaciona un barco principal, con una embarcación auxiliar para la maniobra de pesca.  Another example is in patent CN103448877A which describes an intelligent fishing boat equipped with temperature, steering, level sensors and global positioning system (GPS) for remote control operation. This document is related to a boat of smaller dimensions, for fishing and not for the management of the fence. In addition, it does not mention or suggest, a fishing method in which a main ship is related, with an auxiliary vessel for the fishing maneuver.
Si bien se han encontrado en la literatura diversas embarcaciones comandadas de manera remota, ninguna de ellas interactúa con otras embarcaciones pesqueras de alta mar, para desarrollar la pesca de cerco, que es el tipo de pesca que requiere de una embarcación auxiliar o panga, manejada normalmente por una persona abordo o panguero, para estirar la red de pesca y mantener a la embarcación pesquera de alta mar en posición, para que la red de pesca no se enrede con la hélice de las embarcaciones de pesqueras de alta mar, mientras se efectúan las maniobras de cierre de la red, con la finalidad de eliminar al máximo la posibilidad de accidentes de la persona que maniobra dentro de la embarcación auxiliar. Although several vessels commanded remotely have been found in the literature, none of them interact with other deep-sea fishing vessels, to develop purse seine fishing, which is the type of fishing that requires an auxiliary or panga vessel, managed normally by a person on board or panguero, to stretch the fishing net and keep the deep sea fishing vessel in position, so that the fishing net does not get entangled with the propeller of high fishing vessels sea, while the network closing maneuvers are being carried out, in order to eliminate as much as possible the possibility of accidents of the person maneuvering inside the auxiliary boat.
DEFINICIONES: DEFINITIONS:
Embarcación auxiliar de pesca, panga de pesca o simplemente panga: Embarcación metálica de fondo plano, con hélice protegida, popa cuadrada y, considerando el tamaño de la panga, con un motor de gran potencia. Se emplea durante la faena de captura para mantener el calón de proa al momento del lance. Luego de entregar este extremo de la red al PAM realiza otras faenas. En puerto se emplea ocasionalmente para desembarque y embarque de personal y materiales. Además no posee luces de posición, para no ahuyentar a los peces. Auxiliary fishing boat, fishing panga or simply panga: Flat bottom metal boat, with protected propeller, square stern and, considering the size of the panga, with a large power engine. It is used during the catch to keep the bow stock at the time of launch. After delivering this end of the network to the PAM performs other tasks. In port it is occasionally used for disembarkation and shipment of personnel and materials. It also has no position lights, so as not to scare away the fish.
Panguero: Marinero de Bahía o marinero pescador que se desempeña como tripulante de la Panga, en otras palabras es el operador de la panga que la maneja desde el interior. Debe tener conocimiento del cuadro de choque y abordaje para la navegación, además de todas las exigencias actuales para los tripulantes que se encuentran con matricula autorizada por la Autoridad Marítima correspondiente. Panguero: Bay sailor or fisherman sailor who serves as a crew member of the Panga, in other words he is the operator of the panga that manages it from the inside. You must have knowledge of the crash box and boarding for navigation, in addition to all current requirements for crew members who are registered by the corresponding Maritime Authority.
PAM: Embarcación o Pesquero de Alta Mar. Red: Arte de pesca del PAM, para capturar los peces. PAM: Boat or Fishing of the High Seas. Network: Fishing art of the PAM, to catch the fish.
Copo: Área de la red donde se atrinca los peces, para posteriormente succionar con bomba de pescado. Copo: Area of the net where the fish are entrenched, to subsequently suck with a fish pump.
Popa: Parte posterior del PAM, normalmente en el área donde se ubica la hélice. Proa: Parte delantera del PAM, normalmente donde corta el agua al navegar. Stern: Back of the PAM, usually in the area where the propeller is located. Prow: Front of the PAM, usually where the water cuts when sailing.
Estribor: Costado lateral del PAM, que en el puesto del Capitán mirando a proa se encuentra al lado derecho. Babor: Costado lateral del PAM, que en el puesto del Capitán mirando a proa se encuentra al lado izquierdo. Starboard: Lateral side of the PAM, which in the position of the Captain facing forward is on the right side. Port: Lateral side of the PAM, which in the position of the Captain looking forward is on the left side.
Calón: Parte de la red de pesca, de donde se enganchan los cables para cerrarla durante el proceso de pesca. Maniobra: Conjunto de los cabos o aparejos de una embarcación. Calón: Part of the fishing net, from where the cables are hooked to close it during the fishing process. Maneuver: Set of the ends or rigging of a boat.
SOLUCIÓN AL PROBLEMA TÉCNICO SOLUTION TO THE TECHNICAL PROBLEM
En la actualidad las pangas son operadas por un tripulante o panguero, desde el interior de la panga, que debe sortear diferentes riesgos, como son la mala o nula visibilidad, fuertes oleajes y corrientes marinas, volcamiento de la panga y/o problemas mecánicos fortuitos, durante la maniobra de pesca. At present, the pangas are operated by a crew member or panguero, from inside the panga, which must overcome different risks, such as poor or no visibility, strong waves and sea currents, overturning of the panga and / or accidental mechanical problems , during the fishing maneuver.
Por lo anterior y para disminuir o eliminar los riesgos de accidente del panguero, y optimizar el desarrollo de la faena, la presente invención se relaciona con un método y sistema de control a distancia y semiautomatizado del manejo de la embarcación auxiliar o panga y los sistemas de pesca para el control de las maniobras de un proceso de pesca de cerco. Donde la panga dispone de modos de operación distintos: control a distancia y semiautomatizado, cada uno asociado a etapas específicas de la faena o lance. Estando el modo semiautomatizado provisto para la operación de sujetar el extremo de la red correspondiente al calón de proa, para mantener una posición previamente alcanzada, en que un control electrónico retroalimentado mantiene dicha posición referenciada satelitalmente (vía GPS) en base a los parámetros mecánicos de funcionamiento de la panga y los desplazamientos registrados producto de las condiciones ambientales y la fuerza aplicada por el extremo de la red. Para las demás operaciones la panga opera de acuerdo a un control a distancia mediante un sistema de accionamiento electrónico y de operación remota, desde el pesquero (PAM). Para ambos modos de operación se provee software y hardware para el control, que permiten la navegación y operación de la embarcación auxiliar desde el pesquero de alta mar. DESCRIPCIÓN RESUMIDA DE LA INVENCIÓN Due to the above and to reduce or eliminate the risks of accident of the panguero, and optimize the development of the work, the present invention relates to a method and system of remote and semi-automated control of the management of the auxiliary or panga boat and the systems of fishing for the control of the maneuvers of a purse seine fishing process. Where the panga has different modes of operation: remote and semi-automated control, each associated with specific stages of the task or launch. Being the semi-automated mode provided for the operation of securing the end of the network corresponding to the bow calon, to maintain a previously achieved position, in which a feedback electronic control maintains said satellite referenced position (via GPS) based on the mechanical parameters of operation of the panga and the registered displacements product of the environmental conditions and the force applied by the end of the network. For other operations, the panga operates according to a remote control by means of an electronic drive and remote operation system, from the fishing vessel (PAM). For both modes of operation, software and hardware are provided for control, which allow navigation and operation of the auxiliary vessel from the deep sea fishery. SUMMARY DESCRIPTION OF THE INVENTION
La presente solicitud describe un método de pesca de cerco que se realiza a través de un mando a distancia para comandar una embarcación auxiliar y un sistema incorporado al interior de la embarcación auxiliar de pesca o panga, que ejecuta las órdenes recibidas desde un mando a distancia, para realizar dicho proceso de pesca de cerco. The present application describes a purse seine fishing method that is carried out through a remote control to command an auxiliary vessel and a system incorporated into the auxiliary fishing vessel or panga, which executes the orders received from a remote control. , to perform said purse seine fishing process.
