Patent Description:
Pole cast fishing by a person is limited in the range from which bait or artificial bait attached to a fishing line or a fishing hook can be dropped. Therefore, a boat is needed to fish offshore, away from land.

On the other hand, an unmanned aerial vehicle (a drone) is attracting attention as a means of transporting the bait or the artificial bait to distant areas that cannot be reached by pole cast fishing with a fishing rod. Since the unmanned aerial vehicle can be equipped with a camera, it is possible not only to carry the bait or the artificial bait but also to determine where to drop the bait or the artificial bait while capturing the shadow of fish with the camera (See, for example, Non-Patent Literature <NUM> and Non-Patent Literature <NUM>). Further, <CIT> discloses a fishing system according to the preamble part of claim <NUM>.

According to Non-Patent Literature <NUM>, not only a camera function but also a sonar function is equipped to detect the shadow of fish in the sea, and the artificial bait can be dropped from the unmanned aerial vehicle to the location where the shadow of fish is detected. Further, the unmanned aerial vehicle can be equipped with a fishing function. However, when a large fish is hooked, the unmanned aerial vehicle may be pulled into the sea by the pulling force of the fish. In Non-Patent Literature <NUM>, although a large tuna is caught using the unmanned aerial vehicle, the unmanned aerial vehicle is limited to confirming the location of a school of fish and transporting the bait. In other words, both Non-Patent Literature <NUM> and Non-Patent Literature <NUM> have the problem that the unmanned aerial vehicle is pulled into the sea when the fish is hooked.

In view of the above problem, one object of the present invention is to provide a fishing system that prevents an unmanned aerial vehicle from being pulled into the sea when a fish is hooked.

A fishing system according to an aspect of the present invention is provided as defined in claim <NUM>.

A fishing system according to another aspect of the present invention is provided as defined in claim <NUM>.

Advantageous embodiments of the invention may be implemented according to any of the dependent claims.

In a fishing system according to the present invention after artificial bait is dropped into the sea from an unmanned aerial vehicle, it is possible to quickly determine that a fish is hooked by tracking a fish or a school of fish, and to separate a fishing line from the unmanned aerial vehicle. As a result, it is possible to prevent the unmanned aerial vehicle from being pulled into the sea when the fish is hooked.

Hereinafter, embodiments of the present invention are described in detail. However, the present invention can be implemented in various modes without departing from the scope of the invention defined by the appended claims, and should not be interpreted as being limited to the description of the embodiments exemplified below.

In the specification, the term "unmanned aerial vehicle" means an unmanned aerial vehicle can fly by remote or automatic control. In addition, an "unmanned aerial vehicle" may be referred to as a drone.

In the specification, the term "image" means a still image and a moving image.

In the specification, the term "fish school" or "group of fish" means a group of one or more fish.

In the specification, the term "information communication terminal" means an information device that can access information via a network. Although an "information communication terminal" is, for example, a mobile phone, a smart phone, a tablet, a personal computer, or the like, the "information communication terminal" is not limited to those devices.

A fishing system <NUM> according to an embodiment of the present invention is described with reference to <FIG>.

<FIG> is a schematic diagram illustrating the use of the fishing system <NUM> according to an embodiment of the present invention. The fishing system <NUM> includes an unmanned aerial vehicle <NUM> and a fishing line fixing portion <NUM>, and the fishing system <NUM> is used by being placed on fishing tackle <NUM>. Although the fishing line fixing portion <NUM> is preferably provided below the unmanned aerial vehicle <NUM>, it is not limited to this configuration.

A typical fishing tackle <NUM> may be used in the fishing system <NUM>. The fishing tackle <NUM> as shown in <FIG> includes a fishing rod <NUM>, a fishing line <NUM>, a reel <NUM>, and artificial bait <NUM>. The artificial bait <NUM> is attached to one end (hereinafter, referred to as "first end") of the fishing line <NUM>. Further, the reel <NUM> is connected to the other end (hereinafter, referred to as "second end". ) of the fishing line <NUM>, and the fishing line <NUM> is reeled onto the reel <NUM>.

