TW201306735A - Fish hoisting apparatus - Google Patents
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- 238000012937 correction Methods 0.000 claims abstract description 125
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- 238000001514 detection method Methods 0.000 claims abstract description 13
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- 238000004091 panning Methods 0.000 claims description 9
- 230000036461 convulsion Effects 0.000 claims description 7
- 238000012986 modification Methods 0.000 claims description 2
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- 238000012545 processing Methods 0.000 description 31
- 241000238366 Cephalopoda Species 0.000 description 14
- 206010028347 Muscle twitching Diseases 0.000 description 12
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Classifications
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- 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
- A01K73/02—Trawling nets
- A01K73/06—Hauling devices for the headlines
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- 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
- A01K79/00—Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery
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- 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
- A01K91/00—Lines
- A01K91/18—Trotlines, longlines; Accessories therefor, e.g. baiting devices, lifters or setting reelers
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- 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
- B63B35/16—Trawlers
- B63B35/20—Trawlers adapted to hoisting nets aboard
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/60—Fishing; Aquaculture; Aquafarming
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Marine Sciences & Fisheries (AREA)
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Mechanical Means For Catching Fish (AREA)
Abstract
Description
本發明係有關於一種可進行漁船所搭載之漁具之起吊及下放以及抽動動作之漁撈用起吊裝置。 The present invention relates to a fishing lifting device capable of lifting, lowering and twitching a fishing gear carried by a fishing boat.
專利文獻1中，揭露有一種可在諸如魷釣機中修正船體之縱搖現象所致漁具之起吊/下放速度之變動，而加以保持為預設之預定值之漁撈用起吊裝置。依據該漁撈用起吊裝置，可略微避免漁具之鬆弛、魚體脫鉤、漁具之破損及魚體之損傷。 Patent Document 1 discloses a fishing hoisting device which can fix a change in the hoisting/lowering speed of a fishing gear caused by a pitching phenomenon of a hull in, for example, a slinger, and which is maintained at a predetermined predetermined value. According to the fishing lifting device, the slack of the fishing gear, the decoupling of the fish body, the breakage of the fishing gear and the damage of the fish body can be slightly avoided.
【專利文獻1】日本專利特公平7-114618號公報 [Patent Document 1] Japanese Patent Special Publication No. 7-114418
專利文獻1所揭露之漁撈用起吊裝置係使用上下方向之1軸之加速度感測器而進行加速度檢測，以進行對應船體之縱搖搖動之魷釣機之起吊速度調整。一如點亮集魚燈而進行魷釣之夜間作業般，使用傘錨之漂流作業時，船首呈現朝向波向之傾向，故船體主要進行縱搖搖動。因此，專利文獻1所揭露之漁撈用起吊裝置亦可能實現某種程度 之對應。 The fishing hoisting apparatus disclosed in Patent Document 1 performs acceleration detection using an acceleration sensor of one axis in the vertical direction to perform hoisting speed adjustment of the slinger corresponding to the sway of the hull. Just as the nighttime operation of squid fishing is carried out by lighting the fishlights, when the rafting operation using the umbrella anchors, the bow tends to be oriented toward the wave direction, so the hull is mainly subjected to pitching and shaking. Therefore, the fishing lifting device disclosed in Patent Document 1 may also achieve a certain degree. Correspondence.
然而，日間作業時，一般均不使用傘錨而反覆進行移動與漁撈作業，甚且，船位置經常對應魷魚群而進行微調，故與使用傘錨之漂流作業相較，船首不限於朝向波向，亦受到橫向波浪之影響，故容易發生橫搖搖動。即，將發生縱搖搖動及橫搖搖動之雙方。 However, during daytime operations, the umbrella anchors are generally used instead of moving and fishing operations. Moreover, the position of the ship is often fine-tuned corresponding to the squid group, so the bow is not limited to the direction of the wave compared with the drifting operation using the umbrella anchor. It is also affected by horizontal waves, so it is prone to roll and shake. That is, both the pitching and the shaking will occur.
又，日間作業亦多於船隻密集處進行，將自船身橫側受他船之移動所伴生之艉波影響而發生橫搖搖動。進而，日間作業多使用全長較長之網台，此時，船體之略微橫搖搖動將對網台先端之前滾輪之上下動作造成甚大之影響。 In addition, daytime operations are more frequent than in densely populated areas, which will be shaken and shaken from the side of the hull that is affected by the movement of the ship. In addition, during the daytime operation, a full-length network platform is used. At this time, the slight swaying of the hull will have a great influence on the upper and lower movements of the wheel before the apex of the net.
另，夜間作業時亦將因潮流、風向等而非必使船首朝向浪湧之方向。且，夜間作業時亦可能與日間作業時相同而採用對應魷魚群而操舵之作業方法。 In addition, the nighttime work will also be due to the trend, the wind direction, etc., not necessarily the head of the ship in the direction of the surge. Moreover, it is also possible to use the same method of steering the squid group in the same nighttime operation as in the daytime work.
就以上各點，僅對於縱搖搖動進行速度修正之專利文獻1所揭露之習知技術並無法進行充分之起吊及下放速度控制。 With regard to the above points, the conventional technique disclosed in Patent Document 1 for speed correction of the pitching motion cannot perform sufficient lifting and lowering speed control.
尤其，習知技術僅於連續起吊狀態時，即便發生縱搖現象亦進行將其速度保持為一定之修正，而於漁具之抽動動作時，並未進行任何上述之修正控制。 In particular, the conventional technique only performs the correction of keeping the speed constant even if the pitching phenomenon occurs in the continuous lifting state, and does not perform any of the above-described correction control when the fishing gear is twitched.
因此，本發明之目的即在提供一種可減少或抑制船體之縱搖現象及橫搖現象之雙方所致之搖動對漁具之抽動起吊動作造成影響之漁撈用起吊裝置。 Accordingly, it is an object of the present invention to provide a fishing hoisting device which can reduce or suppress the swaying movement of the fishing gear caused by the shaking caused by both the yaw phenomenon and the rolling phenomenon of the hull.
依據本發明，漁撈用起吊裝置包含有：旋轉捲筒，裝設於船體上，可進行漁具之起吊及下放；驅動機構，可驅動旋轉捲筒；檢測機構，可檢測基於船體之縱搖現象之上下方向的搖動速度、及基於船體之橫搖現象的朝船體前後方向伸長之軸的旋轉之搖動角速度；及，控制機構，可對應來自檢測機構之訊號而控制驅動機構。檢測機構包含：搖動速度感測器，可檢測上下方向之加速度而輸出表示上下方向之搖動速度的訊號；及，搖動角速度感測器，可檢測軸之旋轉之角速度而輸出表示搖動角速度的訊號。控制機構則包含：抽動修正機構，可於漁具之起吊動作時附加抽動動作而使漁具之起吊速度為變動起吊速度；縱搖修正量算出機構，可自表示搖動速度之訊號算出基於縱搖現象之縱搖修正量；橫搖修正量算出機構，可自表示搖動角速度之訊號算出基於橫搖現象之橫搖修正量；及，速度修正機構，可藉縱搖修正量及橫搖修正量雙方修正業經抽動修正機構之修正而得之變動起吊速度，以消除基於縱搖現象及橫搖現象之搖動。 According to the present invention, the fishing lifting device comprises: a rotating reel mounted on the hull for lifting and lowering of the fishing gear; a driving mechanism for driving the rotating reel; and a detecting mechanism for detecting the yaw based on the hull The rocking speed in the downward direction of the phenomenon and the rocking angular velocity of the rotation of the shaft extending in the front-rear direction of the hull based on the rolling phenomenon of the hull; and the control mechanism can control the driving mechanism in response to the signal from the detecting mechanism. The detecting mechanism includes: a shaking speed sensor that can detect the acceleration in the up and down direction and outputs a signal indicating the shaking speed in the up and down direction; and the shaking angular velocity sensor can detect the angular velocity of the rotation of the shaft and output a signal indicating the angular velocity of the rocking. The control mechanism includes: a twitch correction mechanism, which can increase the lifting speed of the fishing gear as a variable lifting speed when the fishing gear is hoisted, and the pitch correction amount calculating mechanism can calculate the shaking speed based on the signal indicating the shaking speed. The roll correction amount calculation unit can calculate the roll correction amount based on the roll phenomenon from the signal indicating the rocking angular velocity; and the speed correction mechanism can correct both the pitch correction amount and the roll correction amount The lifting speed is changed by the correction of the twitching mechanism to eliminate the shaking based on the pitching phenomenon and the rolling phenomenon.
自上下方向之加速度求出上下方向之搖動速度而算出基於縱搖現象之縱搖修正量，並自朝船體之前後方向伸長之軸之旋轉之角速度求出搖動角速度而算出基於橫搖現象之橫搖修正量，再以縱搖修正量及橫搖修正量之雙方修正業經抽動修正機構之修正而得之變動起吊速度，以消除基於縱搖現象及橫搖現象之搖動。藉此，即可減少或抑制縱搖搖動及橫搖搖動之雙方，故可確實且有效率地避 免抽動時釣獲之魚體之脫離、魚體之損傷、漁具之破損及魚線鬆弛所導致之各種問題之發生。 The rocking speed in the up and down direction is obtained from the acceleration in the up and down direction, and the pitch correction amount based on the pitch phenomenon is calculated, and the rocking angular velocity is obtained from the angular velocity of the rotation of the axis extending in the front and rear directions of the hull to calculate the panning phenomenon. The amount of correction is shaken, and the fluctuation traverse speed obtained by the correction of the twitch correction mechanism is corrected by both the pitch correction amount and the roll correction amount to eliminate the shaking based on the pitch phenomenon and the roll phenomenon. Thereby, both sides of the pitching and rolling can be reduced or suppressed, so that it can be avoided reliably and efficiently The occurrence of various problems caused by the detachment of the fish body during the twitching, the damage of the fish body, the damage of the fishing gear and the looseness of the fishing line.
另，本發明中，所謂「漁具」，包含包括假餌鉤在內之釣鉤、水中集魚燈及魚類等之捕撈所利用之其它用具，以及其等所連結之釣線、繩材及網具等，而包含用於進行起吊及/或下放以及抽動動作之對象之全部。又，所謂「漁撈用起吊裝置」則意指包含諸如自動魷釣裝置、捲繩裝置、水中集魚燈等之捲取裝置及電動捲線裝置在內之漁具之起吊/下放裝置之全部。 Further, in the present invention, the "fishing gear" includes other items such as a fishing hook including a lure hook, a fish collecting lamp in the water, and fish, and the fishing line, the rope, the net, and the like connected thereto. And includes all of the objects used for lifting and/or lowering and twitching. In addition, the "fishing lifting device" means all of the lifting/lowering devices of the fishing gear including the automatic fishing device, the rope winding device, the fishing device such as the underwater fishing lamp, and the electric winding device.
抽動修正機構宜構成可使漁具之起吊速度交替切換為低速及高速。此時，速度修正機構構成可在變動起吊速度為低速時，以縱搖修正量及橫搖修正量之雙方修正變動起吊速度，則更佳。 The twitch correction mechanism should be configured to alternately switch the lifting speed of the fishing gear to a low speed and a high speed. In this case, the speed correcting mechanism is preferably configured to correct the fluctuation lifting speed with both the tilt correction amount and the roll correction amount when the variable lifting speed is low.
