Fishing device and method for controlling the fishing device

Abstract

To provide a fishing device capable of reducing the number of re-throwing of a fishhook.SOLUTION: A fishing device 100 for automatically performing fishing comprises: a drive unit 22 capable of rotating and driving a rod 10, to which a hook is attached via a fishing line, at least in a plane approximately perpendicular to a water surface by taking a terminal of the rod 10 as a fulcrum; and a control unit 30 for controlling the drive unit 22. The control unit 30 controls the drive unit 22 so that a throwing operation of throwing the hook into water by rotating the rod 10 in the approximately perpendicular plane, a longitudinal invitation operation of rotating the rod 10 in the approximately perpendicular plane and making the hook thrown in water gradually approach to a ship's side 1S, a longitudinal gathering operation of rotating the rod 10 in the approximately perpendicular plane when fish is caught by the hook and making the fish approach to the ship's side 1S, and a lifting operation of rotating the rod 10 in the approximately perpendicular plane and lifting the fish on the ship 1 are performed. The control unit 30 controls the drive unit 22 so that after the longitudinal invitation operation is terminated, a lateral invitation operation of reciprocating the rod 10's tip in a plane approximately horizontal with respect to the water surface is performed.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a fishing device and a method for controlling a fishing device. [Background technology]

[0002] In deep-sea fishing, a fishing method is sometimes used in which bonito and other fish are caught one by one using a rod with a lure attached to a fishing line. This fishing method requires many crew members with advanced fishing techniques, and securing the crew members and their labor costs is a burden on management. In response to this, a fishing device has been disclosed that aims to automate the fishing work (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-62754 A Summary of the Invention [Problem to be solved by the invention]

[0004] Conventional fishing devices use a single-axis rotation mechanism to rotate the rod in a direction approximately perpendicular to the water surface. However, when the rod moves only in a vertical direction, the probability of a fish being hooked is lower than when a crew member performs the fishing operation. In other words, the lure has to be re-cast many times to move the lure, resulting in lost fishing opportunities.

[0005] The present invention has been made in consideration of the above-mentioned circumstances, and an object of the present invention is to provide a fishing device that can reduce the number of times the fishhook needs to be re-cast. [Means for solving the problem]

[0006] The fishing device according to the present invention is an automatic fishing device, comprising: a drive unit that is arranged on the side of a boat and that can rotate a rod, to which a hook is attached via a fishing line, at least in a substantially vertical plane relative to the water surface, with the end of the rod as a fulcrum; and a control unit that controls the drive unit, wherein the control unit controls the drive unit to perform a throwing operation that rotates the rod in the substantially vertical plane to throw the hook into the water, a vertical luring operation that rotates the rod in the substantially vertical plane to gradually bring the hook that has been thrown into the water closer to the boat, a vertical pulling operation that rotates the rod in the substantially vertical plane to bring the fish closer to the boat when the fish is hooked, and a fishing lifting operation that rotates the rod in the substantially vertical plane to pull the fish up onto the boat. The control unit also controls the drive unit to perform a lateral luring operation that moves the tip of the rod back and forth in a substantially horizontal plane relative to the water surface after the vertical luring operation is completed. In the above, the hook refers to a so-called fishing hook, and for example, a lure hook is used in single-line bonito fishing.

[0007] According to this invention, after the vertical luring action is completed, a lateral luring action is performed. In other words, the vertical pulling action, which brings the hook cast into the water closer to the side of the ship, brings fish that are far from the ship closer to the side of the ship. Then, a lateral luring action is performed to hook the fish. This makes it possible to more effectively lure the fish to the hook, improving the chances of catching a fish. This also reduces the number of times the fishhook needs to be recast. In addition, the time that the hook remains underwater can be increased compared to when only the vertical lure action is performed. In other words, the number of times the casting action is performed can be reduced compared to when only the vertical lure action is performed. Therefore, by increasing the time that the hook lures the fish toward the boat, the chances of catching a fish can be improved.

[0008] In addition, the lateral luring action may include an action of keeping the rod still for a predetermined period of time as a waiting time from when the tip of the rod moves to one end or the other end in the approximately horizontal plane until the hook in the water moves to one end or the other end along with the tip of the rod.

[0009] According to this invention, the horizontal luring action includes an action of keeping the rod still for a predetermined time as a waiting time from when the tip of the rod moves to one end or the other end in a substantially horizontal plane until the hook in the water moves to one end or the other end along with the tip of the rod. This increases the distance the hook moves compared to when the rod is not still, making it easier for the fish to chase the hook and encouraging the fish to get hooked. This improves the luring ability and increases the chances of catching a fish.

[0010] In addition, the control unit may control the drive unit so that, in conjunction with the lateral luring action, a vertical luring action is performed in which the tip of the rod is repeatedly moved back and forth within the approximately vertical plane.

[0011] According to this invention, the drive unit is controlled so that a vertical luring action is performed in which the tip of the rod is repeatedly moved back and forth in a substantially vertical plane in conjunction with the lateral luring action. This causes the hook in the water to move up and down. This makes the bait look more natural to the fish, and makes the artificial bait look more real. This increases the probability that the fish will get caught on the hook, improving the chances of catching a fish.

[0012] In addition, the drive unit may include a first motor that rotates the rod in the approximately vertical plane around a first rotation axis, and a second motor that rotates the rod in an approximately horizontal plane relative to the water surface around a second rotation axis, and the control unit may perform the lateral luring action by rotating the rod in the approximately horizontal plane by controlling the second motor.