El uso de una panga con un sistema automatizado tiene las siguientes ventajas: control a distancia de: la partida de la panga, de un sistema de gobierno de la panga, de un sistema de accionamiento de una propulsión, de unas maniobras para entrega del calón, comandar la panga, evitar la salida de la pesca por calón, remolque del PAM por popa o proa, control a distancia de acercamiento y alejamiento de la panga de su barco madre o PAM en un radio de acción de hasta 1 .800 metros preferente hasta 1 .000 metros. DESCRIPCIÓN DE LAS FIGURAS  The use of a panga with an automated system has the following advantages: remote control of: the departure of the panga, of a system of government of the panga, of a drive system of a propulsion, of maneuvers for delivery of the calon , command the panga, avoid the exit of the fishing by calón, trailer of the PAM by stern or bow, remote control of approach and distance of the panga of its mother ship or PAM in a radius of action of up to 1 .800 meters preferred up to 1,000 meters. DESCRIPTION OF THE FIGURES
En la Figura 1 se observa la detección de la mancha de pescado.  Figure 1 shows the detection of fish stain.
En la Figura 2 se observa la salida red e inicio de tiro de la Panga.  Figure 2 shows the net exit and start of the Panga shot.
En la Figura 3 etapa que la panga entrega el calón al PAM  In Figure 3 stage the panga delivers the calón to the PAM
En la Figura 4 etapa del movimiento de panga en calón para evitar que se salga la pesca.  In Figure 4 stage of the movement of panga in calón to avoid fishing.
En la Figura 5 se observa como la panga remolca el PAM desde popa estribor para evitar que la hélice entre a la red.  Figure 5 shows how the panga tow the PAM from starboard aft to prevent the propeller from entering the net.
En la Figura 6 se observa como la pesca embolsa en red.  Figure 6 shows how fishing pockets in net.
La Figura 7 Representa una vista superior esquemática de la embarcación auxiliar o panga (100).  Figure 7 represents a schematic top view of the auxiliary boat or panga (100).
La Figura 8 Representa una vista lateral esquemática de la embarcación auxiliar o panga (100).  Figure 8 represents a schematic side view of the auxiliary boat or panga (100).
La Figura 9 Representa una vista esquemática de un módulo de visualización de imagen (203), un mando a distancia (202) con unos medios de comunicación inalámbrica (204);  Figure 9 represents a schematic view of an image display module (203), a remote control (202) with wireless communication means (204);
En la Figura 10 se observa el mando a distancia (202) se comunica con el módulo de visualización de imagen (203) y datos de sensores, la función principal es comunicarse con el usuario y enviar estado de los sensores y variables medidas si detecta un error detiene el motor (101 ) de la panga para que sea revisado. Toda la información se envía vía inalámbricamente, las señales inalámbricas pueden ser WIFI, u otra señal inalámbrica con alcance superior a 100 metros e inferior a 10 kilómetros. Figure 10 shows the remote control (202) communicates with the image display module (203) and sensor data, the main function It is to communicate with the user and send status of the sensors and measured variables if it detects an error stops the engine (101) of the panga for review. All information is sent wirelessly, wireless signals can be WIFI, or other wireless signal with a range of more than 100 meters and less than 10 kilometers.
DESCRIPCIÓN DETALLADA DE LA INVENCIÓN DETAILED DESCRIPTION OF THE INVENTION
En una realización preferente, relacionada a las figuras 1 a 10, de la presente invención se provee un método de pesca semiautomático con una embarcación auxiliar o panga (100) que evita la accidentabilidad de los operarios al interior de la embarcación auxiliar o panga (100), que comprende las etapas de: i) detectar una mancha de peces (300);  In a preferred embodiment, related to Figures 1 to 10, of the present invention, a semi-automatic fishing method is provided with an auxiliary vessel or panga (100) that avoids the accidentability of the operators inside the auxiliary vessel or panga (100 ), comprising the steps of: i) detecting a fish spot (300);
ii) iniciar la salida de una red (201 ) desde una embarcación o PAM o pesquero (200); ii) initiate the exit of a network (201) from a vessel or PAM or fishing vessel (200);
iii) establecer una conexión inalámbrica para controlar de manera remota la embarcación auxiliar (100), a través de un mando a distancia (202), asociado a un módulo de visualización (203), dicha conexión establecida a través de un medio de comunicación inalámbrica del pesquero (204), en comunicación con un dispositivo control (121 ) a través de un medio de comunicación inalámbrica de la embarcación auxiliar (124), sin requerir de un operario a bordo de la embarcación auxiliar (100) iii) establish a wireless connection to remotely control the auxiliary vessel (100), through a remote control (202), associated with a display module (203), said connection established through a wireless communication medium of the fishing vessel (204), in communication with a control device (121) through a wireless communication means of the auxiliary vessel (124), without requiring an operator aboard the auxiliary vessel (100)
comprendiendo además las siguientes etapas: also comprising the following stages:
a. lanzar la embarcación auxiliar (100) desde el pesquero (200); to. launch the auxiliary vessel (100) from the fishing vessel (200);
b. poner en marcha un motor (101 ) de la embarcación auxiliar (100), por parte de un operador ubicado en el pesquero (200); b. starting an engine (101) of the auxiliary vessel (100), by an operator located in the fishing vessel (200);
c. medir las condiciones de operación en tiempo real y la ubicación en tiempo real detectada por un GPS (1 14) de la embarcación auxiliar (100) desde el dispositivo control (121 ); C. measure the real-time operating conditions and the real-time location detected by a GPS (1 14) of the auxiliary vessel (100) from the control device (121);
d. verificar el estado de las variables de operación de la embarcación auxiliar (100) en tiempo real, para asegurar la operación dentro de los rangos predefinidos y enviar los resultados de la verificación de dichas mediciones al mando a distancia (202); d. check the status of the operation variables of the auxiliary vessel (100) in real time, to ensure operation within the ranges predefined and send the results of the verification of these measurements to the remote control (202);
e. presentar en el módulo de visualización (203) las condiciones de operación recibidas en tiempo real y la ubicación de la embarcación auxiliar (100) recibidas por el medio de comunicación inalámbrica (204); and. present in the display module (203) the operating conditions received in real time and the location of the auxiliary vessel (100) received by the wireless communication means (204);