速度修正機構亦宜構成可藉縱搖修正量及橫搖修正量之雙方而修正漁具之連續起吊速度及連續下放速度。藉此，則不拘日間作業及夜間作業等之作業方法，均可在連續起吊時，確實且有效率地避免釣獲之魚體之脫離、魚體之損傷、漁具之破損及釣線鬆弛(繩材鬆弛)所導致之各種問題之發生。又，連續下放時，則可確實且有效率地避免漁具之破損及釣線鬆弛(繩材鬆弛)所導致之各種問題之發生。 The speed correcting mechanism should also be configured to correct the continuous lifting speed and the continuous lowering speed of the fishing gear by both the vertical correction amount and the roll correction amount. In this way, it is possible to reliably and efficiently avoid the detachment of the caught fish body, the damage of the fish body, the damage of the fishing gear and the slack of the fishing line during continuous lifting without any work methods such as daytime work and night work. Various problems caused by looseness of the material. Moreover, when continuously lowered, it is possible to reliably and efficiently prevent various problems caused by breakage of the fishing gear and slack of the fishing line (relaxation of the rope).
速度修正機構亦宜構成包含：修正量加算機構，可加算縱搖修正量及橫搖修正量；及，範圍限制機構，可將修正量加算機構之加算輸出值限制在預定之上下限值之 範圍內；藉得自範圍限制機構之限制加算輸出值而可修正業經抽動修正機構之修正而得之抽動起吊速度。 The speed correction mechanism is also configured to include: a correction amount addition mechanism that can add a pitch correction amount and a roll correction amount; and a range restriction mechanism that limits the added output value of the correction amount addition mechanism to a predetermined upper limit value. Within the scope; the hoisting speed obtained by the correction of the twitch correction mechanism can be corrected by adding the output value from the limit of the range restriction mechanism.
速度修正機構亦宜構成包含：修正量加算機構，可加算縱搖修正量及橫搖修正量；及，範圍限制機構，可將修正量加算機構之加算輸出值限制在預定之上下限值之範圍內；藉得自範圍限制機構之限制加算輸出值而可修正漁具之連續起吊速度及連續下放速度。 The speed correcting mechanism is also configured to include: a correction amount adding mechanism that can add a pitch correction amount and a roll correction amount; and a range limiting mechanism that limits the added output value of the correction amount adding mechanism to a predetermined lower limit value range The continuous lifting speed and the continuous lowering speed of the fishing gear can be corrected by adding the output value from the limit of the range limiting mechanism.
搖動速度感測器亦宜包含：第1加速度感測器，可檢測上下方向之加速度；及，第1算出機構，可積分來自第1加速度感測器之加速度訊號而算出搖動速度。 Preferably, the shaking speed sensor includes: a first acceleration sensor that detects an acceleration in the vertical direction; and a first calculating means that integrates an acceleration signal from the first acceleration sensor to calculate a shaking speed.
搖動角速度感測器亦宜包含陀螺儀感測器 The rocking angular velocity sensor should also include a gyroscope sensor
搖動角速度感測器亦宜包含：第1加速度感測器，可檢測上下方向之加速度；第2加速度感測器，可檢測與朝船體之前後方向伸長之軸垂直且與上下方向垂直之方向之加速度；及，第2算出機構，可自第1及第2加速度感測器之檢測訊號算出搖動角速度。 The rocking angular velocity sensor should also include: a first acceleration sensor for detecting acceleration in the up and down direction; and a second acceleration sensor for detecting a direction perpendicular to the axis extending in the front and rear directions of the hull and perpendicular to the up and down direction The acceleration is calculated by the second calculation means, and the angular velocity of the oscillation can be calculated from the detection signals of the first and second acceleration sensors.
依據本發明，即可有效避免釣獲之魚體之脫離、魚體之損傷、漁具之破損及釣線鬆弛所導致之各種問題之發生。其結果，則可期待捕撈效率之提昇、漁具壽命之延長以及作業中之問題排除作業之減少。 According to the present invention, it is possible to effectively prevent the occurrence of various problems caused by the fish body being detached, the fish body being damaged, the fishing gear being damaged, and the fishing line being slackened. As a result, it is expected that the fishing efficiency will be improved, the life of the fishing gear will be prolonged, and the problem of the problem elimination in the operation can be reduced.
第1(A)、1(B)圖係概略地顯示本發明之漁撈用起吊裝置之一實施形態之設有複數魷釣機之魷釣船之構造例 之平面圖及側面圖。 1(A) and 1(B) are diagrams schematically showing a structural example of a fishing boat equipped with a plurality of fishing machines according to an embodiment of the fishing lifting device of the present invention. Plan and side view.
第2圖係概略地顯示將第1圖之實施形態之各魷釣機安裝於船體，並進行作業之狀態之側面圖。 Fig. 2 is a side view schematically showing a state in which each of the fishing machines of the embodiment of Fig. 1 is attached to a hull and is operated.
第3(A)、3(B)圖係概略地顯示第1圖之實施形態之各魷釣機之構造之正面圖及側面圖。 3(A) and 3(B) are schematic front and side views showing the structure of each of the fishing machines in the embodiment of Fig. 1.
第4圖係概略地顯示第1圖之實施形態之捕釣機本體之內部構造之正面圖。 Fig. 4 is a front view schematically showing the internal structure of the fishing machine body according to the embodiment of Fig. 1.
第5圖係概略地顯示第1圖之實施形態之魷釣機之操作控制盤及集中控制盤之電性構造之功能區圖。 Fig. 5 is a view schematically showing the functional configuration of the electrical structure of the operation control panel and the centralized control panel of the slinger according to the embodiment of Fig. 1.
第6圖係概略地顯示第1圖之實施形態之魷釣機之控制動作之一部分之流程圖。 Fig. 6 is a flow chart schematically showing a part of the control operation of the sling machine of the embodiment of Fig. 1.
第7圖係概略地顯示第1圖之實施形態之魷釣機之控制動作之一部分之流程圖。 Fig. 7 is a flow chart schematically showing a part of the control operation of the sling machine of the embodiment of Fig. 1.
第8圖係概略地顯示第1圖之實施形態之魷釣機之控制動作之一部分之流程圖。 Fig. 8 is a flow chart schematically showing a part of the control operation of the sling machine of the embodiment of Fig. 1.
第9圖係概略地顯示第1圖之實施形態之魷釣機之控制動作之一部分之流程圖。 Fig. 9 is a flow chart schematically showing a part of the control operation of the sling machine of the embodiment of Fig. 1.
第10圖係說明船體之縱搖現象及橫搖現象者。 Figure 10 is a diagram showing the phenomenon of pitching and rolling of the hull.
第11(A)、11(B)圖係說明縱搖搖動方向及橫搖搖動方向與魷釣機之關係以及加速度檢測方向及各速度檢測方向與魷釣機之關係者。 The 11th (A) and 11th (B) diagrams show the relationship between the pitching direction and the direction of the panning and the squid and the relationship between the acceleration detection direction and the speed detection direction and the squid.
第12圖係概略地顯示第1圖之實施形態之旋轉捲筒之變更態樣之構造之側面圖。 Fig. 12 is a side view schematically showing a configuration of a modified embodiment of the rotary reel according to the embodiment of Fig. 1.
第13圖係概略地顯示本發明之漁撈用起吊裝置之其它 實施形態之魷釣機之控制動作之一部分之流程圖。 Figure 13 is a view schematically showing the other of the fishing lifting device of the present invention A flow chart of one of the control actions of the fishing machine of the embodiment.
第14圖係概略地顯示本發明之漁撈用起吊裝置之另一實施形態之魷釣機之控制動作之一部分之流程圖。 Fig. 14 is a flow chart schematically showing a part of the control operation of the sling machine of another embodiment of the fishing hoisting device of the present invention.
第15圖係概略地顯示第14圖之實施形態之魷釣機之操作控制盤及集中控制盤之電性構造之功能區圖。 Fig. 15 is a view schematically showing the functional configuration of the electrical control structure of the operation control panel and the centralized control panel of the slinger according to the embodiment of Fig. 14.
第1圖係概略地顯示本發明之漁撈用起吊裝置之一實施形態之設有複數魷釣機之魷釣船之構造例之(A)平面及(B)側面者，第2圖係概略地顯示將本實施形態之各魷釣機安裝於船體並進行作業之狀態者。 Fig. 1 is a view schematically showing (A) plane and (B) side of a structural example of a fishing boat provided with a plurality of squid fishing machines according to an embodiment of the fishing hoisting apparatus according to the present invention, and Fig. 2 is a schematic view The state in which each of the slingers of the present embodiment is attached to the hull and the work is performed.
如該等附圖所示，魷釣船之船體10之兩舷及後端附近之甲板上藉魷釣機安裝台而設有複數魷釣機11。各魷釣機11之海側則安裝有網台12，其先端設有前滾輪13。網台12之全長在日間作業時與夜間作業相較，多設成更長2~2.5倍程度。此係因日間作業時多在水深較深之處作業，故為較夜間作業減少釣線(鉤)之糾結而進行之。 As shown in the drawings, a plurality of slingers 11 are provided on the sides of the hull 10 of the squid and the deck near the rear end. A net table 12 is attached to the sea side of each of the fishing machines 11, and a front roller 13 is provided at the tip end. The total length of the net station 12 is set to be 2 to 2.5 times longer than that of the nighttime operation during daytime operation. This is because the work is often carried out in deep water depth during daytime work, so it is carried out to reduce the entanglement of the fishing line (hook) compared to nighttime work.
如第2圖所示，魷釣機11之旋轉捲筒11c上所捲附之作為母線之魚線14在作業時，將經前滾輪13而投入海中。該魚線14之先端連結有釣線、連鉤或分支子線及鉛錘。另，第1(B)圖中之15顯示諸如LED照明設備所構成之集魚燈。 As shown in Fig. 2, the fishing line 14 as a bus bar which is wound on the rotating reel 11c of the slinger 11 is put into the sea via the front roller 13 during work. The fishing line 14 is connected to a fishing line, a hook or a branching strand, and a plumb. In addition, 15 in Fig. 1(B) shows a fish-collecting lamp constituted by an LED lighting device.
第3圖係概略地顯示本實施形態之魷釣機11之構造者。 Fig. 3 is a view schematically showing the structure of the sling machine 11 of the present embodiment.
