JPH01256334A - Semi-automatic fishing machine - Google Patents

Abstract

PURPOSE:To provide the title machine so designed that when a dehooking detection part does not detect a dehooking based on a fish body weight sensor output, the dehooking control part is actuated and when a dehooking is detected, a luring control part begins to follow a designated fishing rod angle, thereby improving the operability. CONSTITUTION:When a dehooking detection part does not defect a dehooking based on the output from a fishing body weight sensor 23 to detect the tension of a main line 542, a plurally dehooking control part 41 drives the fishing machine itself 54 with a fishing rod output 411 for dehooking, via an addition part 43 and a driving control part 53 to effect fish dehooking. On the other hand, a dehooking is detected, a luring control part 38 begins to follow a designated fishing rod angle from an angle input part 24, thereby eliminating troubles associated with dehooking confirmation in dehooking action and the waiting for its completion, enabling plural fishing machine to be operated by a single operator.

Description

[Detailed Description of the Invention] Industrial Retirement ■Kaimame■ The present invention relates to a fishing machine for performing line fishing, and more specifically,
This invention relates to a semi-automatic fishing machine that rotates a fishing rod to a cradle position angle after detecting a hook.

Since the pole-and-line fishing method requires a lot of manpower, there is often a shortage of manpower, so fishing machines that provide manpower assistance have come to be used.

This fishing machine automatically performs the cradle motion, which takes up the most time during main fishing, and automatically repeats the motion for unhooking. , it is configured to enable line fishing using a plurality of fishing rods.

B <'''Shield- The above-mentioned fishing machine has a structure that automatically repeats the action for unhooking, so the lever that controls the angle of the fishing rod is set to the angle for unhooking. The baiting is done simply by rotating the hook, but in order to resume the cradling motion after hooking, it is necessary to confirm that the fish has been unhooked and then operate the rear lever.

In other words, it is necessary to look back to confirm that the hook has been released, and it is necessary to wait until the release of the hook is completed before operating the lever. Confirming that the hook has been unhooked and waiting for it to be completed has become a very troublesome task.

The present invention was created to solve the above problems, and its purpose is to provide a semi-automatic fishing machine that can eliminate the hassle of unhooking.

Lesson 1 Sparrow] V-maru tA dog lzu and [Minister] In order to solve the above-mentioned problems, the automatic fishing machine of the present invention has the following features: When the angle of the fishing rod with respect to the deck is taken as the rod angle, by controlling the rod angle. The system is configured for main fishing, and includes a fish weight sensor that detects the tension of the line to which the artificial hook is tied, and a fish weight sensor that detects the tension when the rod angle reaches a preset unhooking confirmation angle based on the output of the fish weight sensor. , a dehooking detection unit that detects the unhooking of a fish from a pseudohook; and a dehooking control unit that controls the fishing rod to make one swing toward the deck side when the output of the unhooking detection unit does not indicate detection of unhooking. and an angle input for instructing the angle of the fishing rod, and a cradle control section that starts controlling the fishing rod angle in accordance with the instruction rod angle sent from the angle input section when the output of hook removal detection indicates detection of hook removal. .

After the fishing rod rotates according to the instructions from the angle input section and the rod angle reaches the unhooking confirmation angle, the value of the output from the angle input section is ignored until the unhooking detection section detects unhooking. , the fishing rod is swung toward the deck by the unhooking control unit. When the fish is unhooked by this unhooking operation with one swing, and the unhooking detecting unit detects that the fish is unhooking, the rod angle follows the indicated rod angle that is the output of the angle input unit by the cradling control unit. control begins.

In other words, once the output of the angle input section specifies the unhooking confirmation angle and the rod angle matches this unhooking confirmation angle, the subsequent operation of the angle input section will determine what kind of rod angle the indicated rod angle indicates. Even in the case where the hook is released, the rod angle begins to follow the designated rod angle only after the unhooking is detected.

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention.

In the figure, the blocks within the dashed line 100 are CPtJ.

This block is processed by software by a microcomputer equipped with ROM, RAM, etc.

A signal from a setting device 31 consisting of a plurality of key switches, etc. is guided to a setting control section 32, and the output of this setting control section 32 is sent to four instruction sections (pull angle instruction section 33) that store the sent values. , a pulling speed instruction section 34, a single release hook angle instruction section 35, a release confirmation angle instruction section 36), and a single release hook control section 44.