f. controlar, por parte de un operador ubicado en el pesquero (200), el giro de la embarcación auxiliar (100) para que la embarcación auxiliar (100) esté en sentido opuesto al pesquero (200), teniendo sujeto el extremo de un calón de popa; F. control, by an operator located in the fishing vessel (200), the rotation of the auxiliary vessel (100) so that the auxiliary vessel (100) is in the opposite direction to the fishing vessel (200), holding the end of a calon of Stern;
g. mantener la posición de la embarcación auxiliar (100) mientras el pesquero (200) rodea la mancha de peces (300); g. maintain the position of the auxiliary vessel (100) while the fishing vessel (200) surrounds the fish spot (300);
h. ubicar el pesquero (200) de forma de cerrar el círculo por un costado externo que inscribe, quedando la embarcación auxiliar (100) en el interior de un cerco definido por la red (300) desplegada de este modo; h. locate the fishing vessel (200) in order to close the circle on an external side that it inscribes, leaving the auxiliary vessel (100) inside a fence defined by the net (300) deployed in this way;
i. retirar un calón de popa a través de una maniobra de la embarcación auxiliar (100) por parte de un operario en el pesquero (200) que emplea un gancho; i. remove a stern caliber through a maneuver of the auxiliary vessel (100) by an operator in the fishing vessel (200) using a hook;
j. evitar el escape de la mancha de peces (300), realizando desplazamientos de la embarcación auxiliar (100) en la zona del calón de popa; k. remolcar la popa del pesquero (200) con la embarcación auxiliar (100), para que la embarcación auxiliar (100) tire al pesquero (200) en sentido contrario de la mancha de peces (300), a través de un cable dispuesto para tal efecto entre ambas embarcaciones, para evitar que la hélice del pesquero (200) se enrede en la red (201 ); y j. prevent the escape of the fish spot (300), making displacements of the auxiliary boat (100) in the area of the stern calon; k. tow the stern of the fishing boat (200) with the auxiliary boat (100), so that the auxiliary boat (100) pulls the fishing boat (200) in the opposite direction of the fish spot (300), through a cable arranged for such effect between both vessels, to prevent the fishing boat's propeller (200) from becoming entangled in the net (201); Y
I. cerrar la red y recoger la embarcación auxiliar (100) desde la popa del pesquero (200) quedando en condiciones para navegar para otro lance o bien a puerto. I. Close the net and collect the auxiliary vessel (100) from the stern of the fishing vessel (200), being able to navigate for another launch or to the port.
En donde, la etapa c, de obtener las condiciones de operación en tiempo real del motor (101 ) y la ubicación en tiempo real de la embarcación auxiliar (100) comprende los siguientes pasos: i) obtener mediciones de los parámetros del motor (101 ) para las variables de presión de aceite, temperatura, revoluciones por minuto (RPM) y posición angular del timón (105) de la embarcación auxiliar (101 ); Wherein, step c, of obtaining the real-time operating conditions of the engine (101) and the real-time location of the auxiliary vessel (100) comprises the following steps: i) obtain measurements of the engine parameters (101) for the variables of oil pressure, temperature, revolutions per minute (RPM) and angular position of the rudder (105) of the auxiliary vessel (101);
ii) construir un vector de datos con los valores de presión, temperatura, RPM, posición angular y la ubicación; ii) build a data vector with the values of pressure, temperature, RPM, angular position and location;
iii) enviar el vector de datos al dispositivo control (121 ); iii) send the data vector to the control device (121);
iv) repetir el ciclo desde i) mientras la embarcación auxiliar (100) está en servicio. iv) repeat the cycle from i) while the auxiliary vessel (100) is in service.
La etapa d, de verificar el estado de las variables de operación comprende comparar los datos del vector de datos con los valores predeterminados.  Step d of verifying the status of the operation variables comprises comparing the data of the data vector with the predetermined values.
En una primera realización para el control de la embarcación auxiliar (100) se emplean unas instrucciones desde mando a distancia (202) para ser procesadas por el dispositivo control (121 ) que incluyen encender el motor (101 ); apagar el motor (101 ); acelerar el motor (101 ); desacelerar el motor (101 ); y posicionar el timón (105), de manera remota.  In a first embodiment for the control of the auxiliary vessel (100), remote control instructions (202) are used to be processed by the control device (121), which include starting the engine (101); turn off the engine (101); accelerate the engine (101); decelerate the engine (101); and position the rudder (105), remotely.
En una segunda realización para el control de la embarcación auxiliar (100) se emplean además unas instrucciones desde mando a distancia (202) para mantener una ubicación actual de la embarcación auxiliar (100) de manera automática, dirigido por el dispositivo control (121 ) que incluye acelerar el motor (101 ); desacelerar el motor (101 ); y posicionar el timón (105). In a second embodiment for the control of the auxiliary vessel (100) furthermore, instructions from remote control (202) are used to maintain a current location of the auxiliary vessel (100) automatically, directed by the control device (121) which includes accelerating the engine (101); decelerate the engine (101); and position the rudder (105).
El método de pesca incluye la instrucción de posicionar el timón (105) de una embarcación auxiliar (100), comprende los siguientes pasos: i) indicar un valor de voltaje de referencia que señala una posición en la que debe estar el timón (105) para direccionar la embarcación auxiliar (100); The fishing method includes the instruction to position the rudder (105) of an auxiliary vessel (100), comprising the following steps: i) indicate a reference voltage value that indicates a position where the rudder should be (105) to address the auxiliary vessel (100);
ii) transformar el voltaje en un valor angular para controlar la posición del timón (105); ii) transform the voltage into an angular value to control the position of the rudder (105);
iii) enviar el valor angular al motor de timón (125) para que este se modifique a la señal de referencia; iii) send the angular value to the rudder motor (125) so that it changes to the reference signal;
iv) obtener un ángulo de salida del timón (105); y iv) obtain a rudder exit angle (105); Y
v) comparar el ángulo de salida del timón (105) con el valor de voltaje de referencia. En una primera realización en la etapa g) de mantener la posición de la embarcación auxiliar (100) mientras el pesquero (200) rodea la mancha de peces (300) es dirigida por el operario mediante el mando a distancia (202). v) compare the rudder outlet angle (105) with the reference voltage value. In a first embodiment in step g) of maintaining the position of the auxiliary vessel (100) while the fishing vessel (200) surrounds the fish spot (300) is directed by the operator by means of the remote control (202).