The steps of fishing using the fishing system <NUM> can be broadly classified into a step of detecting a school of fish, a step of dropping artificial bait, a step of tracking a school of fish, a hooking determination step, a step of separating the fishing line from the unmanned aerial vehicle, and a step of recovering the unmanned aerial vehicle. However, the use of the fishing system <NUM> is not limited to these steps. In the fishing system <NUM>, other steps may be included, and some of the steps in the above description may not be performed.

When catching a fish <NUM> using the fishing system <NUM>, in the beginning, a user <NUM> fixes the fishing line <NUM> to which the artificial bait <NUM> is attached to the fishing line fixing portion <NUM>. In this state, since the fishing line <NUM> is connected to the unmanned aerial vehicle <NUM>, the unmanned aerial vehicle <NUM> can fly carrying the fishing line <NUM> over the sea. The unmanned aerial vehicle <NUM> may be piloted by the user <NUM> or may be controlled by autopilot. The unmanned aerial vehicle <NUM> of the fishing system <NUM> can detect a school of fish after flying to a destination or while flying (the step of detecting a school of fish). Then, when the school of fish is detected, the artificial bait <NUM> can be dropped at the location where the school of fish is detected (the step of dropping artificial bait).

When catching a fish using the fishing system <NUM>, the fishing line <NUM> is fixed to the fishing line fixing portion <NUM> even after the artificial bait <NUM> is dropped. Therefore, the unmanned aerial vehicle <NUM> can track the school of fish by controlling the flight of the unmanned aerial vehicle <NUM> (the step of tracking a school of fish). Although the details of a connection configuration between the unmanned aerial vehicle <NUM> and the fishing line fixing portion <NUM> are described later, when the fish <NUM> in the school of fish is hooked (hereinafter, described as the fish <NUM> bites the artificial bait <NUM>), the fishing line <NUM> is separated from the unmanned aerial vehicle <NUM> (the step of separating a fishing line from an unmanned aerial vehicle). Therefore, even when the fish <NUM> is large, the unmanned aerial vehicle <NUM> is not pulled into the sea. The fishing system <NUM> can determine whether the fish <NUM> is hooked on the artificial bait <NUM> (the hooking determination step). Then, the user <NUM> reels the reel <NUM> to catch the fish <NUM> and recover the unmanned vehicle <NUM> (the step of recovering an unmanned aerial vehicle).

Also, although <FIG> shows an aspect in which the user <NUM> catches a fish using the fishing system <NUM> on land, the fishing system <NUM> can be used anywhere, such as when the user <NUM> is on a boat.

<FIG> shows schematic diagrams illustrating a configuration of the fishing system <NUM> according to an embodiment of the present invention. Specifically, <FIG> shows a plan view of the unmanned aerial vehicle <NUM> seen from the upper direction, <FIG> shows a front view of the unmanned aerial vehicle <NUM> seen from the A direction which is shown in <FIG> shows a side view of the unmanned aerial vehicle <NUM> seen from the B direction which is shown in <FIG>.

The unmanned aerial vehicle <NUM> includes a main body <NUM>, arms <NUM>, rotors <NUM>, blades <NUM>, and skids <NUM>. In the unmanned aerial vehicle <NUM>, four arms <NUM> extend from diagonal positions of the main body <NUM>. Further, the rotor <NUM> and the blade <NUM> is provided on an end of each of the arms <NUM>. The blade <NUM> is rotatably supported by the rotor <NUM>. The skids <NUM> are provided below the main body <NUM>.

The main body <NUM> may support the arms <NUM> and may fix the fishing line fixing portion <NUM>. Further, the main body <NUM> is equipped with components necessary for controlling the fishing system <NUM> (including controlling the unmanned aerial vehicle <NUM>. Also, an internal configuration of the main body <NUM> is described later.

The arm <NUM> can support the rotor <NUM> and the blade <NUM>. The arms <NUM> may be formed integrally with the main body <NUM>.