Then, a pulling angle instruction section 33 and a pulling speed instruction section 3
4 is led to the pulling control section 39, the output of the single release hook angle instruction section 35 is guided to the fishing control section 40, and the output of the hook release confirmation angle instruction section 36 is guided to the double release hook control section 41. ing. Further, the output of the pulling angle instruction section 33 is also guided to the fishing control section 40.

The fishing machine body 54 that rotates the fishing rod 541 includes the fishing rod 541.
An angle sensor 22 is provided to detect the angle of the
The output of this angle sensor 22 is given to three control sections (pulling control section 39, fishing control section 40, double hook control section 41) and inclination correction section 42 via an A/D converter 62. There is. Also, the path thread 542 to which the pseudo needle 543 is tied
The fish weight sensor 2 passes through the inside of the fishing rod 541 and consists of a load cell or the like for detecting the tension of the line 542.
It is guided by 3. The output of this fish weight sensor 23 is transmitted to the cradling control section 38, via the A/D converter 63,
and the double release hook control section 41.

The cradle control section 38 sends control outputs to the cradle waveform generation section 37 and the attraction control section 39, and the attraction control section 39 sends control outputs to the fishing control section 4.
0, and the inclination correction unit 42, the fishing control unit 4
From 0 onwards, outputs are given to the double hook control section 41 and the single release hook control section 44 for their respective controls. Further, the double release hook control section 41 sends an output for control to the cradle control section 38.

The output of the cradle waveform generating section 37 and the output of the single release hook control section 44 are led to an adding section 43,
, the outputs of the pulling control section 39, the fishing control section 40, and the double hooking control section 41 are sent to an adding section 43 as parallel outputs.
(For the four control units 38 to 41,
Since the outputs are sent to the adder 43 in sequence, they are shown as parallel connections).

Further, the output of the adding section 43 is given to four control sections (cradle control section 38, attracting control section 39, fishing control section 40, and double hook control section 41), and is also sent to one input of the adding section 45. , the output sent from the tilt correction section 42 is led to the other input of the addition section 45.

The output of the adder 45 is led to one input of an adder 52 via a D/A converter 51, and the analog signal from the angle sensor 22 is led to the other input of the adder 52. . The output of this adder 52 is sent to a drive control section 53, and the output of the drive control section 53 is introduced into the fishing machine main body 54. Also, the tilt sensor 2 detects the tilt of the hull.
The output from the angle input section 24, which indicates the angle of the fishing rod 541, is sent to the tilt correction section 42 via the A/D converter 61, and the output from the angle input section 24, which indicates the angle of the fishing rod 541, is sent to the tilt correction section 42 via the A/D converter 64. It is led to a control section 38 and a double release hook control section 41.

FIG. 2 is a block diagram showing the detailed configuration of one embodiment of the double-release hook control section 41. As shown in FIG.

The rod angle control unit 11 receives an output 361 from the unhooking confirmation angle instruction unit 36, an output 431 from the addition unit 43, an output 641 from the angle input unit 24 via the A/D converter 64, and the fishing control unit 40. The rod angle control section 11 sends an output indicating the start of operation to the timer section 12, and an output indicating the rod angle to the adding section 15.

Further, the output 631 of the fish weight sensor 23 via the A/D converter 63 is given to the unhooking detection section 13, and from the unhooking detection section 13, an output for controlling the unhooking control section 14, An output 412 indicating detection of unhooking is sent to the adding unit 15 and the cradle control unit 38.

Further, the hook control section 14 sends an output to the timer section 12 instructing the start of operation, and the unhooking control section 14 sends an output indicating the hook release waveform to the addition section 15. ing. The output of the adding section 15 is given to the adding section 43 shown in FIG. 1 as an output 411 indicating the rod angle.

FIG. 3 is a block diagram showing a detailed configuration of one embodiment of the fishing control section 40.

The output 351 of the single release hook angle instruction section 35 and the output 431 from the adder 43 are given to the coincidence detection section 405, and the output 402 of the coincidence detection section 405 is sent to the single release hook control section 44 and the rod angle control section 407. is being sent to. Also, the comparison section 40
6 is given the output 641 of the angle input section 24 via the A/D converter 64, the output 431 of the addition section 43, and the output 331 of the pulling angle instruction section 33, and the output of the comparison section 406 is used for rod angle control. The information is sent to the section 407.