[0013] According to this invention, the fishing device performs the side-luring action by rotating the rod in a substantially horizontal plane using the second motor provided in the drive unit arranged on the ship side. This makes it possible to reduce the movable area of ​​the fishing device compared to a configuration in which the drive unit is translated for the side-luring action, i.e., the entire rod is translated. This reduces the intervals at which fishing devices are installed on the ship, allowing more fishing devices to be installed.

[0014] In addition, the control unit may terminate the side-luring action when the fish is hooked during the side-luring action, and control the first motor and the second motor of the drive unit so that the vertical pulling action, the side-pulling action in which the tip of the rod is moved to the center within the approximately horizontal plane, and the lifting action are performed in that order.

[0015] According to this invention, the control unit ends the side-luring action when a fish is hooked during the side-luring action, and controls the first motor and the second motor of the drive unit to perform the vertical pulling action, the side-pulling action in which the tip of the rod is moved to the center in a substantially horizontal plane, and the fishing-up action in that order. In other words, when a fish is hooked, the vertical pulling action is performed before the side-pulling action. This makes it possible to hook the fish more reliably than when the side-pulling action is performed first. Therefore, the fish can be fished up more efficiently.

[0016] In addition, the side-pulling action may include an action of keeping the rod still for a predetermined waiting time from when the tip of the rod moves to the center within the approximately horizontal plane until the hooked fish moves to the center along with the tip of the rod.

[0017] If a fishing action is performed before the fish moves to the center in a substantially horizontal plane, the fish moves diagonally in the air. When multiple fishing devices are placed on the side of the ship or when there are workers near the fishing devices, if the fish moves diagonally, there is a risk that the fish may collide with the nearby fishing devices or workers. In contrast, according to the present invention, the side-pulling action includes an action of stopping the rod for a predetermined time as a waiting time from when the tip of the rod moves to the center in a substantially horizontal plane until the hooked fish moves to the center along with the tip of the rod. As a result, the fish that is pulled out of the water moves through the air substantially parallel to the rod that has moved to the center. This makes it possible to prevent the above-mentioned problems from occurring.

[0018] A method for controlling a fishing device according to the present invention is a method for controlling a fishing device having a drive unit capable of rotating a rod to which a hook is attached via a fishing line at least in a substantially vertical plane relative to the water surface, with the end of the rod as a fulcrum, and is characterized in that the drive unit is controlled to perform a throwing action of rotating the rod in the substantially vertical plane to throw the hook into water, a vertical luring action of rotating the rod in the substantially vertical plane to gradually bring the hook that has been thrown into the water closer to the drive unit, a vertical pulling action of rotating the rod in the substantially vertical plane to bring the fish closer to the drive unit when a fish is hooked, and a fishing lifting action of rotating the rod in the substantially vertical plane to reel the fish in, and the drive unit is controlled to perform a lateral luring action of moving the tip of the rod back and forth in a substantially horizontal plane relative to the water surface after the vertical luring action is completed. Effect of the Invention

[0019] According to the present invention, a fishing device can be provided that can reduce the number of times the fishhook needs to be re-cast. [Brief description of the drawings]

[0020] [Figure 1] 1 is a plan view showing a boat on which a fishing device according to an embodiment of the present invention is arranged. [Diagram 2] 1 is a schematic diagram showing how a lure moves from being cast to just below the tip of a fishing rod in a fishing device according to an embodiment of the present invention; FIG. [Diagram 3] FIG. 2 is a schematic diagram showing the operation of moving the fishing rod up and down to move the lure up and down in the water (vertical luring operation). [Figure 4] 1A to 1D are detailed views of the drive unit of a fishing device according to one embodiment of the present invention, in which (a) is a front view, (b) is a plan view, (c) is a side view, and (d) is a plan view showing a state in which the orientation of the base has been changed by a second rotation shaft. [Diagram 5] 1 is a side view of a fishing device according to an embodiment of the present invention. [Figure 6] 1 is a plan view of a fishing device according to an embodiment of the present invention. FIG. [Figure 7]1 is a schematic diagram showing a state in which the tip of a fishing rod is moved horizontally in a fishing device according to an embodiment of the present invention; FIG. [Figure 8] FIG. 7 is a schematic diagram showing a state in which the tip of the fishing rod has been moved to the front of a crew member positioned next to the fishing device. [Figure 9] 4 is a flowchart of a control method for a fishing device according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Hereinafter, a fishing device 100 according to an embodiment of the present invention will be described with reference to the drawings. As shown in FIG. 1, the fishing device 100 is installed on the side 1S of a ship 1. The ship 1 is, for example, a fishing boat used for deep-sea fishing. The ship 1 has a total length of, for example, 56 m. One or more fishing devices 100 are installed on the side 1S of the ship 1 described above. When multiple fishing devices 100 are installed, it is preferable that the distance between the main bodies 20 (described later) of the fishing devices 100 is about 1.5 m. In addition, as shown in FIG. 1, a water sprinkler device 200 is installed on the side 1S on the side where the fishing device 100 is installed.

[0022] The fishing device 100 includes a fishing rod 10, a main body 20, a control unit 30, an inter-device cable 40, and a power cable 50. The rod 10 has a role of catching fish in the fishing device 100. As shown in Figs. 2 and 3, a lure hook 13 (hook) is attached to the tip of the rod 10 via a fishing line 12. The other end is attached to a base 21 (described later) of a drive unit 22 provided on a main body 20. The rod 10 may be hollow or solid. In this embodiment, the rod 10 is hollow. The fishing line 12 is directly connected to a load cell (not shown), which detects that a fish has been hooked by the tension of the fishing line 12 (described in detail later). In this embodiment, a rod 10 having a length of 3 m is preferably used.