The rotor <NUM> can rotate the blade <NUM>. For example, a brushless motor can be used for the rotor <NUM>.

The blade <NUM> can generate lift by rotating. That is, the unmanned aerial vehicle <NUM> can fly with the lift generated by rotation of the four blades <NUM>. The unmanned aerial vehicle <NUM> can ascend, descend, move forward, move backward, turn left, turn right, or hover by combining the number of rotations or the direction of rotation of the four blades <NUM>.

The skids <NUM> can stabilize the position of the unmanned aerial vehicle <NUM> when the unmanned aerial vehicle <NUM> takes off or lands, and can protect a lower portion of the main body <NUM>. An imaging device or a group of sensors, which is described later, is often attached to the lower portion of the main body <NUM>, and the imaging device or the group of sensors can be protected by the skids <NUM>. The skids <NUM> may be folded below the main body <NUM> or may be detached from the main body <NUM> when the unmanned aerial vehicle <NUM> is not in use.

The configuration of the unmanned aerial vehicle <NUM> shown in <FIG> is an example, and the unmanned aerial vehicle <NUM> is not limited to this configuration.

The fishing line fixing portion <NUM> includes a first fixing portion <NUM> and a second fixing portion <NUM>. The first fixing portion <NUM> and the second fixing portion <NUM> are provided below the main body <NUM> of the unmanned aerial vehicle <NUM>. Further, the first fixing portion <NUM> is located closer to the front side of the unmanned aerial vehicle <NUM> than the second fixing portion <NUM>. Also, configurations of the first fixing portion <NUM> and the second fixing portion <NUM> are described later along with an aspect of their use.

<FIG> is a block diagram illustrating an internal configuration of the main body <NUM> of the unmanned aerial vehicle of the fishing system <NUM> according to an embodiment of the present invention. The main body <NUM> includes a power supply source <NUM>, a group of sensors <NUM>, an imaging device <NUM>, and an information processing device <NUM>. The information processing device <NUM> may be electrically connected to the group of sensors <NUM> and the imaging device <NUM>, or may be connected via an electrical communication. When the information processing device <NUM> is connected via the electrical communication, each of the group of sensors <NUM>, the imaging device <NUM>, and the information processing device <NUM> includes a communication unit.

The power supply source <NUM> may supply power to the rotor <NUM>. Further, the power supply source <NUM> can supply power to the group of sensors <NUM>, the imaging device <NUM>, and the information processing device <NUM>. For example, a lithium ion battery or the like can be used for the power supply source <NUM>. However, the power supply source <NUM> is not limited to this configuration. For example, the power supply source <NUM> may also generate power by burning fuel, such as gasoline, by an engine.

The group of sensors <NUM> can detect information necessary for various processes and various controls in the fishing system <NUM>. The group of sensors <NUM> preferably includes a plurality of sensors. For example, a positioning sensor, a geomagnetic sensor, an acceleration sensor, a gyro sensor, a barometric pressure sensor, an ultrasonic sensor, a sonar sensor, or a fish finder or the like for can be used as the sensors included in the group of sensors <NUM>. Some or all of these sensors may be located outside of the main body <NUM> of the unmanned aerial vehicle <NUM>. Further, some or all of these sensors may be placed in the artificial bait <NUM>.

The positioning sensor can detect position information of the unmanned aerial vehicle <NUM>. That is, the positioning sensor is typically a Global Positioning System (GPS), and can detect latitude, longitude, or altitude position information of the unmanned aerial vehicle <NUM>.

The geomagnetic sensor can detect orientation information of the unmanned aerial vehicle <NUM>. Therefore, the direction in which the unmanned aerial vehicle <NUM> is facing can be identified by the geomagnetic sensor.

The acceleration sensor can measure the amount of change in velocity of the unmanned aerial vehicle <NUM>. Therefore, vibration information or tilt information of the unmanned aerial vehicle <NUM> can be detected by the acceleration sensor.