The rod angle control section 407 is further supplied with the output 391 of the pulling control section 39, and the output 403 to the double release hook control section 41 and the output 401 to the addition section 43 are fed to the rod angle control section 407. It is output by. The rod angle control section 407 also includes an output 402 of the coincidence detection section 405.
is being guided.

Regarding the operation of one embodiment of the present invention having the above configuration,
It is explained below.

First, control of the angle of the fishing rod 541 will be explained.

The fishing rod control section 15 controls the fishing machine main body 54 using the drive control section 53 so that the difference between the output of the angle sensor 22 indicating the angle of the fishing rod 541 and the output of the D/A converter 51 becomes 0. Therefore, the angle of the fishing rod 541 is determined by the input value of the adder 52 provided by the D/A converter 51. In other words, the value of the output of the adder 45 is the value of the fishing rod 5.
Determine the angle of 41.

Next, the operations performed before starting fishing will be explained.

In response to the expected fish weight of the school of fish you are about to catch,
The pulling angle, the pulling speed, the angle when performing single unhooking to remove the fish from the artificial hook 543, the swinging back angle of the single unhooking, and the angle for confirming that the fish has come off the artificial hook 543. It is input by using the setting device 31.

These input numerical values are stored by the setting control section 32 in areas set in advance on the memory to store each numerical value, such as a pulling angle instruction section 33, a pulling speed instruction section 34, and a single unhooking angle instruction section. 35, the unhooking confirmation angle instruction section 36, and a predetermined area within the single unhooking control section 44. After this setting is completed, the fishing operation begins.

FIG. 4 is an explanatory diagram showing the relationship between the output of the angle input section 24 and the output of the addition section 43.

When no fish are hooked, the attracting control section 39, the fishing control section 40, and the double hooking control section 41 stop operating. Further, the output value of the single release hook control section 44 is O, and the output value of the cradling waveform generation section 37 is also 0 while the operation is stopped.

Further, the output of the inclination correction unit 42 is 0 when the hull is not tilted, and the operation when the hull is not tilted will be described below, and then the correction of the tilt when the hull is tilted will be explained.

A two-dot chain line Z641 in FIG. 4 indicates a change in the value of the pointing rod angle 641 which is the output of the angle input section 24, and a solid line Z4
31 indicates a change in the value of the output 431 of the adder 43.

Since the lever 241 of the angle input section 24 is rotated to the angle Z2001 for the cradle operation, the cradle control section 3
8 fixes the value of the output 381 to Z2001, and uses the output 382 to instruct the cradle waveform generator 37 to send out the cradle waveform.

The waveform output from the pacifying waveform generating section 37 is approximately a sine wave, and the value indicating this waveform is the pacing waveform generating section 37.
is applied to the adder 43 from Therefore, the value of the output of the adder 43 is a constant value Z2001 from the cradle controller 38.
This value is the sum of the outputs of the cradling waveform generator 37.

In other words, the output of the adder 43 that indicates the angle of the fishing rod 541 periodically repeats small changes as shown at 1003 in FIG. 4, and the angle of the fishing rod 541 changes in the same way.
The pseudo needle 543 dances underwater.

When the fish bites into the pseudo hook 543 (T6), the tension of the fishing line 542 increases rapidly, and this increase in tension is controlled by the fish weight sensor 23 and the A/D converter 63.
guided by. When the cradle control unit 38 detects this increase in tension, it determines that a fish is hooked and sends an instruction to stop the cradle waveform generation unit 37 through an output 382, and an output 383 to the attraction control unit 39 to stop the operation. It sends out a start instruction and also stops its operation.

The pull control unit 39 moves the fishing rod 541 at a speed according to the output value of the pull speed instruction unit 34 while comparing the value of the pull angle 331 from the pull angle instruction unit 33.
The value of the output sent to the adding section 43 is increased so that the output 3 of the pulling angle instruction section 33 is rotated toward the deck side.
When the value of its own output matches the value of Z331 (Z331) (T2), the operation is stopped.