如該圖所示，各魷釣機11包含捕釣機本體11a、自該捕釣機本體11a朝左右突出之主軸(捲筒軸)11b、為該主軸11b所樞承而可捲繞魚線14之一對旋轉捲筒11c、操作控制盤11d。另，圖示之旋轉捲筒11c構成包含捲附魚線14之捲線筒部及與其旋轉軸平行且沿周緣方向按等角度間隔排列之複數桿條11c1，但亦可構成包含圓筒狀之捲線筒而取代該等桿條。又，旋轉捲筒11c在本實施形態中係軸截面呈圓型之捲筒，但變更態樣中一如第12圖所示，亦可為具有菱型之軸截面之捲筒11c’。魷釣機11使旋轉捲筒11c旋轉即可朝海中連續地下放魚線14以及其先端連結之釣線、釣鉤及鉛錘，並進行稱為抽動之誘釣動作而進行起吊或連續起吊以捕撈對象魚。捕釣機本體11a之外側則安裝有包含鍵盤、顯示盤及電源開關等之操作控制盤11d，而可就地個別控制各魷釣機11。且，如後所述，設有可集中控制複數之魷釣機之集中控制盤。 As shown in the figure, each of the fishing machines 11 includes a fishing machine body 11a, a main shaft (reel shaft) 11b projecting from the fishing machine body 11a to the right and left, and a fishing line for pivoting the main shaft 11b. One of the pair of rotating reels 11c and the operation control panel 11d. Further, the illustrated rotating reel 11c is configured to include a bobbin portion in which the fishing line 14 is wound, and a plurality of bars 11c 1 which are parallel to the rotation axis thereof and are arranged at equal angular intervals in the circumferential direction, but may be formed in a cylindrical shape. The spool is replaced by a spool. Further, in the present embodiment, the rotating reel 11c has a circular cross section, but the modified aspect may be a reel 11c' having a rhombic shaft cross section as shown in Fig. 12. The slinging machine 11 rotates the rotating reel 11c to continuously hang the fishing line 14 and the fishing line, the hook and the plumb which are connected at the tip end thereof in the sea, and carry out the slinging or continuous lifting to carry out fishing. Object fish. On the outer side of the fishing machine body 11a, an operation control panel 11d including a keyboard, a display panel, a power switch, and the like is attached, and each of the fishing machines 11 can be individually controlled. Further, as will be described later, a centralized control panel capable of collectively controlling a plurality of squid fishing machines is provided.
第4圖係概略地顯示本實施形態之捕釣機本體之內部構造者。 Fig. 4 is a view schematically showing the internal structure of the fishing machine body of the present embodiment.
如該圖所示，捕釣機本體11a內包含配置於其下部之驅動馬達11e、該驅動馬達11e之輸出軸所連結而可受傳達驅動力之減速機11f、經鏈條11g或齒輪而連結減速機11f之輸出軸以受傳達驅動力之可動軸11h、經鏈條11i或齒輪而連結該可動軸11h以受傳達驅動力並藉形成於可動軸11h之未圖示之螺旋導槽及卡合釘11m之作用而朝左右方向(軸向)受位移驅動之主軸11b、與可動軸11h同軸而連結並可 隨時進行制動之電磁式制動器11j、經鏈條11k或齒輪而連結可動軸11h並可檢測主軸11b之旋轉速度、旋轉數及旋轉位置之旋轉編碼器11l。當然若檢測主軸11b之旋轉數及旋轉位置，即可算出魚線(母線)14及釣線之饋送距離。 As shown in the figure, the fishing machine body 11a includes a drive motor 11e disposed at a lower portion thereof, a reduction gear 11f to which an output shaft of the drive motor 11e is coupled, and a drive force is transmitted, and is coupled and decelerated via a chain 11g or a gear. The output shaft of the machine 11f is coupled to the movable shaft 11h via a chain 11i or a gear via a movable shaft 11h that transmits a driving force to transmit a driving force, and a screw guide groove and a snap pin (not shown) formed on the movable shaft 11h. The main shaft 11b that is driven by the displacement in the left-right direction (axial direction) by the action of 11 m is coaxially connected to the movable shaft 11h and The electromagnetic brake 11j that brakes at any time, and the rotary encoder 11l that can connect the movable shaft 11h via the chain 11k or the gear and can detect the rotational speed, the number of rotations, and the rotational position of the main shaft 11b. Of course, if the number of rotations and the rotational position of the main shaft 11b are detected, the feeding distance of the fishing line (bus bar) 14 and the fishing line can be calculated.
第5圖係概略地顯示本實施形態之魷釣機之操作控制盤及集中控制盤之電性構造者。 Fig. 5 is a view schematically showing an electrical structure of an operation control panel and a centralized control panel of the sling machine of the present embodiment.
如該圖所示，魷釣機11設有可就地進行控制之操作控制盤50(11d)，該操作控制盤50及其它魷釣機之操作控制盤係經資料傳輸線51而與設於操舵室之集中控制盤52電性連接。 As shown in the figure, the slinger 11 is provided with an operation control panel 50 (11d) which can be controlled in situ. The operation control panel 50 and the operation control panel of the other slinger are connected to the steering wheel via the data transmission line 51. The centralized control panel 52 of the room is electrically connected.
操作控制盤50設有包含微處理器(MPU)50a、唯讀記憶體(ROM)50b、隨機存取記憶體(RAM)50c及輸出入埠(I/O)50d之電腦，進而，用於進行鍵入之鍵盤50e及顯示器50f則經I/O50d而與該電腦電性連接。前述之驅動馬達11e、電磁式制動器11j及旋轉編碼器111亦經I/O50d而與電腦電性連接。 The operation control panel 50 is provided with a computer including a microprocessor (MPU) 50a, a read only memory (ROM) 50b, a random access memory (RAM) 50c, and an input/output port (I/O) 50d. The keyboard 50e and the display 50f that are typed are electrically connected to the computer via the I/O 50d. The drive motor 11e, the electromagnetic brake 11j, and the rotary encoder 111 are also electrically connected to the computer via the I/O 50d.
魷釣機11進而設有可檢測上下方向之加速度之1軸之加速度感測器53及可檢測旋轉捲筒11c之旋轉軸之旋轉之角速度之陀螺儀感測器54，該等加速度感測器53及陀螺儀感測器54並經I/O50d而與電腦電性連接。 The slinger 11 is further provided with an acceleration sensor 53 that can detect the acceleration in the up and down direction and a gyro sensor 54 that can detect the angular velocity of the rotation of the rotation axis of the rotary reel 11c, and the acceleration sensors 53 and the gyro sensor 54 are electrically connected to the computer via the I/O 50d.
集中控制盤52設有包含微處理器(MPU)52a、唯讀記憶體(ROM)52b、隨機存取記憶體(RAM)52c及輸出入埠(I/O)52d之電腦，進而，用於進行鍵入之鍵盤52e及顯示器52f則經I/O52d而與該電腦電性連接。使用上述之集中控制 盤52，即可就複數魷釣機之作動進行集中控制。 The centralized control panel 52 is provided with a computer including a microprocessor (MPU) 52a, a read only memory (ROM) 52b, a random access memory (RAM) 52c, and an input/output port (I/O) 52d. The keyboard 52e and the display 52f that are typed are electrically connected to the computer via the I/O 52d. Use the above centralized control The disc 52 can be centrally controlled for the operation of the plurality of squid fishing machines.
各魷釣機11係依據來自本身之操作控制盤50之鍵盤50a之鍵入或來自集中控制盤52之鍵盤52a之鍵入之指令，而藉旋轉編碼器11l進行位置檢測，並驅動驅動馬達11e至到達目標位置為止而進行下放動作，一旦到達目標位置，即反轉驅動馬達11e之驅動方向，而進行起吊動作。藉顯示器50f或顯示器52f則可確認上述狀態，並可視情況而藉來自鍵盤50a或鍵盤52a之鍵入而進行運轉之停止及參數之變更。又，可藉電磁式制動器11j而在任意地點進行制動。 Each of the slingers 11 performs position detection by the rotary encoder 11l in accordance with a key input from the keyboard 50a of the operation control panel 50 or a key input from the keyboard 52a of the centralized control panel 52, and drives the drive motor 11e to arrive. The lowering operation is performed until the target position, and when the target position is reached, the driving direction of the driving motor 11e is reversed, and the lifting operation is performed. The above state can be confirmed by the display 50f or the display 52f, and the operation can be stopped and the parameters can be changed by the key input from the keyboard 50a or the keyboard 52a as the case may be. Further, the electromagnetic brake 11j can be used to brake at an arbitrary position.
各魷釣機11搭載有加速度感測器53，經I/O50d而將其加速度資料送入電腦，即可檢測船體10之縱搖搖動時之魷釣機10之上下方向之加速度。又，各魷釣機11搭載有陀螺儀感測器54，經I/O50d而將角速度資料送入電腦，即可檢測後述之橫搖搖動時之魷釣機11之角速度。 Each of the slingers 11 is equipped with an acceleration sensor 53, and the acceleration data is sent to the computer via the I/O 50d, so that the acceleration of the shovel 10 in the vertical direction of the sling 10 can be detected. Further, each of the fishing machines 11 is equipped with a gyro sensor 54, and the angular velocity data is sent to the computer via the I/O 50d, so that the angular velocity of the slinger 11 at the time of the panning and shaking described later can be detected.
第6圖係概略地顯示本實施形態之魷釣機11之電腦所執行之輸出旋轉速度之搖動修正處理動作者，第7圖係概略地顯示縱搖修正旋轉速度之算出處理動作者，第8圖係概略地顯示橫搖修正旋轉速度之算出處理動作者，第9圖係概略地顯示基本旋轉速度之算出處理動作者。但，以下所說明之搖動修正處理動作純屬例示，本發明之搖動修正處理動作可藉其它各種處理方法及處理裝置而實施。 Fig. 6 is a schematic diagram showing the shake correction processing of the output rotation speed executed by the computer of the sling machine 11 of the present embodiment, and Fig. 7 is a schematic diagram showing the calculation processing of the pitch correction rotation speed. The figure schematically shows the calculation process of the calculation of the roll correction rotation speed, and the ninth figure schematically shows the calculation process of the basic rotation speed. However, the rocking correction processing operation described below is purely an example, and the rocking correction processing operation of the present invention can be implemented by other various processing methods and processing apparatuses.
魷釣機11之下放動作或起吊動作一旦開始，該魷釣機11之操作控制盤50即執行第6圖所示之處理而算出旋轉捲筒11c之輸出旋轉速度Rout。 When the lowering operation or the lifting operation of the slinger 11 is started, the operation control panel 50 of the slinger 11 executes the processing shown in Fig. 6 to calculate the output rotation speed Rout of the rotating reel 11c.
第6圖所示之輸出旋轉速度Rout之搖動修正處理中，首先，將算出縱搖修正旋轉速度Rp(步驟S1)，接著，則算出橫搖修正旋轉速度Rr(步驟S2)。 In the rocking correction processing of the output rotation speed Rout shown in Fig. 6, first, the pitch correction rotation speed Rp is calculated (step S1), and then the roll correction rotation speed Rr is calculated (step S2).