[0023] The fishing line 12 connects the rod 10 and the lure 13. As described above, the fishing line 12 is directly connected to a load cell provided inside the rod 10. This allows the tension of the fishing line 12 to be measured. When a fish is caught on the lure 13 during fishing, the tension of the fishing line 12 increases. This increase in tension is detected by the load cell, and a fishing operation is performed (details will be described later). In this embodiment, the length of the fishing line 12 is preferably 4 to 5 m.

[0024] The lure 13 is a component formed to resemble the bait (e.g., a small fish) that the target fish likes to catch, and has a fishing hook attached thereto. When a fish bites the lure 13, the fish gets caught on the hook. In this way, the fish swimming in the water is caught. In the following, the act of a fish biting the lure 13 and getting caught on the hook may be referred to as "hooking."

[0025] The main body 20 is a portion for operating the fishing rod 10. As shown in FIG. As shown in Fig. 3, the base 21 supports the rear end of the rod 10. Any method can be used to connect the rod 10 to the base 21, but for example, a method in which the rear end of the rod 10 is inserted into the base 21 and fixed by a clamp provided on the base 21 is preferably used.

[0026] The driving unit 22 is a part that operates the base 21. The driving unit 22 operates the base 21, thereby controlling the orientation or position of the pole 10 connected to the base 21. In this embodiment, the operation of the pole 10 by the driving unit 22 is performed by a program incorporated in the control unit 30 (details will be described later). As shown in FIG. 4, the drive unit 22 includes a first motor 22A, a first rotating shaft 22a, a first reducer 22C, a second motor 22B, a second rotating shaft 22b, a second reducer 22D, a wire chain 22c, and a die slide bush 22d.

[0027] The first motor 22A is a motor that serves as a drive source for the first rotating shaft 22a. The first motor 22A and the first rotating shaft 22a are connected via a first reducer 22C (described later) provided on the first motor 22A. The type of the first motor 22A may be any type, including not only a servo motor but also a stepping motor, an induction motor, a DC motor, etc., as long as the rotation speed and torque current are measured and controlled. In this embodiment, the first motor 22A is a servo motor. The specifications of the first motor 22A are shown in Table 1.

[0028] The first rotating shaft 22a is directly connected to the rod-shaped base 21 and rotates by the first motor 22A to rotate the base 21. That is, it is a part that serves as a fulcrum for the rotational motion of the base 21. Also, the first rotating shaft 22a is perpendicular to the longitudinal direction of the rod 10. As a result, as shown in FIG. 5, the first rotating shaft 22a can rotate the base 21 in a plane approximately vertical to the water surface by the first motor 22A. Here, the approximately vertical plane refers to a plane perpendicular to the water surface on which the boat 1 is located. Also, when the water surface becomes rough due to rough seas, etc., the attitude of the boat 1 (angle with respect to the water surface) may change compared to when the water surface is not rough. As a result, the angle with respect to the water surface of the plane on which the base 21, i.e., the rod 10, rotates by the first rotating shaft 22a may change. The first reducer 22C is provided between the first motor 22A and the first rotating shaft 22a, and reduces the rotation of the first motor 22A and transmits it to the first rotating shaft 22a. In this embodiment, the reduction ratio of the first reducer 22C is 1 / 160.

[0029] The second motor 22B is a motor that serves as a drive source for the second rotating shaft 22b. The second motor 22B and the second rotating shaft 22b are connected to each other via a second reducer 22D and a wire chain 22c. The type of the second motor 22B may be any type, such as a servo motor, a stepping motor, an induction motor, or a DC motor, as long as the rotation speed and torque current are measured and controlled. In this embodiment, the second motor 22B is a servo motor. The specifications of the second motor 22B are shown in Table 1.

[0030] The upper end of the second rotating shaft 22b is connected to the lower part of the first motor 22A, and the lower end of the second rotating shaft 22b is supported by the die slide bush 22d. The second rotating shaft 22b is perpendicular to the first rotating shaft 22a. As a result, as shown in FIG. 6, the second rotating shaft 22b rotates the base 21 connected to the first motor 22A and the first rotating shaft 22a by the second motor 22B in a substantially horizontal plane with respect to the water surface. Here, the substantially horizontal plane refers to a plane parallel to the water surface on which the ship 1 is located. Here, the first rotating shaft 22a and the first motor 22A may cause the base 21 to be in a state that is not parallel to the water surface. The substantially horizontal plane also includes the rotation area of ​​the base 21 when the base 21 is rotated by the second rotating shaft 22b and the second motor 22B while not being parallel to the water surface. In addition, when the water surface is rough due to rough seas, it is the same as the above-mentioned substantially vertical plane. The second reducer 22D is provided between the second motor 22B and the second rotating shaft 22b, and reduces the rotation of the second motor 22B and transmits it to the second rotating shaft 22b. In this embodiment, the reduction ratio of the second reducer 22D is 1 / 240.