En una segunda realización la etapa g) es dirigida de manera automática cuando el operario fija la posición en el mando a distancia (202). In a second embodiment step g) is automatically directed when the operator sets the position on the remote control (202).
Mientras que las etapas h) a I) del método son dirigidas por el operario mediante el mando a distancia (202). En dichas operaciones dirigidas por el operario es asistido por unas cámaras de visualizacion (1 16) instalas en la embarcación auxiliar (100), que despliega unas imágenes en el módulo de visualizacion (203), permitiendo la operación cuando las condiciones de visualizacion son limitadas. While the steps h) to I) of the method are directed by the operator by means of the remote control (202). In these operations directed by the operator, it is assisted by visualization cameras (1 16) installed in the auxiliary vessel (100), which displays images in the visualization module (203), allowing operation when the viewing conditions are limited .
La presente invención si se relaciona además con un sistema de pesca semiautomático con una embarcación auxiliar o panga (100) que evita la accidentabilidad de los operarios al interior de la embarcación auxiliar o panga (100), que comprende de: una red (201 ) para capturar un cardumen de peces que se ven como una mancha de peces (300); una embarcación o PAM o pesquero (200); y además comprende un mando a distancia (202), asociado un módulo de visualizacion (203), para ser manejado por un operario a bordo del pesquero (200); un medio de comunicación inalámbrica del pesquero (204), que se comunica con un dispositivo control (121 ) a través de un medio de comunicación inalámbrica de la embarcación auxiliar (124) dispuestos en la embarcación auxiliar (100), para controlar de manera remota la embarcación auxiliar (100); la embarcación auxiliar (100) comprende un motor (101 ) para su desplazamiento; y unas condiciones de operación en tiempo real y una ubicación en tiempo real es detectada por un GPS (1 14) de la embarcación auxiliar (100) y dicha información es enviada al dispositivo control (121 ); para verificar el estado de las variables de operación de la embarcación auxiliar (100) en tiempo real, y asegurar la operación dentro de los rangos pre definidos y enviar los resultados de la verificación de dichas mediciones al mando a distancia (202); estando dicho módulo de visualizacion (203) dispuesto para presentar las condiciones de operación recibidas en tiempo real y la ubicación de la embarcación auxiliar (100) recibidas por el medio de comunicación inalámbrica (204); y un operario en el pesquero (200) que emplea un gancho para retirar un calón de popa, a través de una maniobra de la embarcación auxiliar (100), para realizar el cierre de la red (201 ) confinando el cardumen de peces. La embarcación auxiliar (100) y el dispositivo control (121 ) además comprenden: unos medios reductores de marcha (102), que se conectan al motor (101 ); al menos un eje propulsor (103) con una hélice (104), que se conectan a los medios reductores de marcha (102); al menos un timón (105); que se conecta pivotantemente a la popa de la embarcación auxiliar (100); unos medios para puesta en marcha y detención (108) del motor (101 ) de la embarcación auxiliar (100); un control de contra marcha (123); un motor de timón (125), que mueve el timón (105); unos medios de aceleración (1 12) del motor (101 ); una fuente de poder o generador (1 15), que alimenta los dispositivos eléctricos y electrónicos de la embarcación auxiliar (100); en donde, el dispositivo control (121 ), que recibe la información a través del medio de inalámbrica de la embarcación auxiliar (124), para comandar los medios de aceleración (1 12), el motor de timón (125) y los medios para puesta en marcha y detención (108), los que son energizados por la fuente de poder o generador (1 15). Además, la embarcación auxiliar (100) comprende un estanque de combustible (1 13), un soporte de maniobra de proa (1 17) y un soporte de maniobra de popa (1 18). The present invention if it also relates to a semi-automatic fishing system with an auxiliary vessel or panga (100) that avoids the accidentability of the operators inside the auxiliary vessel or panga (100), comprising: a net (201) to capture a school of fish that look like a fish spot (300); a vessel or PAM or fishing vessel (200); and also comprises a remote control (202), associated with a display module (203), to be operated by an operator aboard the fishing vessel (200); a wireless communication means of the fishing vessel (204), which communicates with a control device (121) through a wireless communication means of the auxiliary vessel (124) arranged in the auxiliary vessel (100), to remotely control the auxiliary boat (100); the auxiliary boat (100) comprises a motor (101) for its displacement; and real-time operating conditions and a real-time location is detected by a GPS (1 14) of the auxiliary vessel (100) and said information is sent to the control device (121); to verify the status of the operation variables of the auxiliary vessel (100) in real time, and ensure the operation within the pre-defined ranges and send the results of the verification of said measurements to the remote control (202); said display module (203) being arranged to present the operating conditions received in real time and the location of the auxiliary vessel (100) received by wireless communication means (204); and an operator in the fishing boat (200) that uses a hook to remove a stern caliber, through a maneuver of the auxiliary boat (100), to make the closing of the net (201) confining the school of fish. The auxiliary boat (100) and the control device (121) further comprise: gear reduction means (102), which are connected to the motor (101); at least one drive shaft (103) with a propeller (104), which are connected to the gear reduction means (102); at least one rudder (105); which pivotally connects to the stern of the auxiliary vessel (100); means for starting and stopping (108) the engine (101) of the auxiliary vessel (100); a reverse gear control (123); a rudder motor (125), which moves the rudder (105); acceleration means (1 12) of the engine (101); a power source or generator (1 15), which powers the electrical and electronic devices of the auxiliary vessel (100); where, the control device (121), which receives the information through the wireless means of the auxiliary vessel (124), to command the acceleration means (1 12), the rudder motor (125) and the means for start-up and stop (108), which are energized by the power source or generator (1 15). In addition, the auxiliary boat (100) comprises a fuel tank (1 13), a bow maneuver support (1 17) and a stern maneuver support (1 18).