在此，如第10圖所示，朝船體10之左右方向伸長之軸100之旋轉之搖動係縱搖搖動，朝船體10之前後方向伸長之軸101之旋轉之搖動則為橫搖搖動。本實施形態中，如第11(A)圖所示，將各魷釣機11之上下方向視為縱搖搖動方向，該方向之加速度則如第11(B)圖所示，係藉加速度感測器53而加以檢測。且，如第11(A)圖所示，將各魷釣機11之旋轉捲筒11c之旋轉軸之旋轉之方向視為橫搖搖動方向，該方向之角速度則如第11(B)圖所示，係藉陀螺儀感測器54而加以檢測。 Here, as shown in Fig. 10, the rocking of the rotation of the shaft 100 which is elongated in the left-right direction of the hull 10 is swayed, and the rotation of the shaft 101 which is elongated toward the front and rear of the hull 10 is shaken. . In the present embodiment, as shown in Fig. 11(A), the up-down direction of each of the sling machines 11 is regarded as a pitching direction, and the acceleration in this direction is as shown in Fig. 11(B). The detector 53 detects it. Further, as shown in Fig. 11(A), the direction in which the rotation axis of the rotary drum 11c of each of the slingers 11 is rotated is regarded as the yaw direction, and the angular velocities in this direction are as shown in Fig. 11(B). It is detected by the gyro sensor 54.
以下，參照第7圖說明縱搖修正旋轉速度Rp之算出處理。 Hereinafter, the calculation processing of the pitch correction rotation speed Rp will be described with reference to Fig. 7 .
首先，自加速度感測器53取得上下方向之加速度資料Aa(m/sec2)(步驟S1a)。接著，就該加速度資料Aa取關於時間的積分，而算出縱搖速度Pv(m/sec)(步驟S1b)。 First, the acceleration sensor Aa (m/sec 2 ) in the vertical direction is acquired from the acceleration sensor 53 (step S1a). Next, the acceleration data Aa is integrated with respect to time, and the pitch velocity Pv (m/sec) is calculated (step S1b).
其次，將該縱搖速度轉換為旋轉捲筒11c之旋轉速度Rp’(rpm)(步驟S1c)。該轉換係採用Rp’=Pv/c×60而進行。但，c(m)係旋轉捲筒11c之周長。 Next, the pitch speed is converted into the rotation speed Rp' (rpm) of the rotary reel 11c (step S1c). This conversion is performed using Rp' = Pv / c × 60. However, c(m) is the circumference of the rotating reel 11c.
然後，就該旋轉速度Rp’附加正負符號而求出縱搖修正旋轉速度Rp。首先，判別是否起吊動作(步驟S1d)，若為起吊動作中，則判別加速度資料Aa是否Aa≧0(步驟S1e)。 Then, the pitch correction rotational speed Rp is obtained by adding a positive or negative sign to the rotational speed Rp'. First, it is determined whether or not the lifting operation is performed (step S1d), and if it is during the lifting operation, it is determined whether or not the acceleration data Aa is Aa ≧ 0 (step S1e).
起吊動作中且Aa≧0時，設為Rp←-Rp’(步驟S1f)，起吊動作中且Aa<0時，設為Rp←Rp’(步驟S1g)。即，進行控制而在起吊動作中而加速度為零或正值時(魷釣機11之搖動係由下往上昇高之方向時)進行負值之旋轉修正，起吊動作中而加速度為負值時(魷釣機11之搖動係由上往下降低之方向時)則進行正值之旋轉修正。 In the hoisting operation, when Aa ≧ 0, Rp ← - Rp' is set (step S1f), and when Aa < 0 in the hoisting operation, Rp ← Rp' is set (step S1g). In other words, when the control is performed and the acceleration is zero or a positive value during the hoisting operation (when the squirting machine 11 is rocking from the bottom to the top), the negative rotation is corrected, and during the hoisting operation, the acceleration is negative. (When the rocking machine 11 is rocking from the top to the bottom), a positive rotation correction is performed.
若非起吊動作中，即，下放動作中時，則判別加速度資料Aa是否Aa≧0(步驟S1h)。 If it is not in the lifting operation, that is, in the lowering operation, it is determined whether or not the acceleration data Aa is Aa ≧ 0 (step S1h).
若為下放動作中且Aa≧0，則設為Rp←Rp’(步驟S1i)，下放動作中且Aa<0，則設為Rp←-p’(步驟S1j)。即，進行控制而在下放動作中而加速度為零或正值時(魷釣機11之搖動係由下往上昇高之方向時)進行正值之旋轉修正，下放動作中而加速度為負值時(魷釣機11之搖動係由上往下降低之方向時)則進行負值之旋轉修正。 In the case of the lowering operation and Aa ≧ 0, Rp ← Rp' is set (step S1i), and in the lowering operation, and Aa < 0, Rp ← - p' is set (step S1j). In other words, when the control is performed and the acceleration is zero or a positive value in the lowering operation (when the rocking machine 11 is rocking from the bottom to the top), the positive rotation is corrected, and in the lowering operation, the acceleration is negative. (When the rocking of the slinger 11 is in the direction of lowering from the top to the bottom), a negative rotation correction is performed.
其次，參照第8圖說明橫搖修正旋轉速度Rr之算出處理。 Next, the calculation processing of the roll correction rotation speed Rr will be described with reference to Fig. 8 .
首先，自陀螺儀感測器54取得旋轉捲筒11c之旋轉軸之旋轉之方向之角速度資料ω(rad/sec)(步驟S2a)。 First, the angular velocity data ω (rad/sec) in the direction of rotation of the rotating shaft of the rotating reel 11c is obtained from the gyro sensor 54 (step S2a).
接著，自該角速度資料ω算出網台12先端之移動速度rv(m/sec)(步驟S2b)。該演算係採用rv=1×ω而進行。但，l(m)係網台12之長度。 Next, the moving speed rv (m/sec) of the leading end of the net 12 is calculated from the angular velocity data ω (step S2b). This calculation is performed using rv = 1 × ω. However, l(m) is the length of the network station 12.
其次，將該移動速度rv轉換為旋轉捲筒11c之旋轉速度Rr’(rpm)(步驟S2c)。該轉換係採用Rr’=rv/c×60而進行。但，c(m)係旋轉捲筒11c之周長。 Next, the moving speed rv is converted into the rotation speed Rr' (rpm) of the rotary reel 11c (step S2c). This conversion is performed using Rr' = rv / c × 60. However, c(m) is the circumference of the rotating reel 11c.
然後，就該旋轉速度Rr’附加正負符號而求出橫搖修正旋轉速度Rr。首先，判別是否起吊動作(步驟S2d)，若為起吊動作中，則判別角速度資料ω是否ω≧0(步驟S2e)。 Then, a positive/negative sign is added to the rotational speed Rr' to obtain a roll correction rotational speed Rr. First, it is determined whether or not the lifting operation is performed (step S2d), and if it is during the lifting operation, it is determined whether or not the angular velocity data ω is ω ≧ 0 (step S2e).
若為起吊動作中且ω≧0，則設為Rr←--Rr’(步驟S2f)，起吊動作中且ω<0，則設為Rr←Rr’(步驟S2g)。即，進行控制而在起吊動作中而角速度為零或正值時(魷釣機11之搖動係自海側朝船側旋動之方向時)進行負值之旋轉修正，起吊動作中而角速度為負值時(魷釣機11之搖動係自船側朝海側旋動之方向時)則進行正值之旋轉修正。 In the case of hoisting operation, when ω ≧ 0, Rr ← - Rr' is set (step S2f), and when ω is 0 in the hoisting operation, Rr ← Rr' is set (step S2g). That is, when the control is performed and the angular velocity is zero or a positive value during the hoisting operation (when the shovel of the squid 11 is swung from the sea side toward the side of the ship), the rotation correction is performed in a negative value, and the angular velocity is negative during the hoisting operation. At the time of the value (when the rocking machine 11 is rocking from the side of the ship to the sea side), a positive rotation correction is performed.
若非起吊動作中，即，下放動作中時，則判別角速度資料ω是否ω≧0(步驟S2h)。 If it is not in the lifting operation, that is, in the lowering operation, it is determined whether or not the angular velocity data ω is ω ≧ 0 (step S2h).
若為下放動作中且ω≧0，則設為Rr←Rr’(步驟S2i)，下放動作中且ω<0，則設為Rr←-Rr’(步驟S2j)。即，進行控制而在下放動作中而角速度為零或正值時(魷釣機11之搖動係自海側朝船側旋動之方向時)進行正值之旋轉修正，下放動作中而角速度為負值時(魷釣機11之搖動係自船側朝海側旋動之方向時)則進行負值之旋轉修正。 When ω ≧ 0 in the lowering operation, Rr ← Rr' is set (step S2i), and when ω < 0 in the lowering operation, Rr ← - Rr' is set (step S2j). In other words, when the control is performed and the angular velocity is zero or a positive value in the lowering operation (when the rocking machine 11 is swaying from the sea side toward the side of the ship), the positive rotation is corrected, and the angular velocity is negative during the lowering operation. At the time of the value (when the rocking machine 11 is rocking from the side of the ship toward the sea side), a negative rotation correction is performed.
然後，如第6圖所示，相加如上而算出之縱搖修正旋轉速度Rp及橫搖修正旋轉速度Rr而算出總修正旋轉速度Rt(步驟S4)。即，進行Rt=Rp+Rr之演算。 Then, as shown in Fig. 6, the pitch correction rotation speed Rp and the roll correction rotation speed Rr calculated as described above are added to calculate the total correction rotation speed Rt (step S4). That is, the calculation of Rt=Rp+Rr is performed.
接著，將上述算出之總修正旋轉速度Rt限制在上限及下限旋轉速度間。即，首先，將判別總修正旋轉速度Rt是否在上限旋轉速度以上(步驟S4)，若Rt≧上限旋轉速度 (是)，則設為Rt←上限旋轉速度(步驟S5)，Rt<上限旋轉速度時(否)，則判別該總修正旋轉速度Rt是否在下限旋轉速度以下(步驟S6)。Rt≦下限旋轉速度時(是)，設為Rt←下限旋轉速度(步驟S7)，Rt>下限旋轉速度時(否)，則維持該總修正旋轉速度Rt之原值。 Next, the total corrected rotational speed Rt calculated as described above is limited to between the upper limit and the lower limit rotational speed. That is, first, it is determined whether or not the total corrected rotational speed Rt is equal to or higher than the upper limit rotational speed (step S4), and if Rt ≧ the upper limit rotational speed (Yes), it is assumed that Rt ← the upper limit rotation speed (step S5), and when Rt < the upper limit rotation speed (NO), it is determined whether or not the total corrected rotation speed Rt is equal to or lower than the lower limit rotation speed (step S6). When Rt ≦ lower limit rotation speed (Yes), Rt ← lower limit rotation speed (step S7), and Rt> lower limit rotation speed (NO), the original value of the total correction rotation speed Rt is maintained.
其次，對基本旋轉速度Rb加算該總修正旋轉速度Rt，而算出輸出旋轉速度Rout(步驟S8)。即，進行Rout=Rb+Rt之演算而進行搖動修正處理。 Next, the total corrected rotational speed Rt is added to the basic rotational speed Rb, and the output rotational speed Rout is calculated (step S8). That is, the calculation of Rout=Rb+Rt is performed to perform the shake correction processing.
基本旋轉速度Rb係藉第9圖所示之處理動作而算出者。 The basic rotation speed Rb is calculated by the processing operation shown in Fig. 9.