[0031] The wire chain 22c connects the second reducer 22D connected to the second motor 22B to the second rotating shaft 22b. This transmits the rotational force of the second motor 22B to the second rotating shaft 22b. Any material may be used for the wire chain 22c. The die slide bush 22d is a cylindrical member that slidably supports the second rotating shaft 22b. As a result, the second rotating shaft 22b transmits the rotational force transmitted by the wire chain 22c to the first motor 22A. A commercially available product is preferably used for the die slide bush 22d.

[0032] With the above-mentioned configuration, the drive unit 22 rotates the rod 10 connected to the base unit 21 in a plane approximately vertical to the water surface and in a plane approximately horizontal. By rotating the rod 10 in two planes in this way, it is possible to change two-dimensional movement in one plane to three-dimensional movement in space. This makes it possible to more accurately reproduce the movement of an angler. In addition, by using the first motor 22A to rotate in a substantially vertical plane and the second motor 22B to rotate in a substantially horizontal plane, it is possible to operate each rotation independently.

[0033] Here, the rotation in a substantially vertical plane by the first motor 22A and the first rotating shaft 22a is used particularly for the casting operation and the fishing operation, and therefore it is necessary to rotate the rod at a relatively high speed (details will be described later).In contrast, the rotation in a substantially horizontal plane by the second motor 22B and the second rotating shaft 22b is used particularly for the lateral luring operation, and therefore does not require the rotation speed required for the rotation in a substantially vertical plane (details will be described later). In this embodiment, the first motor 22A is structured to rotate only the base 21 and the rod 10 in a substantially vertical plane, and the rotation of the base 21 and the rod 10 in a substantially horizontal plane is performed by rotating the first motor 22A together with the second motor 22B. With this structure, the inertia loaded on the first motor 22A can be reduced, and the above-mentioned performance can be ensured. As a result, the main body 20 is responsible for operating the rod 10 during fishing operations. 4, the second rotating shaft 22b is disposed below the first motor 22A so as to be perpendicular to the first rotating shaft 22a and the water surface (deck), and the second motor 22B is disposed horizontally to the water surface (deck). This makes it possible to reduce the height of the main body 20 compared to the case where the second motor is disposed vertically to operate the rod 10 in a substantially horizontal plane. Furthermore, the main body 20 is attached to the side 1S of the ship 1 via a stand (not shown). The stand can be made of any material. In this embodiment, the stand is made of stainless steel.

[0034] The control unit 30 is a part that controls the main body unit 20. As shown in Fig. 1, the control unit 30 includes a controller 31 and a control panel 32 (display / operation device), both of which are provided on the bridge 1B of the ship 1. The controller 31 is directly connected to the main body 20 by an inter-device cable 40. The controller 31 has a recording device and a processing device (not shown), and is a part that operates the fishing rod 10 attached to the base 21 of the drive unit 22 based on information from a load cell connected to the fishing line 12 and the first motor 22A and second motor 22B.

[0035] The control panel 32 is connected to the controller 31. The control panel 32 has a display and an operating device (not shown) and has a role of displaying the status of the main body 20 to an operator of the boat 1. Alternatively, when a special situation occurs during fishing operations using the fishing device 100 or an abnormality occurs in the control program, an operator may directly operate the main body using the operating device of the control panel 32.

[0036] The device-to-device cable 40 is a cable that connects the controller 31 and the main body 20. The device-to-device cable 40 serves as a power line that supplies power to the main body 20 and as a control line that communicates device states and control instructions between the main body 20 and the controller 31. The power cable 50 connects the controller 31 to a power source provided in the boat 1. This supplies power to the fishing device 100. In this embodiment, an AC 200V power source is preferably used as the power source for the boat 1. Other specifications of the fishing device are shown in Table 1 below. [Table 1]

[0037] The sprinkler device 200 is provided on the ship side 1S on the side where the fishing device 100 is provided. The sprinkler device 200 sprinkles water on the water surface near the ship 1. This forms a watering area 200a, which is a watered area. In the watering area 200a, the water surface bubbles and an onomatopoeic sound of small fish running wild is generated. This onomatopoeic sound can mislead fish that feed on small fish into believing that there is food, thereby gathering the fish near the watering area 200a and making it easier for the fish to get hooked.

[0038] Next, each operation of the fishing device 100 during fishing will be described. <Closing operation> The casting operation is an operation of rotating the rod 10 in a substantially vertical plane so that the lure 13 is cast into the water. In the casting operation, the rod 10 is rotated by the first rotating shaft 22a so as to swing the rod 10 down from the ship side toward the water surface side in FIG. 1. At this time, it is preferable that the rotation speed of the rod is 100° / sec. The lure 13 moves with the movement of the tip of the rod 10 and lands on the water surface. Then, as shown in FIG. 2, the lure 13 lands on the water so that the fishing line 12 and the rod 10 are positioned on a straight line, that is, at a position farthest from the ship side 1S. At this time, the lure 13 lands on the water at a position farther from the ship side 1S than the watering area 200a.

[0039] <Vertical Invitation Movement> The vertical luring action is an action of rotating the rod 10 in a substantially vertical plane so that the lure 13 that has landed on the water surface by the casting action gradually approaches the ship side 1S. After the above-mentioned casting action, the lure 13 sinks in the water. At this time, the rod 10 is rotated little by little toward the ship 1 by the rotation of the first rotating shaft 22a by the first motor 22A in accordance with the movement of the lure 13. That is, the rod 10 is rotated so that the tip of the rod 10 moves away from the water surface. This moves the lure 13 toward the ship 1. When the lure 13 moves toward the ship 1, the lure 13 moves to the watering area 200a. This invites fish to the watering area 200a close to the ship 1. At this time, the rotation of the rod 10 may be at a constant speed, or may be repeated by rotating and stopping at intervals, or may be alternately repeated between rotating toward the ship 1 and rotating in the opposite direction toward the water surface. When rotating the rod 10 in the vertical luring action, a rotation speed of about 10° / sec is preferably used.