El dispositivo control (121 ) recibe información de: una caja de sensores (106); un sensor de presión de aceite del motor (109); un sensor de presión de aceite de la contra marcha (1 10); unas cámaras visualización (1 16); un dispositivo de parada de emergencia (1 19); un sensor angular de timón (122); y el dispositivo control (121 ) envía señales de control a: un servo de partida (107); un servo de parada (1 1 1 ); un servo de aceleración (1 12); un control de contra marcha (123); y un motor de timón (125); para comandar la embarcación auxiliar (100). The control device (121) receives information from: a sensor box (106); an engine oil pressure sensor (109); a counter pressure oil pressure sensor (1 10); viewing cameras (1 16); an emergency stop device (1 19); an angular rudder sensor (122); and the control device (121) sends control signals to: a starting servo (107); a stop servo (1 1 1); an acceleration servo (1 12); a reverse gear control (123); and a rudder motor (125); to command the auxiliary boat (100).
El dispositivo control (121 ) comprende medios para encender el dispositivo comunicación inalámbrica; medios para leer un vector de datos con valores de los sensores del motor (101 ) y la embarcación auxiliar (100); medios para enviar el vector de datos de manera inalámbrica al módulo de visualización (203) de imagen y datos de sensores; medios para comparar el vector de datos enviado con un nuevo vector de datos recibido en tiempo real; y medios para detener el motor (101 ) en caso de detectar un error y enviar una señal inalámbrica al módulo de visualización (203) de imagen y datos de sensores. The control device (121) comprises means for switching on the wireless communication device; means for reading a data vector with values of the motor sensors (101) and the auxiliary vessel (100); media to send the data vector wirelessly to the image and sensor data display module (203); means for comparing the data vector sent with a new data vector received in real time; and means for stopping the motor (101) in case of detecting an error and sending a wireless signal to the image display module (203) of sensors and data.
El dispositivo control (121 ) comprende medios para leer unos valores de unos canales de comunicación; medios para verificar si los valores de los canales de comunicación son correctos; medios de comunicación al canal correspondiente en tiempo real. Los medios de comunicación inalámbrica (124, 204) operan en un rango entre 1 ,5 a 6 GHz. Preferentemente operan en un rango entre 2 a 2,5 GHz. The control device (121) comprises means for reading values of communication channels; means to verify if the communication channel values are correct; media to the corresponding channel in real time. The wireless communication means (124, 204) operate in a range between 1.5 to 6 GHz. Preferably they operate in a range between 2 to 2.5 GHz.
Las cámaras de visualización (1 16) ubicadas en la embarcación auxiliar (100) son cámaras de circuito cerrado de televisión o CCTV. Pudiendo además las cámaras de visualización ser de tipo infrarrojas, para una visión nocturna. El control de contra marcha incluye un temporizador, para cambiar la marcha cuando el motor esté a bajas revoluciones por minuto, entre 650 y 500 RPM.  The viewing cameras (1 16) located in the auxiliary boat (100) are CCTV or CCTV cameras. The viewing cameras can also be infrared, for night vision. The reverse gear control includes a timer, to change the gear when the engine is at low revolutions per minute, between 650 and 500 RPM.
La embarcación auxiliar (100) mantiene su posición mientras el pesquero (200) rodea la mancha de peces (300) de manera automática cuando el operario fija la posición en el mando a distancia (202), procediendo el dispositivo control (121 ) a mantener la ubicación de la embarcación auxiliar (100), que incluye acelerar el motor (101 ); desacelerar el motor (101 ); y posicionar el timón (105), a través de los sensores y servos. The auxiliary boat (100) maintains its position while the fishing vessel (200) surrounds the fish spot (300) automatically when the operator sets the position on the remote control (202), proceeding the control device (121) to maintain the location of the auxiliary vessel (100), which includes accelerating the engine (101); decelerate the engine (101); and position the helm (105), through the sensors and servos.

Claims

REIVINDICACIONES
Método de pesca semiautomático con una embarcación auxiliar o panga (100) que evita la accidentabilidad de los operarios al interior de la embarcación auxiliar o panga (100), que comprende las etapas de: Semi-automatic fishing method with an auxiliary boat or panga (100) that avoids the accident rate of the operators inside the auxiliary boat or panga (100), which includes the stages of:
i) detectar una mancha de peces (300);  i) detect a fish spot (300);
ii) iniciar la salida de una red (201 ) desde una embarcación o PAM o pesquero (200); CARACTERIZADO porque incluye:  ii) initiate the exit of a network (201) from a vessel or PAM or fishing vessel (200); CHARACTERIZED because it includes:
iii) establecer una conexión inalámbrica para controlar de manera remota la embarcación auxiliar (100), a través de un mando a distancia (202), asociado un módulo de visualización (203), dicha conexión establecida a través de un medio de comunicación inalámbrica del pesquero (204), en comunicación con un dispositivo control (121 ) a través de un medio de comunicación inalámbrica de la embarcación auxiliar (124), sin requerir de un operario a bordo de la embarcación auxiliar (100) comprendiendo además las siguientes etapas:  iii) establish a wireless connection to remotely control the auxiliary vessel (100), through a remote control (202), associated with a display module (203), said connection established through a wireless communication means of the fishing vessel (204), in communication with a control device (121) through a wireless communication means of the auxiliary vessel (124), without requiring an operator aboard the auxiliary vessel (100) further comprising the following steps:
a. lanzar la embarcación auxiliar (100) desde el pesquero (200); b. poner en marcha un motor (101 ) de la embarcación auxiliar (100), por parte de un operador ubicado en el pesquero (200); c. medir las condiciones de operación en tiempo real y la ubicación en tiempo real detectada por un GPS (1 14) de la embarcación auxiliar (100) desde el dispositivo control (121 ); d. verificar el estado de las variables de operación de la embarcación auxiliar (100) en tiempo real, para asegurar la operación dentro de los rangos pre definidos y enviar los resultados de la verificación de dichas mediciones al mando a distancia (202);  to. launch the auxiliary vessel (100) from the fishing vessel (200); b. starting an engine (101) of the auxiliary vessel (100), by an operator located in the fishing vessel (200); C. measure the real-time operating conditions and the real-time location detected by a GPS (1 14) of the auxiliary vessel (100) from the control device (121); d. verify the status of the operation variables of the auxiliary vessel (100) in real time, to ensure operation within the pre-defined ranges and send the results of the verification of said measurements to the remote control (202);