首先，判別是否起吊動作(步驟S91)。若非起吊動作，即，下放動作時，則自預設之諸如高速、中速或低速等複數之連續下放速度中選出一種連續下放速度，而將所選出之連續下放速度設為基本旋轉速度Rb(步驟S92)。另，本實施形態中，雖如上述而自3個固定值中選出連續下放速度，但亦可自4個以上之固定值或2個固定值中加以選出，或採用單一之固定值。又，當然連續下放速度亦可為可任意改變之可變值。 First, it is determined whether or not the lifting operation is performed (step S91). If the lifting operation is not performed, that is, when the lowering operation is performed, a continuous lowering speed is selected from a plurality of consecutive lowering speeds such as high speed, medium speed or low speed, and the selected continuous lowering speed is set as the basic rotating speed Rb ( Step S92). Further, in the present embodiment, although the continuous lowering speed is selected from the three fixed values as described above, it may be selected from four or more fixed values or two fixed values, or a single fixed value may be used. Further, of course, the continuous lowering speed may be a variable value that can be arbitrarily changed.
若為起吊動作，則判別是否抽動動作(步驟S93)。若非抽動動作，即，連續起吊動作時，則自預設之諸如高速、中速或低速等複數之連續起吊速度中選出一種連續起吊速度，並將所選出之連續起吊速度設為基本旋轉速度Rb(步驟S94)。另，本實施形態中，雖如上述而自3個固定值中選出連續起吊速度，但亦可自4個以上之固定值、 2個固定值中加以選出，或採用單一之固定值。又，當然連續起吊速度亦可為可任意改變之可變值。 In the case of the hoisting operation, it is determined whether or not the twitching operation is performed (step S93). If it is not a twitching action, that is, a continuous hoisting action, a continuous hoisting speed is selected from a plurality of consecutive hoisting speeds such as high speed, medium speed or low speed, and the selected continuous hoisting speed is set as the basic rotation speed Rb. (Step S94). Further, in the present embodiment, although the continuous hoisting speed is selected from the three fixed values as described above, it may be a fixed value of four or more. Select between 2 fixed values or use a single fixed value. Moreover, of course, the continuous lifting speed can also be a variable value that can be arbitrarily changed.
若為抽動動作，則自預設之複數之工作比中選出一種工作比之高低抽動起吊速度，並將所選出之工作比之高低抽動起吊速度設為基本旋轉速度Rb(步驟S95)。即，選擇高速旋轉速度之期間與低速旋轉速度之期間之比之工作比，並對基本旋轉速度Rb設定依該工作比而交互重複高速旋轉速度與低速旋轉速度。舉例言之，亦可設定就旋轉捲筒11c之每次旋轉交互重複高速旋轉速度與低速旋轉速度。另，此時之高速旋轉速度換算為旋轉捲筒11c之旋轉速度將約在70rpm~約160rpm之範圍內，低速旋轉速度換算為旋轉捲筒11c之旋轉速度將約在5rpm~約50rpm之範圍內。亦可設定成交互重複高速旋轉速度與旋轉停止狀態(旋轉速度零)，而取代交互重複高速旋轉速度與低速旋轉速度。 In the case of the twitching action, the hoisting speed is selected from the work of the plurality of predetermined presets, and the selected hoisting speed is set to the basic rotational speed Rb (step S95). That is, the ratio of the ratio of the period of the high-speed rotation speed to the period of the low-speed rotation speed is selected, and the basic rotation speed Rb is set to alternately repeat the high-speed rotation speed and the low-speed rotation speed in accordance with the operation ratio. For example, it is also possible to set the high speed rotation speed and the low speed rotation speed to be repeated for each rotation of the rotating reel 11c. Further, the high-speed rotation speed at this time is converted into a rotation speed of the rotary reel 11c in the range of about 70 rpm to about 160 rpm, and the low-speed rotation speed is converted into a rotation speed of the rotary reel 11c in the range of about 5 rpm to about 50 rpm. . It can also be set to alternately repeat the high-speed rotation speed and the rotation stop state (rotation speed zero) instead of the interactive repetition high-speed rotation speed and low-speed rotation speed.
另，本實施形態雖如上述而自複數之工作比中選出抽動起吊速度之工作比，但亦可採用單一之工作比。又，當然工作比亦可為可任意改變之可變值。且，本實施形態中，雖僅於起吊動作時進行抽動動作，但亦可僅在下放動作時，或就起吊動作時及下放動作時之雙方相同地進行抽動動作，並進行其搖動修正控制。 Further, in the present embodiment, as described above, the duty ratio of the hoisting hoisting speed is selected from the above-mentioned work ratios, but a single duty ratio may be employed. Also, of course, the work ratio may be a variable value that can be arbitrarily changed. Further, in the present embodiment, the twitching operation is performed only during the hoisting operation, but the swaying operation may be performed only during the hoisting operation or both at the time of the hoisting operation and the lowering operation, and the swaying correction control may be performed.
如上所述，依據進行搖動修正處理而求出之輸出旋轉速度Rout，而控制驅動馬達11e之旋轉速度，即可控制旋轉捲筒11c之旋轉速度。其結果，即可藉縱搖修正量及橫搖修正量之雙方修正魚線14、甚至其先端所連結之釣線、 釣鉤及鉛錘之連續起吊速度及連續下放速度以及抽動起吊速度，而減少或抑制縱搖搖動及橫搖搖動之雙方。 As described above, the rotational speed of the rotary drum 11c can be controlled by controlling the rotational speed of the drive motor 11e in accordance with the output rotational speed Rout obtained by performing the shake correction processing. As a result, both the pitch correction amount and the roll correction amount can be used to correct the fishing line connected to the fishing line 14, or even the apex thereof, The continuous lifting speed and the continuous lowering speed of the hook and the plumb bob and the hoisting speed are reduced, and the two sides of the pitching and rolling are reduced or suppressed.
即，如第10圖所示，船體10發生縱搖搖動時，魷釣機11將如第11(A)圖所示而主要朝上下方向搖動，故加速度感測器53將予以測得作為加速度Aa檢測方向之加速度。另，船體10發生橫搖搖動時，魷釣機11將如第11(A)圖所示而朝橫搖搖動方向進行旋轉運動，故陀螺儀感測器54將加以測得作為角速度ω檢測方向之角速度。此外，第11(A)圖所示之橫搖搖動(旋轉捲筒11c之旋轉軸之旋轉之搖動)與朝船體10之前後方向伸長之軸101之旋轉之橫搖搖動之軸位置不同，故嚴格而言並不一致，但實際係在進行魚線之下放及起吊之魷釣機11之位置上進行角速度檢測，故不致發生問題，反而可進行更正確之搖動修正處理。 That is, as shown in Fig. 10, when the hull 10 is tilted and shaken, the slinger 11 is mainly shaken in the up and down direction as shown in Fig. 11(A), so the acceleration sensor 53 will measure it as The acceleration Aa detects the acceleration of the direction. Further, when the hull 10 is shaken, the slinger 11 will perform a rotational motion in the panning direction as shown in Fig. 11(A), so that the gyro sensor 54 will be measured as the angular velocity ω. The angular velocity of the direction. Further, the panning motion shown in Fig. 11(A) (the rocking of the rotation of the rotating shaft of the rotating reel 11c) is different from the pivoting axis of the rotation of the shaft 101 which is elongated in the front-rear direction of the hull 10, Therefore, it is strictly inconsistent, but the angular velocity detection is actually performed at the position of the fishing machine 11 which is placed under the fishing line and lifted, so that no problem occurs, and a more accurate shaking correction process can be performed.
加速度感測器53所測得之加速度將轉換為上下方向之移動速度，再自該上下方向之移動速度轉換為旋轉捲筒11c之旋轉速度，而算出縱搖修正旋轉速度。另，陀螺儀感測器54所測得之角速度將轉換為已將網台12之長度考量在內之網台先端之移動速度，並基於該網台12先端之移動速度而轉換為旋轉捲筒11c之旋轉速度，再算出橫搖修正旋轉速度。加減其等而算出複合之總修正旋轉速度，再對已設定之基本旋轉速度加減之而設為對驅動馬達11e之輸出旋轉速度，以進行船體搖動時之旋轉修正。即，第11(A)圖中，發生Pit+方向之縱搖搖動時，魚線之移動速度將朝下放方向之DOWN方向受修正控制，發生Pit-方向之縱搖搖動 時，魚線之移動速度將朝起吊方向之UP方向受修正控制，發生Rol+方向之橫搖搖動時，魚線之移動速度將朝下放方向之DOWN方向受修正控制，發生Rol-方向之橫搖搖動時，魚線之移動速度將朝起吊方向之UP方向受修正控制。 The acceleration measured by the acceleration sensor 53 is converted into the moving speed in the up and down direction, and the moving speed from the up and down direction is converted into the rotating speed of the rotating reel 11c, and the pitch correcting rotational speed is calculated. In addition, the angular velocity measured by the gyro sensor 54 is converted into the moving speed of the anterior end of the net having the length of the net 12, and converted into a rotating reel based on the moving speed of the apex of the net 12 The rotation speed of 11c is calculated, and the roll correction rotation speed is calculated. The total corrected rotational speed of the composite is calculated by addition and subtraction, and the output rotational speed of the drive motor 11e is set to the rotational speed of the vehicular body when the hull is shaken by adding or subtracting the set basic rotational speed. That is, in the 11th (A) diagram, when the Pit+ direction is shaken, the moving speed of the fishing line is corrected in the DOWN direction in the downward direction, and the Pit-direction is shaken. When the moving speed of the fishing line is corrected in the UP direction of the lifting direction, when the Rolling direction is shaken, the moving speed of the fishing line will be corrected in the direction of the DOWN in the downward direction, and the Rolling of the Roll-direction occurs. When shaking, the moving speed of the fishing line will be corrected in the UP direction of the lifting direction.
如以上之詳細說明，依據本實施形態，可減少或抑制縱搖搖動及橫搖搖動之雙方，故不拘日間作業及夜間作業等之作業方法，均可確實且有效率地避免釣獲之魚體之脫離、魚體之損傷、漁具之破損及釣線鬆弛(繩材鬆弛)所導致之各種問題之發生。尤其，本實施形態中，亦就抽動起吊動作進行搖動修正處理，故可進行極為有效之修正處理。其結果，則可期待捕撈效率之提昇、漁具壽命之延長及作業中之問題排除作業之減少。 As described in detail above, according to the present embodiment, both the pitching and the shaking can be reduced or suppressed, so that the fishing method can be reliably and efficiently avoided regardless of the working methods such as daytime work and night work. Various problems caused by detachment, damage to fish, damage to fishing gear, and slack in the fishing line (relaxation of the rope). In particular, in the present embodiment, since the shaking correction processing is performed in the twitching operation, extremely effective correction processing can be performed. As a result, it is expected that the fishing efficiency will be improved, the life of the fishing gear will be prolonged, and the problem of the problem elimination in the operation can be reduced.