[0040] <Sideways Invitation Movement> The lateral luring action is an action of repeatedly moving the tip of the rod 10 back and forth in a substantially horizontal plane relative to the water surface after the vertical luring action is completed. In this embodiment, the lateral luring action is performed by rotating the tip of the rod 10 in a substantially horizontal plane by rotating the second rotating shaft 22b by the second motor 22B, as shown in FIG.

[0041] 7 and 8, the main body 20 of the fishing device 100 is disposed on the ship's side 1S. In this case, the main body 20 may be lined up at intervals on the ship's side 1S, or a crew member 3 may be positioned next to the main body 20, allowing simultaneous fishing operations. In this case, the distance between the main body parts or between the main body 20 and the crew member 3 is set to about 1.5 m. As described above, a 3 m rod 10 is preferably used.

[0042] For this reason, the operating range of the side lure action can rotate the fishing rod 10 up to ±30°, assuming that the vertical state from the side 1S to the water surface is 0°, in order to prevent crossing with the rod 10 held by the crew member 3 who is fishing next to him. As a result, when the crew member 3 performs fishing work in front of him (vertical direction from the side 1S to the water surface), the rods 10 do not cross each other. When rotating the rod 10 in a lateral luring motion, a rotation speed of about 5° / sec is preferably used.

[0043] Here, in the lateral luring action, the rod 10 is kept still from the time the tip of the rod 10 moves to one end or the other end (either the left or right end) in a substantially horizontal plane until the lure 13 in the water moves to one end or the other end in the substantially horizontal plane along with the tip of the rod 10. This makes it easier for fish to chase the lure 13, thereby improving the chances of catching a fish. Hereinafter, the time that the rod 10 is kept still may be referred to as the waiting time. When no fish is hooked, a waiting time of about 1 second is preferably used.

[0044] <Vertical Invitation Movement> The vertical luring action is an action of repeatedly moving the tip of the rod 10 back and forth in a substantially vertical plane in association with the lateral luring action. As described above, the lateral luring action is performed by rotating the tip of the rod 10 in a substantially horizontal plane relative to the water surface by rotating the second rotating shaft 22b by the second motor 22B. At the same time as this movement, the first motor 22A rotates the rod 10 in a substantially vertical plane to perform the vertical luring action. At this time, the rotation of the rod 10 is performed so as to alternate between rotation toward the boat 1 side and rotation toward the water surface side. This makes the artificial bait look more real to the fish by moving the artificial bait hook 13 up and down in the water. When rotating the rod 10 in the vertical luring action, a rotation speed of about 10° / second is preferably used. In addition, it is preferable to change the direction of rotation every second.

[0045] <Vertical alignment> The vertical approaching action is an action in which, when a fish is hooked during the vertical or horizontal luring action, the rod 10 is rotated in a substantially vertical plane toward the ship 1 so that the fish approaches the ship side 1S. The rotation speed at this time is preferably about 30° / sec. Here, the term "pulling" refers to the action of returning the rod 10 to a position rotated 45 degrees toward the boat 1 and holding it there, after the fish is hooked, without immediately starting the fishing-up action (described later), with the tip of the rod 10 facing the water surface and the position where the rod 10 is parallel to the water surface being set as 0° (reference position in a substantially vertical plane), and guiding the fish under the rod. This has the role of ensuring that the fish is hooked and enabling the fishing-up action to be performed safely.

[0046] <Side-pushing motion> The side-pulling action is an action in which, when a fish is hooked during the side-luring action, the tip of the rod 10 is moved to the center in a substantially horizontal plane, that is, to the front when looking at the water surface from the drive unit 22 attached to the ship side 1S. The front is the direction of the rod 10 when performing the casting action. The rotation speed at this time is preferably about 30° / sec. Here, if a fishing action is performed before the fish moves to the center in a substantially horizontal plane, the fish moves diagonally in the air. When multiple fishing devices 100 are arranged on the shipside 1S or when there are workers near the fishing devices 100, if the fish moves diagonally, there is a risk that the fish may collide with the nearby fishing devices 100 or workers. To prevent this, the hooked fish is moved to the front of the fishing pole 10 by a side pulling action, and then the fishing action is performed.

[0047] Here, the side-pulling action involves keeping the rod 10 still from the time the tip of the rod 10 moves to the center in a substantially horizontal plane until the hooked fish moves to the center in the substantially horizontal plane along with the tip of the rod 10. Hereinafter, the time that the rod 10 is kept still may be referred to as the waiting time. When no fish is hooked, this waiting time is preferably at least one second. Moreover, the position where the tip of the rod 10 is in the center within a substantially horizontal plane is defined as 0° (the reference position within a substantially horizontal plane).

[0048] <Fishing action> The fishing-up action is an action of rotating the rod 10 in a substantially vertical plane so that the hooked fish can be fished up onto the boat 1. As described above, this action is performed with the tip of the rod 10 in the center of a substantially horizontal plane. Also, in order to move the fish in the water onto the boat 1, the rod 10 is rotated 90° or more toward the boat 1 with respect to a reference position in a substantially vertical plane. The rotation speed of the rod 10 at this time differs depending on the weight of the fish. For example, for a bonito weighing around 5 kg, the rotation speed of the rod is preferably 60° / sec.