During the time following this stop, fish are attracted by the elasticity of the fishing rod 541. Then, the pull control unit 39 indicates that it has stopped its operation by outputting 391.
The fishing control unit 40 is notified.

The rod angle control unit 407, which has been given this stop output, sends the value Z331 to the output 401, and then enters a standby state. Furthermore, the comparison unit 406 determines that the value of the instruction rod angle 641 is output 3.
Wait until the value Z331 indicated by 31 is exceeded.

The operator detects that the fish is attracted, and the lever 241 of the angle input section 24 starts rotating (T
7), the value of the indicating rod angle 641 which is the output is Z331
The rod angle control section 407 starts controlling the rod angle from the time the rod angle exceeds (T5). This is a comparison section 4 that compares the value of the pointing rod angle 641 and the value of the output 431 of the addition section 43.
When the output of the comparison unit 406 shows output 641>output 431, the rod angle control unit 407 increases the output value, and when it shows output 641−output 431, it stops increasing the output value. do.

Then, the value of the output 431 is the output 3 of the single unhooking angle instruction section 35.
51 (T3), this match is detected by the match detection unit 405. The coincidence detecting unit 405 that has detected the coincidence is given an instruction to start the operation to the single unhooking control unit 44, and also instructs the equal angle control unit 407 to that effect. The equal angle control unit 407 that has received the instruction maintains sending out the value Z351 during the period L1.

Since the single hook control unit 44 sends a waveform representing a negative half cycle of a substantially sinusoidal wave corresponding to the set value to the addition unit 43, the fishing rod 541 is swung by a small angle toward the sea surface for a short time. be returned. This action loosens the tension on the line 542, causing the fish to come off the pseudo hook 543 and fly toward the deck.

After the period t1, the control by the equal angle control unit 407 is restarted, and the output value increases (1004). During the increase, the output 403 instructs the equal angle control section 11 in the double release hook control section 41 to start the operation, and stops the operation itself.

The equal angle control unit 11 succeeds to the value indicated by the output 431 and further increases the value (unhooking control unit 14
(The value of the output is O), when the value of the output 111 matches the value Z361 of the output 361 of the unhooking confirmation angle instruction section 36 (T8), the value of the output 411 is fixed to Z361, and An instruction is given to the timer section 12 to start operation.

On the other hand, the operation of the lever 241 in the angle input section 24 is as follows:
After giving an instruction to rotate the fishing rod 541 until it reaches full tilt on the deck side (2002), the fishing rod 541 is immediately returned to the position instructing the angle z2001 for performing a cradling motion (2002).
003).

The timer section 12 delays the output from the equal angle control section 11 by a time t2, and then provides an output instructing the unhooking detection section 13 to perform a detection operation (T9). The unhooking detection unit 13, which has been given the instruction to start the operation, measures the tension of the thread 542 based on the output of the A/D converter 63. When the tension is close to 0, it is determined that the fish is out, and the output 412 sends an instruction to the cradle control section 38 to start the operation, and an instruction to the addition section 15 to stop the output. give.

The cradling control unit 38 that has been given the instruction to start the operation operates so that its own output value follows the value of the instruction rod angle 641 that is the output of the angle input unit 24.
The value of the output 431 also changes according to the value of the instruction rod angle 641 (1005), and when the value of the output 381 reaches the angle z2001 for the cradle operation, the cradle control unit 38
An operation instruction is given to the cradling waveform generating section 37. Also, it fixes the value of the output 381 to 22001.

At time T9, the path 5 indicated by the output 631
When the tension of 42 does not reach a value close to O, it is assumed that the fish has not come off yet, and the unhooking detection section 13 gives an instruction to the hook control section 14 to start the operation.

In order to make one swing of the fishing rod 541, the unhooking control unit 14 sends one triangular wave (1006) whose rise time t3 is shorter than the fall time L4 to the addition unit 15. fishing rod 541
is swung toward the deck by this triangular wave (1006), unhooking the fish.

When the transmission of the triangular wave (1006) is completed (TIO), the unhooking control section 14 gives an instruction to the timer section 12 to start operation. The timer part 12 starts after time t2 has elapsed (T
11) Give an instruction to the unhooking detection unit 13 to start detecting unhooking. Thereafter, the delay of time t2 of the timer part 12 and the detection of unhooking by the unhooking detection section 13 are repeated, and when the unhooking is detected (TI2), the output 412 causes the cradle control section 38 to: Give instructions to start an action. Further, an instruction to stop the operation is given to the addition section 15.