第13圖係概略地顯示本發明之漁撈用起吊裝置之其它實施形態之魷釣機11之電腦所執行之輸出旋轉速度之搖動修正處理動作者。第1~12圖之實施形態雖構成在低旋轉速度及高旋轉速度之雙方之抽動起吊動作時進行搖動修正處理，但本實施形態則構成僅於低旋轉速度之抽動起吊動作時進行搖動修正處理。 Fig. 13 is a view schematically showing the oscillating correction processing of the output rotational speed performed by the computer of the sling machine 11 of the other embodiment of the fishing hoisting device of the present invention. In the embodiment of the first to twelfth embodiments, the rocking correction processing is performed at the time of the twitching operation of both the low rotation speed and the high rotation speed. However, in the present embodiment, the rocking correction processing is performed only during the hoisting operation of the low rotation speed. .
本實施形態之其它構造與第1~12圖之實施形態相同，因此以下僅就兩者之相異部分進行說明。又，兩實施形態中均就相同之構成要素使用相同之參照標號。 The other structure of the present embodiment is the same as that of the first to twelfth embodiments, and therefore only the differences between the two will be described below. In the two embodiments, the same components are denoted by the same reference numerals.
魷釣機11之下放動作或起吊動作一旦開始，該魷釣機11之操作控制盤50即執行第13圖所示之處理而算出旋轉捲筒11c之輸出旋轉速度Rout。 When the lowering operation or the lifting operation of the slinger 11 is started, the operation control panel 50 of the slinger 11 executes the processing shown in Fig. 13 to calculate the output rotation speed Rout of the rotating reel 11c.
第13圖所示之輸出旋轉速度Rout之搖動修正處理時，首先，將算出縱搖修正旋轉速度Rp(步驟S1’)，接著，則算出橫搖修正旋轉速度Rr(步驟S2’)。 In the rocking correction processing of the output rotation speed Rout shown in Fig. 13, first, the pitch correction rotation speed Rp is calculated (step S1'), and then the roll correction rotation speed Rr is calculated (step S2').
縱搖修正旋轉速度Rp及橫搖修正旋轉速度Rr之算出處理與第1~12圖之實施形態相同。 The calculation processing of the pitch correction rotational speed Rp and the roll correction rotational speed Rr is the same as that of the first to twelfth embodiments.
接著，相加所算出之縱搖修正旋轉速度Rp及橫搖修正旋轉速度Rr而算出總修正旋轉速度Rt(步驟S3’)。即，進行Rt=Rp+Rr之演算。 Then, the calculated pitch correction rotational speed Rp and the roll correction rotational speed Rr are added to calculate the total corrected rotational speed Rt (step S3'). That is, the calculation of Rt=Rp+Rr is performed.
其次，將算出之總修正旋轉速度Rt限制在上限及下限旋轉速度間。即，首先，判別總修正旋轉速度Rt是否在上限旋轉速度以上(步驟S4’)，若Rt≧上限旋轉速度(是)，則設為Rt←上限旋轉速度(步驟S5’)，若Rt<上限旋轉速度(否)，則判別該總修正旋轉速度Rt是否在下限旋轉速度以下(步驟S6’)。Rt≦下限旋轉速度時(是)，則設為Rt←下限旋轉速度(步驟S7’)，若Rt>下限旋轉速度(否)，則維持該總修正旋轉速度Rt之原值。 Next, the calculated total corrected rotational speed Rt is limited between the upper limit and the lower limit rotational speed. In other words, first, it is determined whether or not the total corrected rotational speed Rt is equal to or higher than the upper limit rotational speed (step S4'), and if Rt ≧ the upper limit rotational speed (YES), the upper limit rotational speed is set to Rt ← (step S5'), and if Rt < upper limit When the rotation speed is NO (NO), it is determined whether or not the total corrected rotation speed Rt is equal to or lower than the lower limit rotation speed (step S6'). When Rt ≦ lower limit rotation speed (Yes), Rt ← lower limit rotation speed is set (step S7'), and if Rt> lower limit rotation speed (NO), the original value of the total corrected rotation speed Rt is maintained.
接著，判別目前是否高旋轉速度之抽動起吊動作時(步驟S9’)，若判別並非高旋轉速度之抽動起吊動作時(否)，則對基本旋轉速度Rb加算該總修正旋轉速度Rt而算出輸出旋轉速度Rout(步驟S8’)。即，進行Rout=Rb+Rt之演算以進行搖動修正處理。故而，若為進行抽動起吊動作時且為低旋轉速度狀態，則進行搖動修正處理。另，基本旋轉速度Rb與第1~12圖之實施形態相同，係藉第9圖所示之處理動作而算出者。 Next, when it is determined whether or not the hoisting operation of the high rotational speed is currently performed (step S9'), if it is determined that the hoisting operation is not the high rotational speed (NO), the total corrected rotational speed Rt is added to the basic rotational speed Rb to calculate the output. The rotation speed Rout (step S8'). That is, the calculation of Rout=Rb+Rt is performed to perform the shake correction processing. Therefore, if the hoisting operation is performed and the state is low in the rotation speed, the shake correction processing is performed. Further, the basic rotational speed Rb is the same as that of the first to twelfth embodiments, and is calculated by the processing operation shown in Fig. 9.
另，步驟S9’中，若判別為高旋轉速度之抽動起吊動作時(是)，則均不進行縱搖修正及橫搖修正，故將總修正旋轉速度Rt設為零(步驟S10’)而進行步驟S8’之處理。因此，若為進行抽動動作時且為高旋轉速度狀態，總修正旋轉速度Rt將設為零而不進行搖動修正處理。 On the other hand, if it is determined in the step S9' that the swaying operation is performed at the high rotation speed (Yes), the pitch correction and the roll correction are not performed, so that the total corrected rotation speed Rt is set to zero (step S10'). The processing of step S8' is performed. Therefore, in the case of the pulsation operation and the high rotation speed state, the total correction rotation speed Rt is set to zero without performing the shake correction processing.
如以上之詳細說明，依據本實施形態，可減少或抑制縱搖搖動及橫搖搖動之雙方，故不拘日間作業及夜間作業等之作業方法，均可確實且有效率地避免釣獲之魚體之脫離、魚體之損傷、漁具之破損及釣線鬆弛(繩材鬆弛)所導致之各種問題之發生。尤其，本實施形態中，僅於容易發生脫鉤之抽動起吊動作之低旋轉速度時重點式地進行搖動修正處理，故可進行極為有效之修正處理。其結果，則可期待捕撈效率之提昇、漁具壽命之延長以及作業中之問題排除作業之減少。 As described in detail above, according to the present embodiment, both the pitching and the shaking can be reduced or suppressed, so that the fishing method can be reliably and efficiently avoided regardless of the working methods such as daytime work and night work. Various problems caused by detachment, damage to fish, damage to fishing gear, and slack in the fishing line (relaxation of the rope). In particular, in the present embodiment, the shake correction processing is performed in an important manner only when the low rotation speed of the hoisting lifting operation of the unhooking is likely to occur, so that an extremely effective correction processing can be performed. As a result, it is expected that the fishing efficiency will be improved, the life of the fishing gear will be prolonged, and the problem of the problem elimination in the operation can be reduced.
第14圖係概略地顯示本發明之漁撈用起吊裝置之另一實施形態之魷釣機11之電腦所執行之橫搖修正旋轉速度之算出處理動作者，第15圖係概略地顯示本實施形態之魷釣機11之操作控制盤及集中控制盤之電性構造者。本實施形態中，取代第1~12圖或第13圖之實施形態中之陀螺儀感測器54，而設有可檢測彼此垂直之2軸方向之加速度之第1加速度感測器55a及第2加速度感測器55b、可自該等加速度感測器之輸出算出角速度之演算機構。另，第1加速度感測器55a與第1~12圖或第13圖之實施形態中之加速度感測器53相同而使用於縱搖搖動之檢測。 Fig. 14 is a view schematically showing a process of calculating the roll correction rotational speed performed by the computer of the sling machine 11 according to another embodiment of the fishing hoisting device of the present invention, and Fig. 15 is a view schematically showing the present embodiment. The electric control structure of the operation control panel of the fishing machine 11 and the centralized control panel. In the present embodiment, instead of the gyro sensor 54 in the embodiment of the first to twelfth or thirteenth embodiment, the first acceleration sensor 55a and the first unit that can detect accelerations in two axial directions perpendicular to each other are provided. 2 Acceleration sensor 55b, a calculation mechanism for calculating angular velocity from the output of the acceleration sensors. Further, the first acceleration sensor 55a is used for the detection of the pitch shake similarly to the acceleration sensor 53 in the embodiment of the first to twelfth or thirteenth embodiment.
本實施形態之其它構造與第1~12圖或第13圖之實施形態相同，因此以下僅就兩者之相異部分進行說明。又，兩實施形態中相同之構成要素均使用相同之參照標號。 The other structure of the present embodiment is the same as that of the first to twelfth or thirteenth embodiment, and therefore only the differences between the two will be described below. In the two embodiments, the same components are denoted by the same reference numerals.
如第15圖所示，本實施形態之魷釣機11設有可檢測上下方向之加速度Aa(參照第11(B)圖)之第1加速度感測器55a、可檢測與前述上下方向及魷釣機11之旋轉捲筒11c之旋轉軸垂直之方向之加速度Ba(參照第11(B)圖)之第2加速度感測器55b，該等加速度感測器55a及55b則經I/O50d而與電腦電性連接。 As shown in Fig. 15, the sling machine 11 of the present embodiment is provided with a first acceleration sensor 55a capable of detecting the acceleration Aa in the vertical direction (see Fig. 11(B)), and is detectable from the vertical direction and 鱿. The second acceleration sensor 55b of the acceleration Ba of the rotation reel 11c of the fishing machine 11 in the direction perpendicular to the rotation axis (refer to FIG. 11(B)), the acceleration sensors 55a and 55b pass through the I/O 50d. Electrically connected to the computer.
以下參照第14圖說明本實施形態之橫搖修正旋轉速度Rr之算出處理。 The calculation processing of the roll correction rotational speed Rr of the present embodiment will be described below with reference to Fig. 14.
首先，自第1加速度感測器55a及第2加速度感測器55b分別取得彼此垂直之2軸方向之加速度資料Aa及Ba(步驟S2a’)。 First, the acceleration data Aa and Ba in the two-axis directions perpendicular to each other are obtained from the first acceleration sensor 55a and the second acceleration sensor 55b (step S2a').
接著，由上述加速度資料Aa及Ba藉ATAN(Ba/Aa)而算出魷釣機11之傾斜角度(步驟S2b’)。 Next, the inclination angle of the squid 11 is calculated from the acceleration data Aa and Ba by ATAN (Ba/Aa) (step S2b').
其次，微分已算出之傾斜角度，而算出旋轉捲筒11c之旋轉軸之旋轉之方向之角速度資料ω(rad/sec)(步驟S2c’)。 Next, the calculated angular inclination angle is calculated, and the angular velocity data ω (rad/sec) in the direction of the rotation of the rotating shaft of the rotating reel 11c is calculated (step S2c').
然後，自該角速度資料ω算出網台12先端之移動速度rv(m/sec)(步驟S2d’)。上述演算係採用rv=1×ω而進行。但，l(m)係網台12之長度。 Then, the moving speed rv (m/sec) of the leading end of the net 12 is calculated from the angular velocity data ω (step S2d'). The above calculation is performed using rv = 1 × ω. However, l(m) is the length of the network station 12.