[0049] <Needle removal operation> The hook removal action is an action of removing the fish from the lure 13 after the fish has landed on the boat 1 by the above-mentioned fishing action. Here, the lure 13 used in this embodiment does not have a "barb" that is provided on a typical fishing hook. Therefore, if no tension is applied to the lure 13 by the fishing line 12, the lure 13 will naturally come off the fish. Therefore, the hook removal action is an action of making the rod 10 go back and forth in small movements in a substantially vertical plane on the boat 1 to shake the fish off the lure 13. Note that if the fish comes off the lure 13 immediately after the fishing action, this action is not necessary.

[0050] Next, a control method for automatically fishing using the fishing device 100 according to this embodiment will be described with reference to the flowchart shown in FIG. 9. The control according to this embodiment is sequence control using a PLC provided in the controller 31. The process of the flow shown in FIG. 9 is started, for example, by issuing an instruction to start the flow from the control panel 32. When the flow starts, the rod 10 is at an angle of 100 to 110° with respect to the reference position.

[0051] First, the casting operation is performed to rotate the fishing rod 10 to -45°, and the lure hook 13 is cast into the water (step S1). After that, the vertical luring operation is started (step S2). At this time, the tension measurement of the fishing line 12 is started by the load cell connected to the fishing line 12. This tension measurement is continued until the end of this control flow. As described above, the hooking of a fish is detected when the tension of the fishing line 12 exceeds a certain specified value. If the tension does not exceed the specified value during the vertical luring operation (step S3: NO), the vertical luring operation is continued. The decision of whether to end the vertical luring operation (step S4: YES) can be made, for example, when the tension of the fishing line 12 does not exceed the specified value for a certain time or until the fishing rod 10 reaches the reference position of 0° (step S3: NO). The certain time is stored in the control unit 30, for example.

[0052] When the vertical luring operation is ended because step S4 becomes YES, the lateral luring operation and the vertical luring operation are started (step S5). At this time, as described above, the drive unit 22 performs the vertical luring operation while performing the lateral luring operation. Specifically, the first motor 22A rotates in a substantially vertical plane (vertical luring operation) at the same time as the second motor 22B rotates in a substantially horizontal plane (lateral luring operation). If the tension of the fishing line 12 does not exceed a certain specified value during the lateral luring operation and the vertical luring operation (step S6: NO), the lateral luring operation and the vertical luring operation are continued. In the vertical luring operation, the rod 10 is operated within a range of -5 to 0 degrees, for example. When the position of the rod 10 reaches either the left or right end during the side luring operation (step S7: YES), the side luring operation and the vertical luring operation are stopped, and the above-mentioned waiting time is executed (step S8). At this time, for example, the control unit determines that one side luring operation has been completed, and the total number of side luring operations is increased by one, and stores the total number. Note that whether the position of the rod 10 has reached the left or right end during the side luring operation is determined by the control unit 30 acquiring that the limit of rotation by the drive unit 22 has been reached. After that, the direction of movement of the side luring motion is changed, and the side luring motion and the vertical luring motion are started again. If the position of the rod 10 does not reach either the left or right end during the side luring motion (step S7: NO), step S8 is skipped and the process proceeds to step S9. The decision as to whether to end the side luring operation (step S9: YES) can be made, for example, when the tension of the fishing line 12 does not exceed a specified value for a certain period of time or until the number of reciprocating movements of the rod 10 in the side luring operation exceeds a specified value (step S6: NO). In the side luring operation, the rod 10 is operated within a range of, for example, -30 to 30 degrees with the front as the reference position.

[0053] When the lateral luring action is terminated as a result of the result of YES in step S9, a re-casting action is executed (step S10). The re-casting action is to rotate the rod 10 in a substantially vertical direction, pull up the lure 13 from the water once, and then execute the re-casting action.

[0054] Next, a case where a fish is hooked during a vertical luring action (step S3: YES) and a case where a fish is hooked during a horizontal luring action (step S6: YES) will be described. When a fish is hooked during the vertical luring operation (step S3: YES), the vertical luring operation is ended (step S11) and the vertical pulling operation is started (step S12). Here, the vertical pulling operation is continued until the angle of the rod 10 reaches a specified value (45° in this embodiment) (step S13: NO). The angle of the rod 10 can be determined, for example, by the control unit 30 measuring the amount of rotation from the reference position of the first motor 22A and converting the amount of rotation into the angle of the base part 21. When the angle of the rod 10 reaches the specified value (step S13: YES), the vertical pulling operation is ended and a waiting time is executed (step S19).

[0055] When a fish is hooked during the side luring operation (step S6: YES), the side luring operation and the vertical luring operation are ended (step S14), and the vertical pulling operation is started (step S15). Here, the vertical pulling operation is continued until the angle of the rod 10 reaches a specified value (45° in this embodiment) (step S16: NO). When the angle of the rod 10 reaches the specified value (step S16: YES), the vertical pulling operation is ended and the side pulling operation is started (step S17). The side pulling operation is continued until the angle of the rod 10 becomes 0° in an approximately horizontal plane (step S18: NO). When the angle of the rod 10 becomes 0° (step S18: YES), the side pulling operation is ended and a waiting time is executed (step S19).