e. presentar en el módulo de visualización (203) las condiciones de operación recibidas en tiempo real y la ubicación de la embarcación auxiliar (100) recibidas por el medio de comunicación inalámbrica (204); f. controlar, por parte de un operador ubicado en el pesquero (200), el giro de la embarcación auxiliar (100) para que la embarcación auxiliar (100) esté en sentido opuesto al pesquero (200), teniendo sujeto el extremo de un calón de popa; and. present in the display module (203) the operating conditions received in real time and the location of the auxiliary vessel (100) received by the wireless communication means (204); F. control, by an operator located in the fishing vessel (200), the rotation of the auxiliary vessel (100) so that the auxiliary vessel (100) is in the opposite direction to the fishing vessel (200), holding the end of a calon of Stern;
g. mantener la posición de la embarcación auxiliar (100) mientras el pesquero (200) rodea la mancha de peces (300);  g. maintain the position of the auxiliary vessel (100) while the fishing vessel (200) surrounds the fish spot (300);
h. ubicar el pesquero (200) de forma de cerrar el círculo por un costado externo que inscribe, quedando la embarcación auxiliar (100) en el interior de un cerco definido por la red (300) desplegada de este modo;  h. locate the fishing vessel (200) in order to close the circle on an external side that it inscribes, leaving the auxiliary vessel (100) inside a fence defined by the net (300) deployed in this way;
i. retirar un calón de popa a través de una maniobra de la embarcación auxiliar (100) por parte de un operario en el pesquero (200) que emplea un gancho;  i. remove a stern caliber through a maneuver of the auxiliary vessel (100) by an operator in the fishing vessel (200) using a hook;
j. evitar el escape de la mancha de peces (300), realizando desplazamientos de la embarcación auxiliar (100) en la zona del calón de popa;  j. prevent the escape of the fish spot (300), making displacements of the auxiliary boat (100) in the area of the stern calon;
k. rodear la popa del pesquero (200) con la embarcación auxiliar (100), para que la embarcación auxiliar (100) tire al pesquero (200) en sentido contrario de la mancha de peces (300), a través de un cable dispuesto para tal efecto entre ambas embarcaciones, para evitar que la hélice del pesquero (200) se enrede en la red (201 ); y  k. surround the stern of the fishing vessel (200) with the auxiliary vessel (100), so that the auxiliary vessel (100) pulls the fishing vessel (200) in the opposite direction of the fish spot (300), through a cable arranged for such effect between both vessels, to prevent the fishing boat's propeller (200) from becoming entangled in the net (201); Y
I. cerrar la red y recoger la embarcación auxiliar (100) desde la popa del pesquero (200) para quedar en condiciones para navegar para otro lance o bien a puerto.  I. Close the net and collect the auxiliary vessel (100) from the stern of the fishing vessel (200) to be able to navigate for another launch or to the port.
2- El método de pesca según la reivindicación 1 , CARACTERIZADO porque la etapa c, de obtener las condiciones de operación en tiempo real del motor (101 ) y la ubicación en tiempo real de la embarcación auxiliar (100) comprende los siguientes pasos: 2- The fishing method according to claim 1, CHARACTERIZED in that step c, of obtaining the real-time operating conditions of the engine (101) and the real-time location of the auxiliary vessel (100) comprises the following steps:
i) obtener mediciones de los parámetros del motor (101 ) para las variables de presión de aceite, temperatura, revoluciones por minuto (RPM) y posición angular del timón (105) de la embarcación auxiliar (101 ); i) obtain measurements of the engine parameters (101) for the variables of oil pressure, temperature, revolutions by minute (RPM) and angular position of the helm (105) of the auxiliary vessel (101);
ii) construir un vector de datos con los valores de presión, temperatura, RPM, posición angular y la ubicación;  ii) build a data vector with the values of pressure, temperature, RPM, angular position and location;
iii) enviar el vector de datos al dispositivo control (121 );  iii) send the data vector to the control device (121);
iv) repetir el ciclo desde i) mientras la embarcación auxiliar (100) está en servicio.  iv) repeat the cycle from i) while the auxiliary vessel (100) is in service.
El método de pesca según las reivindicaciones 1 y 2, CARACTERIZADO porque la etapa d, de verificar el estado de las variables de operación comprende comparar los datos del vector de datos con los valores predeterminados. The fishing method according to claims 1 and 2, CHARACTERIZED in that step d, of verifying the state of the operating variables comprises comparing the data of the data vector with the predetermined values.
El método de pesca según la reivindicación 1 , CARACTERIZADO porque en el control de la embarcación auxiliar (100) se emplean unas instrucciones desde mando a distancia (202) para ser procesadas por el dispositivo control (121 ) que incluyen encender el motor (101 ); apagar el motor (101 ); acelerar el motor (101 ); desacelerar el motor (101 ); y posicionar el timón (105), de manera remota. The fishing method according to claim 1, CHARACTERIZED in that in the control of the auxiliary vessel (100) remote control instructions (202) are used to be processed by the control device (121) which include starting the engine (101) ; turn off the engine (101); accelerate the engine (101); decelerate the engine (101); and position the rudder (105), remotely.
El método de pesca según la reivindicación 4, CARACTERIZADO porque en el control de la embarcación auxiliar (100) se emplean además unas instrucciones desde mando a distancia (202) para mantener una ubicación actual de la embarcación auxiliar (100) de manera automática, dirigido por el dispositivo control (121 ) que incluye acelerar el motor (101 ); desacelerar el motor (101 ); y posicionar el timón (105). The fishing method according to claim 4, CHARACTERIZED in that in the control of the auxiliary vessel (100) furthermore, remote control instructions (202) are used to maintain a current location of the auxiliary vessel (100) automatically, directed by the control device (121) which includes accelerating the motor (101); decelerate the engine (101); and position the rudder (105).
El método de pesca según la reivindicación 3, CARACTERIZADO porque la instrucción de posicionar el timón (105) de una embarcación auxiliar (100), comprende los siguientes pasos: i) indicar un valor de voltaje de referencia que señala una posición en la que debe estar el timón (105) para direccionar la embarcación auxiliar (100); The fishing method according to claim 3, CHARACTERIZED in that the instruction to position the helm (105) of an auxiliary vessel (100), comprises the following steps: i) indicate a reference voltage value that indicates a position in which the rudder (105) must be to direct the auxiliary vessel (100);
ii) transformar el voltaje en un valor angular para controlar la posición del timón (105);  ii) transform the voltage into an angular value to control the position of the rudder (105);
iii) enviar el valor angular al motor de timón (125) para que este se modifique a la señal de referencia;  iii) send the angular value to the rudder motor (125) so that it changes to the reference signal;
iv) obtener un ángulo de salida del timón (105); y  iv) obtain a rudder exit angle (105); Y
v) comparar el ángulo de salida del timón (105) con el valor de voltaje de referencia.  v) compare the rudder outlet angle (105) with the reference voltage value.