The gyro sensor can measure a change in velocity and a change in angular velocity of the unmanned aerial vehicle <NUM>. Therefore, the gyro sensor can detect tilt information and tilt angle information when the unmanned aerial vehicle <NUM> tilts.

The barometric pressure sensor may measure a barometric pressure at which the unmanned aerial vehicle <NUM> is located. Therefore, altitude information of the unmanned aerial vehicle <NUM> can be detected by the barometric pressure sensor. Further, the barometric pressure sensor can measure the wind pressure that the unmanned aerial vehicle <NUM> receives from the front. Velocity information of unmanned aerial vehicle <NUM> can be detected based on the pressure.

The ultrasonic sensor can receive reflected waves of ultrasonic waves emitted in the air and measure the distance to the sea. Therefore, altitude information of the unmanned aerial vehicle <NUM> can be detected by the ultrasonic sensor. Further, the ultrasonic sensor can measure distances to obstacles.

The sonar sensor receives reflected waves of ultrasonic waves in the sea, and can detect information about a school of fish in the direction and depth direction of the sea.

The fish finder can receive a reflected wave of an ultrasonic wave emitted from a transducer and detect information about a school of fish in the depth direction of the sea.

The sensors included in the group of sensors <NUM> are not limited to the sensors described above. For example, the group of sensors <NUM> may include a temperature sensor that measures air or water temperature, or a humidity sensor that measures humidity.

The imaging device <NUM> can capture an image of the surroundings of the unmanned aerial vehicle <NUM> and obtain imaging data. For example, the imaging device <NUM> is one or more cameras. It is preferable that the imaging device <NUM> can capture an image in front of or below the unmanned aerial vehicle <NUM>. Further, it is preferable that the imaging device <NUM> that captures an image below the unmanned aerial vehicle <NUM> is provided with a polarizing filter. The polarizing filter provided on the imaging device <NUM> suppresses the reflection of light on the sea surface, making it easier to detect a school of fish in the sea. The imaging data obtained by the imaging device <NUM> can be used for various controls and various processes in the fishing system <NUM>.

The information processing device <NUM> includes a flight control unit <NUM>, a connection control unit <NUM>, a fish school detection processing unit <NUM>, a fish school tracking processing unit <NUM>, a hooking determination processing unit <NUM>, a fish school detection learning unit <NUM>, a fish school tracking learning unit <NUM>, a hooking determination learning unit <NUM>, and a storage unit <NUM>.

The information processing device <NUM> is, for example, a computer, and includes a MPU (Micro Processing Unit), a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), an HDD (Hard Disc Drive), an SSD (Solid State Drive), a DRAM (Dynamic Random Access Memory), a NAND flash memory, or a NOR flash memory. The various controls or the various processes in the flight control unit <NUM>, the connection control unit <NUM>, the fish school detection processing unit <NUM>, the fish school tracking processing unit <NUM>, the hooking determination processing unit <NUM>, the fish school detection learning unit <NUM>, the fish school tracking learning unit <NUM>, or the hooking determination learning unit <NUM> can be executed by one or more computers reading a predetermined program.

The flight control unit <NUM> can control the flight of the unmanned aerial vehicle <NUM>. That is, the flight control unit <NUM> can control the unmanned aerial vehicle <NUM> to take off and land based on the various information from the group of sensors <NUM>, and to maintain a stable attitude during the flight. Further, the flight control unit <NUM> can control the unmanned aerial vehicle <NUM> based on the fish school detection information, the fish school tracking information, and hooking determination information, which are described later.

The connection control unit <NUM> can control the connection of the fishing line fixing portion <NUM>. That is, the connection control unit <NUM> can release the connection between the unmanned aerial vehicle <NUM> and the fishing line fixing portion <NUM> (the first fixing portion <NUM> or the second fixing portion <NUM>), and can drop the fishing line fixing portion <NUM> (the first fixing portion <NUM> or the second fixing portion <NUM>) from the unmanned aerial vehicle <NUM>.