The cradle control section 38, which has received the instruction to start the operation, makes the value of its own output 381 follow the value of the instruction rod angle 641 which is the output of the angle input section 24 (the value Z2001 has already been output). , 2361, and when the value decreases to the value 22001 (T13), the cradling waveform generating section 37 starts operating, and itself generates the value Z20.
01 is maintained.

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

During the period from the cradle operation to the pulling operation (the period when the value of the output 431 of the adder 43 is less than or equal to Z331), the distance between the pseudo needle 543 and the sea surface is important. 42 sends the output of the first filler sensor 21 to the adder 43 via the A/D converter 61, thereby correcting the influence of the inclination of the hull that appears on the rod angle, and also correcting the unhooking confirmation angle (Z361). Now, pseudo needle 543
Since the positional relationship between the fishing rod and the deck is important and there is no need for correction, in the middle of the operation of the fishing control section 40 according to the instruction from the fishing control section 39 indicating the end of the operation,
Let O be the numerical value for tilt correction.

Note that the present invention is not limited to the above-mentioned embodiment, and the cradling waveform generating section 37 and the single unhooking control section 44 are configured by hardware, and the D/A converter 51 is configured by an externally provided adder.
A configuration in which addition is performed with the output of is possible.

Further, the output waveform of the single unhooking control unit 44 is not limited to a waveform resembling a negative half cycle of a sine wave, but may include other waveforms.
It is possible to use a negative triangular waveform or the like.

Furthermore, although we have explained the software configuration of the unhooking control section 14, we have also explained that it is a hardware configuration.
It is possible to have a configuration in which it is added to the output of the /A converter 51.

Furthermore, although a configuration has been described in which single unhooking is performed automatically, it is possible to have a configuration in which single unhooking is performed by operating the lever 241 of the angle input section 24.

The semi-automatic fishing machine according to the present invention includes an unhooking detection unit that detects unhooking based on the output of a fish weight sensor that detects the tension of the fishing line, and the output of the unhooking detection unit When the hook does not appear to be unhooked, the unhooking control section causes the fish to be unhooked, and when unhooking is detected, the cradling control section starts tracking the rod angle to the indicated value indicated by the angle input section. Even if the output of the angle input unit once indicates the angle for detecting the unhooking operation, and the indicated value is immediately returned to the angle for the cradling operation, the unhooking will not occur. Since the fishing rod is rotated to the angle for the craning operation after the hooking is completed, the hassle of confirming the unhooking operation and waiting for the unhooking operation to complete is eliminated, and only one operator can do it. This has the effect of allowing multiple fishing machines to be operated.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention;
FIG. 2 is a block diagram showing a detailed configuration of an embodiment of the double release hook control section 41, FIG. 3 is a block diagram showing a detailed configuration of an embodiment of the fishing control section 41, and FIG. It is an explanatory view showing the relationship between the output of the input section and the rod angle. 13...Hook removal detection unit 14...Hook removal control unit 23...Fish weight sensor 361...Hook removal confirmation angle 541...Fishing rod 542...Road line 543...Pseudo hook patent application People Furuno Electric Co., Ltd.

Claims (1)

[Claims] (1) When the angle of the fishing rod with respect to the deck is defined as the rod angle, in a semi-automatic fishing machine that performs pole and line fishing by controlling the rod angle, the weight of the fish is used to detect the tension of the line to which the artificial hook is tied. A sensor, a dehooking detection unit that detects the dehooking of a fish from a pseudo hook based on the output of a fish weight sensor when the rod angle reaches a preset unhooking confirmation angle, and an output of the dehooking detection unit. When the hook does not indicate detection of hook release, the hook release control unit controls the fishing rod to make one swing toward the deck side, the angle input that instructs the angle of the fishing rod, and the output of the hook removal detection unit detects hook removal. 1. A semi-automatic fishing machine characterized by comprising: a cradle control section that starts controlling the rod angle in accordance with an instruction rod angle sent from an angle input section when the rod angle is indicated.