[0056] After the waiting time in step S19 has been executed, the fish is moved onto the boat 1 by a fishing-up operation (step S20), and if necessary, a hook removal operation (step S21) is executed, after which the control ends. Alternatively, if any abnormality occurs during fishing operation, an instruction to end the operation may be given using the control panel 32.

[0057] As described above, according to the fishing device 100 of this embodiment, after the vertical lure action is completed, the lateral lure action is performed. In other words, the vertical pulling action, which brings the lure 13 dropped into the water closer to the ship's side 1S, brings fish that are far from the boat 1 closer to the ship's side 1S. Then, the lateral lure action is performed to hook the fish. This makes it possible to more effectively lure the fish to the hook, improving the chances of catching a fish. This also reduces the number of times the lure 13 needs to be re-dropped. In addition, the time that the lure 13 remains underwater can be longer compared to when only the vertical lure action is performed. In other words, the number of times the casting action is performed can be reduced compared to when only the vertical lure action is performed. Therefore, by lengthening the time that the lure 13 lures fish to the side of the boat, the chances of catching fish can be improved.

[0058] The horizontal luring action also includes an action of keeping the rod 10 still for a predetermined waiting time from when the tip of the rod 10 moves to one end or the other end in a substantially horizontal plane until the lure 13 in the water moves to one end or the other end along with the tip of the rod 10. This increases the moving distance of the lure 13 compared to when the rod 10 is not still, making it easier for the fish to chase the lure 13 and encouraging the fish to get hooked. This improves the luring ability and increases the chances of catching a fish.

[0059] Additionally, the drive unit 22 is controlled so that, in conjunction with the horizontal luring action, a vertical luring action is performed in which the tip of the rod 10 is repeatedly moved back and forth in a substantially vertical plane. This causes the lure hook to move up and down in the water. This makes the bait look more natural to the fish, and makes the lure look more real. This increases the probability that a fish will get caught on the lure hook, improving the chances of catching a fish.

[0060] Furthermore, the fishing device 100 performs the side-luring action by rotating the rod 10 in a substantially horizontal plane using the second motor 22B provided in the drive unit 22 arranged on the ship side 1S. This allows the movable area of ​​the fishing device 100 to be made smaller than in a configuration in which the drive unit 22 is translated for the side-luring action, i.e., the entire rod is translated. This allows the fishing devices 100 to be installed at smaller intervals on the ship 1, allowing more fishing devices 100 to be installed.

[0061] Furthermore, when a fish is hooked during the side-luring operation, the control unit 30 ends the side-luring operation, and controls the first motor 22A and the second motor 22B of the drive unit 22 to perform the vertical pulling operation, the side-pulling operation in which the tip of the rod 10 is moved to the center within a substantially horizontal plane, and the fishing-up operation, in that order. In other words, when a fish is hooked, the vertical pulling operation is performed before the side-pulling operation. This makes it possible to hook the fish more reliably than when the side-pulling operation is performed first. Therefore, the fish can be fished up more efficiently.

[0062] If a fishing action is performed before the fish moves to the center in a substantially horizontal plane, the fish moves diagonally in the air. When multiple fishing devices 100 are arranged on the shipside 1S or when there are workers near the fishing devices 100, if the fish moves diagonally, there is a risk that the fish may collide with the nearby fishing devices 100 or workers. In contrast, the side-pulling action includes an action of keeping the rod 10 still for a predetermined waiting time from when the tip of the rod 10 moves to the center in a substantially horizontal plane until the hooked fish moves to the center along with the tip of the rod 10. As a result, the fish that has been pulled out of the water moves through the air substantially parallel to the rod 10 that has moved to the center. This makes it possible to prevent the above-mentioned problems from occurring.

[0063] The technical scope of the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention. For example, the fishing device 100 may be arranged not only on the port side of the ship 1, which is the leeward side, but also on the starboard side, which is the windward side.

[0064] Furthermore, whether or not a fish has been hooked does not have to be determined based on the tension of the fishing line 12. For example, it may be detected when the rotation of the first motor 22A moves differently from the command from the control unit 30 (stops rotating, rotates in the reverse direction, etc.), or it may be detected by capturing an image of the movement of the tip of the rod 10 with a camera.

[0065] Furthermore, the angle of the rod 10 after the vertical pulling operation does not have to be set to the above-mentioned 45°, and may be determined arbitrarily. In addition, the main body 20 may be provided with an angle correction function using a gyro sensor, so that the relative angle between the boat 1 and the main body 20 can be changed in response to changes in the angle of the boat 1 due to waves or wind, thereby keeping the main body 20 always horizontal. Further, in the present embodiment, the lure 13 is used, but a normal fishing hook that does not imitate fish bait may be used.

[0066] Furthermore, in this embodiment, the first motor 22A rotates the rod 10 in an approximately vertical plane and the second motor 22B rotates the rod 10 in an approximately horizontal plane, so that the drive unit 22 itself does not move. However, it is also possible to use a configuration in which the first motor 22A rotates the rod 10 in an approximately vertical plane and the first motor 22A and the rod 10 move together along the side of the ship 1, and with this configuration a lateral luring operation is performed after the vertical luring operation is completed.

[0067] In addition, in this embodiment, a waiting time is provided during which the rod 10 stops at one end or the other end during the lateral luring operation, but such a waiting time does not have to be provided. In addition, in this embodiment, the vertical urging action is performed in conjunction with the lateral urging action, but this vertical urging action may not be performed.