7- El método de pesca según la reivindicación 1 , CARACTERIZADO porque en la etapa g) de mantener la posición de la embarcación auxiliar (100) mientras el pesquero (200) rodea la mancha de peces (300) es dirigida por el operario mediante el mando a distancia (202). 7- The fishing method according to claim 1, CHARACTERIZED because in step g) of maintaining the position of the auxiliary vessel (100) while the fishing vessel (200) surrounds the fish spot (300) is directed by the operator by means of the remote control (202).
8- El método de pesca según la reivindicación 5, CARACTERIZADO porque en la etapa g) de mantener la posición de la embarcación auxiliar (100) mientras el pesquero (200) rodea la mancha de peces (300) es dirigida de manera automática cuando el operario fija la posición en el mando a distancia (202). 8- The fishing method according to claim 5, CHARACTERIZED because in step g) of maintaining the position of the auxiliary vessel (100) while the fishing vessel (200) surrounds the fish spot (300) is automatically directed when the operator sets the position on the remote control (202).
9- El método de pesca según la reivindicación 1 , CARACTERIZADO porque las etapas h) a I) son dirigidas por el operario mediante el mando a distancia (202). 9- The fishing method according to claim 1, CHARACTERIZED in that the steps h) to I) are directed by the operator by means of the remote control (202).
10- El método de pesca según la reivindicación 9, CARACTERIZADO porque las etapas h) a I) dirigidas por el operario es asistido por unas cámaras de visualización (1 16) instaladas en la embarcación auxiliar (100), que despliega unas imágenes en el módulo de visualización (203), permitiendo la operación cuando las condiciones de visualización son limitadas. 1 1 - Un sistema de pesca semiautomático con una embarcación auxiliar o panga (100) que evita la accidentabilidad de los operarios al interior de la embarcación auxiliar o panga (100), que comprende de: 10- The fishing method according to claim 9, CHARACTERIZED in that the steps h) to I) directed by the operator is assisted by viewing cameras (1 16) installed in the auxiliary boat (100), which displays images in the display module (203), allowing operation when viewing conditions are limited. 1 1 - A semi-automatic fishing system with an auxiliary vessel or panga (100) that prevents the accidentability of the operators inside the auxiliary vessel or panga (100), which comprises:
una red (201 ) para capturar un cardumen de peces que se ven como una mancha de peces (300);  a net (201) to capture a school of fish that look like a fish spot (300);
una embarcación o PAM o pesquero (200); CARACTERIZADO porque además comprende:  a vessel or PAM or fishing vessel (200); CHARACTERIZED because it also includes:
un mando a distancia (202), asociado un módulo de visualización (203), para ser manejado por un operario a bordo del pesquero (200);  a remote control (202), associated with a display module (203), to be operated by an operator aboard the fishing vessel (200);
un medio de comunicación inalámbrica del pesquero (204), que se comunica con un dispositivo control (121 ) a través de un medio de comunicación inalámbrica de la embarcación auxiliar (124) dispuestos en la embarcación auxiliar (100), para controlar de manera remota la embarcación auxiliar (100); la embarcación auxiliar (100) comprende un motor (101 ) para su desplazamiento; y unas condiciones de operación en tiempo real y una ubicación en tiempo real es detectada por un GPS (1 14) de la embarcación auxiliar (100) y dicha información es enviada al dispositivo control (121 ); para verificar el estado de las variables de operación de la embarcación auxiliar (100) en tiempo real, y asegurar la operación dentro de los rangos pre definidos y enviar los resultados de la verificación de dichas mediciones al mando a distancia (202); estando dicho módulo de visualización (203) dispuesto para presentar las condiciones de operación recibidas en tiempo real y la ubicación de la embarcación auxiliar (100) recibidas por el medio de comunicación inalámbrica (204); y  a wireless communication means of the fishing vessel (204), which communicates with a control device (121) through a wireless communication means of the auxiliary vessel (124) arranged in the auxiliary vessel (100), to remotely control the auxiliary boat (100); the auxiliary boat (100) comprises a motor (101) for its displacement; and real-time operating conditions and a real-time location is detected by a GPS (1 14) of the auxiliary vessel (100) and said information is sent to the control device (121); to verify the status of the operation variables of the auxiliary vessel (100) in real time, and ensure the operation within the pre-defined ranges and send the results of the verification of said measurements to the remote control (202); said display module (203) being arranged to present the operating conditions received in real time and the location of the auxiliary vessel (100) received by the wireless communication means (204); Y
un operario en el pesquero (200) que emplea un gancho para retirar un calón de popa, a través de una maniobra de la embarcación auxiliar (100), para realizar el cierre de la red (201 ) confinando el cardumen de peces.  an operator in the fishing boat (200) that uses a hook to remove a stern caliber, through a maneuver of the auxiliary boat (100), to make the closing of the net (201) confining the school of fish.
12- El sistema según la reivindicación 1 1 , CARACTERIZADO porque la embarcación auxiliar (100) y el dispositivo control (121 ) además comprende: unos medios reductores de marcha (102), que se conectan al motor (101 ); al menos un eje propulsor (103) con una hélice (104), que se conectan a los medios reductores de marcha (102); The system according to claim 1, CHARACTERIZED in that the auxiliary vessel (100) and the control device (121) further comprises: gear reduction means (102), which are connected to the motor (101); at least one drive shaft (103) with a propeller (104), which are connected to the gear reduction means (102);
al menos un timón (105); que se conecta pivotantemente a la popa de la embarcación auxiliar (100);  at least one rudder (105); which pivotally connects to the stern of the auxiliary vessel (100);
unos medios para puesta en marcha y detención (108) del motor (101 ) de la embarcación auxiliar (100);  means for starting and stopping (108) the engine (101) of the auxiliary vessel (100);
un control de contra marcha (123);  a reverse gear control (123);
un motor de timón (125), que mueve el timón (105);  a rudder motor (125), which moves the rudder (105);
unos medios de aceleración (1 12) del motor (101 );  acceleration means (1 12) of the engine (101);
una fuente de poder o generador (1 15), que alimenta los dispositivos eléctricos y electrónicos de la embarcación auxiliar (100);  a power source or generator (1 15), which powers the electrical and electronic devices of the auxiliary vessel (100);
el dispositivo control (121 ), que recibe la información a través del medio de inalámbrica de la embarcación auxiliar (124), para comandar los medios de aceleración (1 12), el motor de timón (125) y los medios para puesta en marcha y detención (108), los que son energizados por la fuente de poder o generador (1 15).  the control device (121), which receives the information via the wireless means of the auxiliary vessel (124), to command the acceleration means (1 12), the rudder motor (125) and the means for commissioning and detention (108), which are energized by the power source or generator (1 15).