The fish school detection processing unit <NUM> executes a fish school detection process. Specifically, it is possible to identify a school of fish from the imaging data of the image below the unmanned aerial vehicle <NUM> captured by the imaging device <NUM> (hereinafter referred to as "sea imaging data") and generate fish school detection information. Further, the fish school detection processing unit <NUM> can detect a school of fish in the sea based on the various information from the group of sensors <NUM> and generate fish school detection information. Furthermore, the fish school detection processing unit <NUM> can generate fish school detection information by combining the imaging data of the imaging device <NUM> and the various information of the group of sensors <NUM>. The details of the fish school detection process of the fish school detection processing unit <NUM> are described later.

The fish school tracking processing unit <NUM> executes a fish school tracking process. Specifically, it is possible to identify the direction of movement of the school of fish in the sea imaging data and generate fish school tracking information. Further, the fish school tracking processing unit <NUM> can generate fish school tracking information based on the various information from the group of sensors <NUM>. Furthermore, the fish school tracking processing unit <NUM> can generate fish school tracking information by combining the sea imaging data of the imaging device <NUM> and the various information of the group of sensors <NUM>. The details of the fish school tracking process of the fish school tracking processing unit <NUM> are described later.

The hooking determination processing unit <NUM> executes a hooking determination process of the fish <NUM>. Specifically, it is possible to identify the positions of the fish <NUM> and the artificial bait <NUM> in the school of fish in the sea imaging data, and generate hook determination information. Further, the hooking determination processing unit <NUM> can generate hooking determination information based on the various information from the group of sensors <NUM>. Furthermore, the hooking determination processing unit <NUM> can generate hooking determination information by combining the sea imaging data from the imaging device <NUM> and the various information from the group of sensors <NUM>. The details of the hooking determination process of the hooking determination processing unit <NUM> are described later.

The fish school detection learning unit <NUM> can generate a fish school detection model by learning through machine learning such as a neural network or deep learning. The details of the learning by the fish school detection learning unit <NUM> are described later.

The fish school tracking learning unit <NUM> can generate a fish school tracking model by learning through machine learning such as a neural network or deep learning. The details of the learning by the fish school tracking learning unit <NUM> are described later.

The hooking determination learning unit <NUM> can generate a hooking determination model by learning through machine learning such as a neural network or deep learning. The details of the learning by the hooking determination learning unit <NUM> are described later.

The storage unit <NUM> can store the various information of the group of sensors <NUM>, the sea imaging data of the imaging device <NUM>, the fish school detection model, the fish school tracking model, and the hook determination model, and the like. For example, one or more memories or hard disk drives (HDD) can be used for the storage unit <NUM>.

A connection configuration between the unmanned aerial vehicle <NUM> and the fishing line fixing portion <NUM> in the fishing system <NUM> is described with reference to <FIG>.

<FIG> shows schematic cross-sectional views illustrating the connection configuration between the unmanned aerial vehicle <NUM> and the fishing line fixing portion <NUM> of the fishing system <NUM> according to an embodiment of the present invention.

<FIG> shows a state in which the fishing system <NUM> detects a school of fish while flying the unmanned aerial vehicle <NUM> (a step of detecting a school of fish). The fishing line fixing portion <NUM> is placed below the main body <NUM> of the unmanned aerial vehicle <NUM>. The fishing line fixing portion <NUM> includes the first fixing portion <NUM> and the second fixing portion <NUM>. The first fixing portion <NUM> and the second fixing portion <NUM> are connected to a first connecting portion <NUM> and a second connecting portion <NUM> provided below the main body <NUM>, respectively. In other words, the first fixing portion <NUM> and the second fixing portion <NUM> are fixed to the main body <NUM> via the first connecting portion <NUM> and the second connecting portion <NUM>, respectively. Each of the first fixing portion <NUM> and the second fixing portion <NUM> has a gap or a through hole through which the fishing line <NUM> is inserted. The fishing line <NUM> is inserted so that the artificial bait <NUM> attached to the first end of the fishing line <NUM> is closer to the first fixing portion <NUM> than to the second fixing portion <NUM>. Further, each of the first fixing portion <NUM> and the second fixing portion <NUM> fixes the fishing line <NUM> inserted therethrough. Each of the first fixing portion <NUM> and the second fixing portion <NUM> can fix the fishing line <NUM>, for example, by narrowing the inside of the gap or the through hole, or by gripping the fishing line <NUM> that is inserted.