[0068] Furthermore, in this embodiment, a waiting time is provided from when the rod 10 moves to the center during the side-pulling operation until the fish moves to the center, but such a waiting time does not have to be provided. Furthermore, in this embodiment, the water sprinkler system 200 is attached to the boat 1, but the fishing device 100 may be attached to a boat 1 that is not attached to the water sprinkler system 200.

[0069] In addition, the components in the above embodiment may be replaced with known components as appropriate without departing from the spirit of the present invention, and the above-described modified examples may be combined as appropriate. Although the present invention has been described in the present embodiment as a fishing device, the present invention may also be in the form of a control method for a fishing device. [Explanation of symbols]

[0070] 1 ship 1B Funabashi 1S side 10 Rods 12 Fishing Line 13 Bait hook (hook) 20 Main body 21 Base 22 Drive unit 22a First rotation axis 22A First Motor 22b Second rotation axis 22B Second motor 22c wire chain 22C 1st reducer 22d die slide bush 22D 2nd reducer 30 Control section 31 Controller 32 Control Panel 40 Machine Cable 50 Power Cable 100 fishing equipment 200 Sprinkler system 200a Watering area

Claims

1. A fishing device for automatically fishing, comprising: a drive unit that is arranged on the side of the ship and is capable of rotating a rod to which a hook is attached via a fishing line, with the end of the rod as a fulcrum, at least within a plane approximately perpendicular to the water surface; A control unit that controls the drive unit; Equipped with The control unit is A throwing operation of rotating the rod in the substantially vertical plane and throwing the hook into water; A vertical baiting action of rotating the rod in the substantially vertical plane and gradually bringing the hook that was dropped into the water closer to the side of the ship; When a fish is hooked, the rod is rotated in the substantially vertical plane to move the fish closer to the side of the ship. a fishing operation of rotating the rod in the substantially vertical plane to fish the fish onto the boat; and controlling the driving unit so that The control unit controls the drive unit so that, after the vertical luring operation is completed, a horizontal luring operation is performed in which the tip of the rod is moved back and forth within a substantially horizontal plane relative to the water surface, The horizontal luring action includes an action of keeping the rod still for a predetermined time as a waiting time from when the tip of the rod moves to one end or the other end in the substantially horizontal plane until when the hook in the water moves to one end or the other end along with the tip of the rod. Fishing equipment.

2. 2. The fishing device of claim 1, The control unit controls the drive unit so that a vertical luring operation is performed in which the tip of the rod is repeatedly moved back and forth within the approximately vertical plane in conjunction with the lateral luring operation. Fishing equipment.

3. A fishing device for automatically fishing, comprising: a drive unit that is arranged on the side of the ship and is capable of rotating a rod to which a hook is attached via a fishing line, with the end of the rod as a fulcrum, at least within a plane approximately perpendicular to the water surface; A control unit that controls the drive unit; Equipped with The control unit is A throwing operation of rotating the rod in the substantially vertical plane and throwing the hook into water; A vertical baiting action of rotating the rod in the substantially vertical plane and gradually bringing the hook that was dropped into the water closer to the side of the ship; When a fish is hooked, the rod is rotated in the substantially vertical plane to move the fish closer to the side of the ship. a fishing operation of rotating the rod in the substantially vertical plane to fish the fish onto the boat; and controlling the driving unit so that The control unit controls the drive unit so that, after the vertical luring operation is completed, a horizontal luring operation is performed in which the tip of the rod is moved back and forth within a substantially horizontal plane relative to the water surface, The drive unit includes a first motor that rotates the rod in the substantially vertical plane around a first rotation axis, and a second motor that rotates the rod in the substantially horizontal plane relative to the water surface around a second rotation axis, The control unit performs the lateral luring operation by rotating the rod in the approximately horizontal plane by controlling the second motor. Fishing equipment.

4. 4. The fishing device according to claim 3, The control unit is characterized in that, when the fish is hooked during the side-luring action, the control unit ends the side-luring action, and controls the first motor and the second motor of the drive unit so that the vertical pulling action, the side-pulling action of moving the tip of the rod to the center within the approximately horizontal plane, and the fishing-up action are performed in that order. Fishing equipment.

5. 5. The fishing device according to claim 4, The side-pulling action includes an action of stopping the rod for a predetermined time as a waiting time from when the tip of the rod moves to the center in the substantially horizontal plane until the hooked fish moves to the center along with the tip of the rod. Fishing equipment.

6. A method for controlling a fishing device having a drive unit capable of rotating a fishing rod to which a fishing line is attached, with the end of the fishing rod as a fulcrum, at least in a plane approximately perpendicular to the water surface, comprising the steps of: The drive unit, A throwing operation of rotating the rod in the substantially vertical plane and throwing the hook into water; A vertical baiting action of rotating the rod in the substantially vertical plane to gradually bring the hook that has been dropped into the water closer to the drive unit; a vertical pulling action for rotating the rod in the substantially vertical plane when the fish is hooked, and bringing the fish closer to the drive unit; a fishing operation of rotating the rod in the substantially vertical plane to fish up the fish; Control so that The drive unit is controlled so that after the vertical luring action is completed, a horizontal luring action is performed in which the tip of the rod is moved back and forth within a substantially horizontal plane relative to the water surface, The horizontal luring action includes an action of keeping the rod still for a predetermined time as a waiting time from when the tip of the rod moves to one end or the other end in the substantially horizontal plane until when the hook in the water moves to one end or the other end along with the tip of the rod. A method for controlling a fishing device.

Images