接著，將該移動速度rv轉換為旋轉捲筒11c之旋轉速度Rr’(rpm)(步驟S2e’)。上述轉換係採用Rr’=rv/c×60而 進行。但，c(m)係旋轉捲筒11c之周長。 Then, the moving speed rv is converted into the rotation speed Rr' (rpm) of the rotating reel 11c (step S2e'). The above conversion system uses Rr'=rv/c×60. get on. However, c(m) is the circumference of the rotating reel 11c.
然後，就該旋轉速度Rr’附加正負符號而求出橫搖修正旋轉速度Rr。首先，判別是否起吊動作(步驟S2f’)，若為起吊動作中，則判別角速度資料ω是否ω≧0(步驟S2g’)。 Then, a positive/negative sign is added to the rotational speed Rr' to obtain a roll correction rotational speed Rr. First, it is determined whether or not the lifting operation is performed (step S2f'), and if it is during the lifting operation, it is determined whether or not the angular velocity data ω is ω ≧ 0 (step S2g').
若為起吊動作中且ω≧0，則設為Rr←-Rr’(步驟S2h’)，起吊動作中且ω<0，則設為Rr←Rr’(步驟S2i’)。即，進行控制而在起吊動作中而角速度為零或正值時(魷釣機11之搖動係自海側朝船側旋動之方向時)進行負值之旋轉修正，起吊動作中而角速度為負值時(魷釣機11之搖動係自船側朝海側旋動之方向時)則進行正值之旋轉修正。 If it is ω ≧ 0 in the hoisting operation, it is set to Rr ← - Rr' (step S2h'), and when ω is 0, it is set to Rr ← Rr' (step S2i'). That is, when the control is performed and the angular velocity is zero or a positive value during the hoisting operation (when the shovel of the squid 11 is swung from the sea side toward the side of the ship), the rotation correction is performed in a negative value, and the angular velocity is negative during the hoisting operation. At the time of the value (when the rocking machine 11 is rocking from the side of the ship to the sea side), a positive rotation correction is performed.
並非起吊動作時，即，下放動作中時，則判別角速度資料ω是否ω≧0(步驟S2j’)。 When the lifting operation is not performed, that is, when the lowering operation is being performed, it is determined whether or not the angular velocity data ω is ω ≧ 0 (step S2j').
若為下放動作中且ω≧0，則設為Rr←Rr’(步驟S2k’)，下放動作中且ω<0時，則設為Rr←-Rr’(步驟S2l’)。即，進行控制而在下放動作中而角速度為零或正值時(魷釣機11之搖動係自海側朝船側旋動之方向時)進行正值之旋轉修正，下放動作中而角速度為負值時(魷釣機11之搖動係自船側朝海側旋動之方向時)則進行負值之旋轉修正。 If ω ≧ 0 in the lowering operation, Rr ← Rr' is set (step S2k'), and when ω < 0 in the lowering operation, Rr ← - Rr' is set (step S2l'). In other words, when the control is performed and the angular velocity is zero or a positive value in the lowering operation (when the rocking machine 11 is swaying from the sea side toward the side of the ship), the positive rotation is corrected, and the angular velocity is negative during the lowering operation. At the time of the value (when the rocking machine 11 is rocking from the side of the ship toward the sea side), a negative rotation correction is performed.
相加如上而算出之橫搖修正旋轉速度Rr與縱搖修正旋轉速度Rp而算出總修正旋轉速度Rt。本實施形態中，此後之處理內容均與第1~12圖或第13圖之實施形態相同。 The roll correction rotational speed Rr and the pitch correction rotational speed Rp calculated as described above are added to calculate the total corrected rotational speed Rt. In the present embodiment, the processing contents thereafter are the same as those in the first to twelfth or thirteenth embodiments.
依據本實施形態，船體10發生橫搖搖動時，魷釣機11將如第11(A)圖所示而朝橫搖搖動方向進行旋轉運動，故2軸之第1及第2加速度感測器55a及55b將加以測得，並基於所測得之加速度資料Aa及Ba而算出橫搖搖動時之魷釣機11之傾斜角度，再以時間加以微分而求出角速度ω。第1加速度感測器55a所測得之加速度將轉換為上下方向之移動速度，再自該上下方向之移動速度轉換為旋轉捲筒11c之旋轉速度，而算出縱搖修正旋轉速度。另，自2軸之第1及第2加速度感測器55a及55b之測得加速度算出之角速度則轉換為已將網台12之長度考量在內之網台先端之移動速度，再基於該網台12先端之移動速度而轉換為旋轉捲筒11c之旋轉速度，以算出橫搖修正旋轉速度。加減其等而算出複合之總修正旋轉速度，再對已設定之基本旋轉速度加減之而設為對驅動馬達11e之輸出旋轉速度，以進行船體搖動時之旋轉修正。 According to the present embodiment, when the hull 10 is panned, the slinger 11 rotates in the panning direction as shown in Fig. 11(A), so that the first and second accelerations of the two axes are sensed. The devices 55a and 55b are measured, and based on the measured acceleration data Aa and Ba, the inclination angle of the fishing machine 11 during the panning is calculated, and the angular velocity ω is obtained by differentiating the time. The acceleration measured by the first acceleration sensor 55a is converted into the moving speed in the vertical direction, and the moving speed in the vertical direction is converted into the rotational speed of the rotating reel 11c, and the pitch correction rotational speed is calculated. In addition, the angular velocity calculated from the measured accelerations of the first and second acceleration sensors 55a and 55b of the two axes is converted into the moving speed of the network apex, which has been considered by the length of the network 12, and is based on the network. The moving speed of the leading end of the table 12 is converted into the rotational speed of the rotating reel 11c to calculate the roll correcting rotational speed. The total corrected rotational speed of the composite is calculated by addition and subtraction, and the output rotational speed of the drive motor 11e is set to the rotational speed of the vehicular body when the hull is shaken by adding or subtracting the set basic rotational speed.
如以上之詳細說明，依據本實施形態，可減少或抑制縱搖搖動及橫搖搖動之雙方，故不拘日間作業及夜間作業等之作業方法，均可確實且有效率地避免釣獲之魚體之脫離、魚體之損傷、漁具之破損及釣線鬆弛(繩材鬆弛)所導致之各種問題之發生。尤其，本實施形態中亦就抽動起吊動作進行搖動修正處理，故可進行極為有效之修正處理。其結果，則可期待捕撈效率之提昇、漁具壽命之延長以及作業中之問題排除作業之減少。 As described in detail above, according to the present embodiment, both the pitching and the shaking can be reduced or suppressed, so that the fishing method can be reliably and efficiently avoided regardless of the working methods such as daytime work and night work. Various problems caused by detachment, damage to fish, damage to fishing gear, and slack in the fishing line (relaxation of the rope). In particular, in the present embodiment, the shaking correction processing is performed in the twitching operation, so that extremely effective correction processing can be performed. As a result, it is expected that the fishing efficiency will be improved, the life of the fishing gear will be prolonged, and the problem of the problem elimination in the operation can be reduced.
另，本實施形態中，雖使用彼此獨立之第1及第2 加速度感測器55a及55b，但當然亦可使用可檢測2軸之加速度之單一加速度感測器而加以取代。 In addition, in the present embodiment, the first and second are used independently of each other. The acceleration sensors 55a and 55b can of course be replaced with a single acceleration sensor that detects the acceleration of the two axes.
上述之實施形態雖係有關設於魷釣船之魷釣機者，但本發明之漁撈用起吊裝置可應用於漁船所搭載之用於進行涵括包括假餌鉤在內之釣鉤、水中集魚燈及魚類等之捕撈所使用之其它用具、其等所連結之釣線、繩材及網具等，而包含進行起吊及/或下放之對象全體之漁具之起吊及下放以及抽動動作之裝置，諸如包括自動魷釣裝置、捲繩裝置、水中集魚燈等之捲取裝置以及電動捲線裝置在內之漁具之起吊/下放裝置全體。 Although the above-described embodiment relates to a fishing machine provided on a fishing boat, the fishing lifting device of the present invention can be applied to a fishing boat equipped with a fishing rod and a fish collecting lamp including a lure hook. Other equipment used for fishing, such as fishing, fishing lines, ropes, nets, etc., which are connected to the fish, and the like, including the lifting, lowering and twitching of the fishing gear for the whole of the lifting and/or lowering, including The hoisting/lowering device of the fishing gear including the automatic slinging device, the rope reeling device, the reeling device such as the underwater fishing lamp, and the electric winding device.
以上所述之實施形態均係例示本發明者，並非限定本發明者，本發明可藉其它各種變形態樣及變更態樣而實施。因此，本發明之範圍僅為申請專利範圍及其均等範圍所限定。 The embodiments described above are intended to be illustrative of the present invention, and the present invention is not limited thereto, and the present invention can be implemented by various other modifications and changes. Therefore, the scope of the invention is defined only by the scope of the claims and their equivalents.
10‧‧‧船體 10‧‧‧ hull
11‧‧‧魷釣機 11‧‧‧鱿 fishing machine
11a‧‧‧捕釣機本體 11a‧‧‧fishing machine body
11b‧‧‧主軸 11b‧‧‧ Spindle
11c‧‧‧旋轉捲筒 11c‧‧‧Rotating reel
11c1‧‧‧桿條 11c 1 ‧‧‧ rods
11c’‧‧‧捲筒 11c’‧‧‧ reel
11d‧‧‧操作控制盤 11d‧‧‧Operation control panel
11e‧‧‧驅動馬達 11e‧‧‧Drive motor
11f‧‧‧減速機 11f‧‧‧Reducer
11g‧‧‧鏈條 11g‧‧‧Chain
11h‧‧‧可動軸 11h‧‧‧ movable shaft
11i‧‧‧鏈條 11i‧‧‧Chain
11j‧‧‧電磁式制動器 11j‧‧‧Electromagnetic brake
11k‧‧‧鏈條 11k‧‧‧Chain
11l‧‧‧旋轉編碼器 11l‧‧‧Rotary encoder
11m‧‧‧卡合釘 11m‧‧‧卡钉钉
12‧‧‧網台 12‧‧‧ Network
13‧‧‧前滾輪 13‧‧‧ Front wheel
14‧‧‧魚線 14‧‧‧ fishing line
15‧‧‧集魚燈 15‧‧‧fish light
50‧‧‧操作控制盤(11d) 50‧‧‧Operation control panel (11d)
50a‧‧‧微處理器(MPU) 50a‧‧‧Microprocessor (MPU)
50b‧‧‧唯讀記憶體(ROM) 50b‧‧‧Reading Memory (ROM)
50c‧‧‧隨機存取記憶體(RAM) 50c‧‧‧ Random Access Memory (RAM)
50d‧‧‧輸出入埠(I/O) 50d‧‧‧Import and Export (I/O)
50e‧‧‧鍵盤 50e‧‧‧ keyboard
50f‧‧‧顯示器 50f‧‧‧ display
51‧‧‧資料傳輸線 51‧‧‧ data transmission line
52‧‧‧集中控制盤 52‧‧‧ centralized control panel
52a‧‧‧微處理器(MPU) 52a‧‧‧Microprocessor (MPU)
52b‧‧‧唯讀記憶體(ROM) 52b‧‧‧Reading Memory (ROM)
52c‧‧‧隨機存取記憶體(RAM) 52c‧‧‧ Random Access Memory (RAM)
52d‧‧‧輸出入埠(I/O) 52d‧‧‧Import and Export (I/O)
52e‧‧‧鍵盤 52e‧‧‧ keyboard
52f‧‧‧顯示器 52f‧‧‧ display
53‧‧‧加速度感測器 53‧‧‧Acceleration sensor
54‧‧‧陀螺儀感測器 54‧‧‧Gyro sensor
55a‧‧‧第1加速度感測器 55a‧‧‧1st acceleration sensor
55b‧‧‧第2加速度感測器 55b‧‧‧2nd acceleration sensor
100‧‧‧軸 100‧‧‧ axis
101‧‧‧軸 101‧‧‧Axis
S1~S8,S1a~S1j,S2a~S2j,S91~S95,S1’~S8’,S2a’~S2l’‧‧‧步驟 S1~S8, S1a~S1j, S2a~S2j, S91~S95, S1'~S8', S2a'~S2l'‧‧‧ steps
第1(A)、1(B)圖係概略地顯示本發明之漁撈用起吊裝置之一實施形態之設有複數魷釣機之魷釣船之構造例之平面圖及側面圖。 1(A) and 1(B) are plan views and side views schematically showing a structural example of a fishing boat equipped with a plurality of fishing machines according to an embodiment of the fishing lifting device of the present invention.