The fishing line <NUM> is preferably fixed between the first fixing portion <NUM> and the second fixing portion <NUM> so as to have a certain length (or flex). When the length of the fishing line <NUM> between the first fixing portion <NUM> and the second fixing portion <NUM> is long enough, the artificial bait <NUM> can be dropped from a high altitude of the unmanned aerial vehicle <NUM>. Although not shown in the figures, a rotor around which the fishing line <NUM> is reeled may be provided between the first connection portion <NUM> and the second connection portion <NUM> of the main body <NUM>. When the artificial bait <NUM>, which is described later, is dropped, the rotor rotates by being pulled by dropped fishing line <NUM>, and the reeled fishing line <NUM> on the rotor can be dropped.

In the step of detecting a school of fish, the fish school detection process is mainly executed by the fishing system <NUM>.

<FIG> shows a state in which the fishing system <NUM> drops the artificial bait <NUM> (a step of dropping artificial bait). When the fishing system <NUM> detects a school of fish, the fish school detection information is generated. The connection control unit <NUM> receives the fish school detection information, controls the first connection portion <NUM>, and releases of the connection of the first fixing portion <NUM>. As a result, the first fixing portion <NUM> is dropped into the sea, and the artificial bait <NUM> attached to the first end of the fishing line <NUM> fixed to the first fixing portion <NUM> is also dropped. As shown in <FIG>, since the second fixing portion <NUM> to which the fishing line <NUM> is fixed is fixed to the main body <NUM> via the second connecting portion <NUM>, the artificial bait <NUM> in the sea can be moved with the flight of the unmanned aerial vehicle <NUM>. Although not shown in figures, the dropped first fixing portion <NUM> is in a state in which the fishing line <NUM> is fixed. In other words, the first fixing portion <NUM> is attached to the fishing line <NUM>. Therefore, when the user <NUM> reels the fishing line <NUM> onto the reel <NUM>, the first fixing portion <NUM> can be recovered.

After the step of dropping the artificial bait, the fishing system <NUM> mainly executes the fish school tracking process as a step of tracking a school of fish.

<FIG> shows a state in which the fish <NUM> is hooked (a hooking determination step), and <FIG> shows a state in which the fishing line <NUM> is separated from the unmanned aerial vehicle <NUM> in the fishing system <NUM> (a step of separation between an unmanned aerial vehicle and a fishing line). In the fishing system <NUM>, it is determined whether the fish <NUM> is hooked on the artificial bait <NUM>, and the hooking determination information is generated. The connection control unit <NUM> receives the hooking determination information, controls the second connection portion <NUM>, and releases the connection of the second fixing portion <NUM>. As a result, since the second fixing portion <NUM> is dropped into the sea, the unmanned aerial vehicle <NUM> is separated from the fishing line <NUM>, and the unmanned aerial vehicle <NUM> can be prevented from being pulled into the sea. The unmanned aerial vehicle <NUM> that dropped the second fixing portion <NUM> may ascend and visually inform the user <NUM> that the second fixing portion <NUM> dropped. The user <NUM> can see the unmanned aerial vehicle <NUM> ascend and reel the fishing line <NUM> onto the reel <NUM>. Although not shown in the figures, the dropped second fixing portion <NUM> is in a state in which the fishing line <NUM> is fixed. In other words, the second fixing portion <NUM> is attached to the fishing line <NUM>. Therefore, when the user <NUM> reels the fishing line <NUM> onto the reel <NUM>, the second fixing portion <NUM> can be recovered. Further, the unmanned aerial vehicle <NUM> flies to a predetermined position (for example, a takeoff position, etc.) by the control of the user <NUM> or by the autopilot, and is recovered.