13- El sistema según la reivindicación 1 1 , CARACTERIZADO porque el dispositivo control (121 ) recibe información de: 13- The system according to claim 1, CHARACTERIZED in that the control device (121) receives information from:
una caja de sensores (106);  a sensor box (106);
un sensor de presión de aceite del motor (109);  an engine oil pressure sensor (109);
un sensor de presión de aceite de la contra marcha (1 10);  a counter pressure oil pressure sensor (1 10);
unas cámaras visualización (1 16);  viewing cameras (1 16);
un dispocitivo de parada de emergencia (1 19);  an emergency stop device (1 19);
un sensor angular de timón (122); y  an angular rudder sensor (122); Y
el dispositivo control (121 ) envía señales de control a: The control device (121) sends control signals to:
un servo de partida (107);  a starting servo (107);
un servo de parada (1 1 1 );  a stop servo (1 1 1);
un servo de aceleración (1 12);  an acceleration servo (1 12);
un control de contra marcha (123); y  a reverse gear control (123); Y
un motor de timón (125);  a rudder motor (125);
para comandar la embarcación auxiliar (100). 14- El sistema según la reivindicación 1 1 , CARACTERIZADO porque el dispositivo control (121 ) comprende: to command the auxiliary boat (100). 14- The system according to claim 1, CHARACTERIZED in that the control device (121) comprises:
- medios para encender el dispositivo comunicación inalámbrica;  - means to turn on the device wireless communication;
- medios para leer un vector de datos con valores de los sensores del motor (101 ) y la embarcación auxiliar (100);  - means for reading a data vector with values of the motor sensors (101) and the auxiliary vessel (100);
- medios para enviar el vector de datos de manera inalámbrica al módulo de visualización (203) de imagen y datos de sensores;  - means for sending the data vector wirelessly to the image and sensor data display module (203);
- medios para comparar el vector de datos enviado con un nuevo vector de datos recibido en tiempo real; y  - means for comparing the data vector sent with a new data vector received in real time; Y
- medios para detener el motor (101 ) en caso de detectar un error y enviar una señal inalámbrica al módulo de visualización (203) de imagen y datos de sensores. 15- El sistema según la reivindicación 1 1 , CARACTERIZADO porque el dispositivo control (121 ) comprende:  - means for stopping the motor (101) in case of detecting an error and sending a wireless signal to the image display module (203) of sensors and data. 15- The system according to claim 1, CHARACTERIZED in that the control device (121) comprises:
medios para leer unos valores de unos canales de comunicación;  means for reading values of communication channels;
medios para verificar si los valores de los canales de comunicación son correctos;  means to verify if the communication channel values are correct;
medios de comunicación al canal correspondiente en tiempo real.  media to the corresponding channel in real time.
16- El sistema según la reivindicación 1 1 , CARACTERIZADO porque los medios de comunicación inalámbrica (124, 204) operen en un rango entre 1 ,5 a 6 G Hz. 16- The system according to claim 1, characterized in that the wireless communication means (124, 204) operate in a range between 1.5 to 6 G Hz.
17- El sistema según la reivindicación 1 1 , CARACTERIZADO porque los medios de comunicación inalámbrica (124, 204) operen en un rango entre 2 a 2,5 G Hz. 18- El sistema según la reivindicación 1 1 , CARACTERIZADO porque además comprende unas cámaras (1 16) de visualización ubicadas en la Panga. 19- El sistema según la reivindicación 18, CARACTERIZADO porque las cámaras de visualización ubicadas en la embarcación auxiliar (100) son cámaras de circuito cerrado de televisión o CCTV. 20- El sistema según la reivindicación 18, CARACTERIZADO porque las cámaras de visualización ubicadas en la embarcación auxiliar (100) son infrarrojas, para una visión nocturna. 17- The system according to claim 1, characterized in that the wireless communication means (124, 204) operate in a range between 2 to 2.5 G Hz. 18- The system according to claim 1, CHARACTERIZED because it also comprises Viewing cameras (1 16) located in the Panga. The system according to claim 18, CHARACTERIZED because the display cameras located in the auxiliary vessel (100) are CCTV or CCTV cameras. 20- The system according to claim 18, CHARACTERIZED in that the viewing cameras located in the auxiliary vessel (100) are infrared, for night vision.
21 - El sistema según la reivindicación 1 1 , CARACTERIZADO porque el control de contra marcha incluye un temporizador, para cambiar la marcha cuando el motor esté a bajas revoluciones por minuto, entre 650 y 500 RPM. 21 - The system according to claim 1, CHARACTERIZED in that the counter gear control includes a timer, to change the gear when the engine is at low revolutions per minute, between 650 and 500 RPM.
22- El sistema según las reivindicaciones 1 1 a 14, CARACTERIZADO porque la embarcación auxiliar (100) mantiene su posición mientras el pesquero (200) rodea la mancha de peces (300) de manera automática cuando el operario fija la posición en el mando a distancia (202), procediendo el dispositivo control (121 ) a mantener la ubicación de la embarcación auxiliar (100), que incluye acelerar el motor (101 ); desacelerar el motor (101 ); y posicionar el timón (105), a través de los sensores y servos. 22- The system according to claims 1 to 14, CHARACTERIZED in that the auxiliary vessel (100) maintains its position while the fishing vessel (200) surrounds the fish spot (300) automatically when the operator sets the position in the remote control distance (202), the control device (121) proceeding to maintain the location of the auxiliary vessel (100), which includes accelerating the engine (101); decelerate the engine (101); and position the helm (105), through the sensors and servos.
PCT/IB2016/054432 2015-07-27 2016-07-25 Method and system for purse seine fishing with a remotely controlled auxiliary vessel WO2017017597A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CL2015002096A CL2015002096A1 (en) 2015-07-27 2015-07-27 Semi-automatic and remote-controlled fishing method and system to control an auxiliary vessel or panga that prevents the accidentability of the operators inside said auxiliary vessel or panga
CL201502096 2015-07-27

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CN111526717A (en) * 2017-12-27 2020-08-11 克季公司 Net assembly for seine fishery
EP4248745A1 (en) * 2022-03-24 2023-09-27 National Institute of Fisheries Science Remote control system of fishing equipment for fishing vessel

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US6269763B1 (en) * 1998-02-20 2001-08-07 Richard Lawrence Ken Woodland Autonomous marine vehicle
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Publication number Priority date Publication date Assignee Title
CN111526717A (en) * 2017-12-27 2020-08-11 克季公司 Net assembly for seine fishery
EP4248745A1 (en) * 2022-03-24 2023-09-27 National Institute of Fisheries Science Remote control system of fishing equipment for fishing vessel

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