第2圖係概略地顯示將第1圖之實施形態之各魷釣機安裝於船體，並進行作業之狀態之側面圖。 Fig. 2 is a side view schematically showing a state in which each of the fishing machines of the embodiment of Fig. 1 is attached to a hull and is operated.
第3(A)、3(B)圖係概略地顯示第1圖之實施形態之各魷釣機之構造之正面圖及側面圖。 3(A) and 3(B) are schematic front and side views showing the structure of each of the fishing machines in the embodiment of Fig. 1.
第4圖係概略地顯示第1圖之實施形態之捕釣機本體之內部構造之正面圖。 Fig. 4 is a front view schematically showing the internal structure of the fishing machine body according to the embodiment of Fig. 1.
第5圖係概略地顯示第1圖之實施形態之魷釣機之操作控制盤及集中控制盤之電性構造之功能區圖。 Fig. 5 is a view schematically showing the functional configuration of the electrical structure of the operation control panel and the centralized control panel of the slinger according to the embodiment of Fig. 1.
第6圖係概略地顯示第1圖之實施形態之魷釣機之控制動作之一部分之流程圖。 Fig. 6 is a flow chart schematically showing a part of the control operation of the sling machine of the embodiment of Fig. 1.
第7圖係概略地顯示第1圖之實施形態之魷釣機之控制動作之一部分之流程圖。 Fig. 7 is a flow chart schematically showing a part of the control operation of the sling machine of the embodiment of Fig. 1.
第8圖係概略地顯示第1圖之實施形態之魷釣機之控制動作之一部分之流程圖。 Fig. 8 is a flow chart schematically showing a part of the control operation of the sling machine of the embodiment of Fig. 1.
第9圖係概略地顯示第1圖之實施形態之魷釣機之控制動作之一部分之流程圖。 Fig. 9 is a flow chart schematically showing a part of the control operation of the sling machine of the embodiment of Fig. 1.
第10圖係說明船體之縱搖現象及橫搖現象者。 Figure 10 is a diagram showing the phenomenon of pitching and rolling of the hull.
第11(A)、11(B)圖係說明縱搖搖動方向及橫搖搖動方向與魷釣機之關係以及加速度檢測方向及各速度檢測方向與魷釣機之關係者。 The 11th (A) and 11th (B) diagrams show the relationship between the pitching direction and the direction of the panning and the squid and the relationship between the acceleration detection direction and the speed detection direction and the squid.
第12圖係概略地顯示第1圖之實施形態之旋轉捲筒之變更態樣之構造之側面圖。 Fig. 12 is a side view schematically showing a configuration of a modified embodiment of the rotary reel according to the embodiment of Fig. 1.
第13圖係概略地顯示本發明之漁撈用起吊裝置之其它實施形態之魷釣機之控制動作之一部分之流程圖。 Fig. 13 is a flow chart schematically showing a part of the control operation of the sling machine of another embodiment of the fishing hoisting device of the present invention.
第14圖係概略地顯示本發明之漁撈用起吊裝置之另一實施形態之魷釣機之控制動作之一部分之流程圖。 Fig. 14 is a flow chart schematically showing a part of the control operation of the sling machine of another embodiment of the fishing hoisting device of the present invention.
第15圖係概略地顯示第14圖之實施形態之魷釣機之操作控制盤及集中控制盤之電性構造之功能區圖。 Fig. 15 is a view schematically showing the functional configuration of the electrical control structure of the operation control panel and the centralized control panel of the slinger according to the embodiment of Fig. 14.
10‧‧‧船體 10‧‧‧ hull
11‧‧‧魷釣機 11‧‧‧鱿 fishing machine
12‧‧‧網台 12‧‧‧ Network
13‧‧‧前滾輪 13‧‧‧ Front wheel
15‧‧‧集魚燈 15‧‧‧fish light
Claims (9)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011170865A JP2013034397A (en) | 2011-08-04 | 2011-08-04 | Winding-up apparatus for fishing |
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|---|---|
| TW201306735A true TW201306735A (en) | 2013-02-16 |
| TWI605755B TWI605755B (en) | 2017-11-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| TW101124910A TWI605755B (en) | 2011-08-04 | 2012-07-11 | Fish hoisting apparatus |
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| Country | Link |
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| JP (1) | JP2013034397A (en) |
| KR (1) | KR101787084B1 (en) |
| CN (1) | CN102907381B (en) |
| TW (1) | TWI605755B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101475050B1 (en) * | 2012-07-11 | 2014-12-24 | 이예영 | Structure of fishing lamp for fishing boat |
| CN104041423B (en) * | 2013-03-14 | 2018-04-20 | 茌平忠发畜禽设备有限公司 | A kind of manure scraper plate hoist |
| JP6168974B2 (en) * | 2013-11-26 | 2017-07-26 | マリンハイドロテック株式会社 | A netting machine used for a fishing net fishing boat |
| CN103766295A (en) * | 2014-01-24 | 2014-05-07 | 南通耀华机电有限公司 | Automatic fishing pole |
| CN104914796A (en) * | 2014-03-10 | 2015-09-16 | 株式会社东和电机制作所 | Control system of fishing device |
| CN106508831B (en) * | 2015-09-14 | 2019-11-05 | 协富渔具工业股份有限公司 | Fishing gear corkline |
| JP6715512B2 (en) * | 2016-06-15 | 2020-07-01 | 株式会社東和電機製作所 | Fishing machine and control method thereof |
| CN106305639B (en) * | 2016-11-21 | 2022-12-02 | 上海海洋大学 | Automatic control system of floating ball tractor |
| ES2695311A1 (en) * | 2017-06-28 | 2019-01-03 | Garrido Oscar Campos | Reel with electronic brake (Machine-translation by Google Translate, not legally binding) |
| JP6935862B2 (en) * | 2017-06-30 | 2021-09-15 | 株式会社東和電機製作所 | Automatic fishing system and automatic fishing method |
| CN107232150B (en) * | 2017-07-18 | 2022-08-09 | 华南农业大学 | Snap ring support power transmission mechanism of roller fish collecting device |
| JP7220452B2 (en) * | 2018-09-21 | 2023-02-10 | 株式会社東和電機製作所 | fishing machine |
| JP7181749B2 (en) | 2018-10-05 | 2022-12-01 | 株式会社シマノ | Steering wheel operation assistance device and steering wheel operation assistance program |
| JP7114070B2 (en) * | 2018-10-12 | 2022-08-08 | 株式会社東和電機製作所 | fishing machine |
| KR102083344B1 (en) * | 2019-07-30 | 2020-03-02 | (주)경성정기 | Access service basket |
| KR102311747B1 (en) * | 2020-12-14 | 2021-10-12 | 대한민국 | Intelligent Squid Automatic Jigging machine that respond to the movement of fishing boats |
| CN115281160B (en) * | 2021-12-20 | 2024-02-02 | 浙江海洋大学 | Deepwater low-resistance escape-proof dip net |
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| CN87201346U (en) * | 1987-02-10 | 1988-05-25 | 乔新明 | Fishnet with automatic monitor |
| JPH07114618B2 (en) * | 1992-04-15 | 1995-12-13 | 株式会社東和電機製作所 | Hoisting device for fishing |
| JP2711234B2 (en) * | 1995-07-10 | 1998-02-10 | 俊光 木村 | Method and apparatus for cleaning large fishnet |
| JP2869789B2 (en) * | 1996-12-20 | 1999-03-10 | 株式会社東和電機製作所 | Squid fishing machine controller |
| DE69704560T2 (en) * | 1997-10-07 | 2001-10-31 | Hoogenraad Marine Engineering | Fishing device |
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| KR200228989Y1 (en) | 1999-03-16 | 2001-07-03 | 조영주 | Automatic separating device of a weir |
| JP2002362479A (en) * | 2001-06-01 | 2002-12-18 | Sanmei Denshi Sangyo Kk | Ship rolling detector, and rolling correction unit of hoist for fishery |
| CN2551032Y (en) * | 2002-07-10 | 2003-05-21 | 李树江 | Automatic net hauler |
| WO2005029952A1 (en) * | 2003-09-18 | 2005-04-07 | Towa Denki Seisakusyo Co., Ltd. | Fishing light device and usage of the same |
| JP3628686B1 (en) * | 2004-09-08 | 2005-03-16 | 金八神漁網株式会社 | Winding / unwinding speed control device for fishing line winding device |
| JP3921232B2 (en) * | 2004-09-17 | 2007-05-30 | 株式会社東和電機製作所 | Weight control method and apparatus |
| JP5297683B2 (en) * | 2008-04-24 | 2013-09-25 | 信和技研株式会社 | Net processing equipment |
| CN101341865B (en) * | 2008-08-18 | 2011-05-11 | 湛江胜浪海洋捕捞研究所 | Automatic net-throwing fishing machine at ocean floor |
| CN201577422U (en) * | 2009-09-16 | 2010-09-15 | 蒋德福 | Net shaking machine for flowers and fishes |
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- 2011-08-04 JP JP2011170865A patent/JP2013034397A/en active Pending
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- 2012-07-11 TW TW101124910A patent/TWI605755B/en active
- 2012-07-27 KR KR1020120082473A patent/KR101787084B1/en active IP Right Grant
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| JP2013034397A (en) | 2013-02-21 |
| CN102907381B (en) | 2015-09-30 |
| CN102907381A (en) | 2013-02-06 |
| KR20130016074A (en) | 2013-02-14 |
| TWI605755B (en) | 2017-11-21 |
| KR101787084B1 (en) | 2017-10-18 |
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