In the fishing system <NUM>, the second connection portion <NUM> can also disconnect the second fixing portion <NUM> when the second connection portion <NUM> is pulled with a force greater than or equal to a preset value. When the fish <NUM> is hooked on the artificial bait <NUM>, the fish <NUM> moves while biting the artificial bait <NUM>, thereby, the fishing line <NUM> is pulled toward the sea. In addition, along with the fishing line <NUM>, the unmanned aerial vehicle <NUM> is also pulled toward the sea. That is, when the fish <NUM> is hooked, the unmanned aerial vehicle <NUM> moves in the direction of the sea. The fishing system <NUM> detects the movement towards the sea of the unmanned aerial vehicle <NUM> by means of the group of sensors <NUM> and generates a control signal. The connection control unit <NUM> may receive this control signal, control the second connection portion <NUM>, and release the connection of the second fixing portion <NUM>. As a result, it is further possible to prevent the unmanned aerial vehicle <NUM> from being pulled into the sea. Also, the force setting may be determined based on the size or the payload of the unmanned aerial vehicle <NUM>.

A configuration of a fishing line fixing portion 200a, which is a modified example of the fishing line fixing portion <NUM>, is described with reference to <FIG>.

<FIG> shows schematic cross-sectional views illustrating a connection configuration between the unmanned aerial vehicle <NUM> and the fishing line fixing portion 200a of the fishing system <NUM> according to an embodiment of the present invention. In the following description, when the fishing line fixing portion 200a includes the configuration similar to the fishing line fixing portion <NUM>, the description of the configuration of the fishing line fixing portion 200a may be omitted.

<FIG> shows a state in which the fishing system <NUM> detects a school of fish while flying the unmanned aerial vehicle <NUM> (a step of detecting a school of fish). The fishing line fixing portion 200a is placed below the main body <NUM> of the unmanned aerial vehicle <NUM>. The fishing line fixing portion 200a includes a first fixing portion 210a and a second fixing portion 220a. The first fixing portion 210a and the second fixing portion 220a are fixed to the main body <NUM>. Each of the first fixing portion 210a and the second fixing portion 220b has a gap through which the fishing line <NUM> is inserted. Each of the first fixing portion 210a and the second fixing portion 220a fixes the inserted fishing line <NUM>. Each of the first fixing portion 210a and the second fixing portion 220a can fix the fishing line <NUM>, for example, by narrowing the inside of the gap or a through hole, or by gripping the fishing line <NUM> that is inserted.

<FIG> shows a state in which the fishing system <NUM> drops the artificial bait <NUM> (a step of dropping the artificial bait). When the fishing system <NUM> detects a school of fish, the fish school determination information is generated. The first fixing portion <NUM> receives the fish school determination information and releases the fixing of the fishing line <NUM>. For example, the first fixing portion 210a is divided into two parts with the gap or the through hole as a boundary (however, even when divided into two parts, the two are still connected), and the first fixing portion 210a can release the fixing of the fishing line <NUM> inserted therethrough. As a result, the fishing line <NUM> and the artificial bait <NUM> are dropped into the sea. As shown in <FIG>, since the second fixing portion 220a to which the fishing line <NUM> is fixed is fixed to the main body <NUM>, the artificial bait <NUM> can be moved in the sea as the unmanned aerial vehicle <NUM> flies. Also, the first fixing portion 210a is in a state of being fixed to the main body <NUM> without being dropped into the sea. Therefore, when the unmanned aerial vehicle <NUM> is recovered, the first fixing portion 210a can be recovered.

<FIG> shows a state in which the fish <NUM> is hooked (a hooking determination step), and <FIG> shows a state in which the fishing line <NUM> is separated from the unmanned aerial vehicle <NUM> in the fishing system <NUM> (a step of separation between the unmanned aerial vehicle and the fishing line). In the fishing system <NUM>, it is determined whether the fish <NUM> is hooked on the artificial bait <NUM>, and the hooking determination information is generated. The second fixing portion 220a receives the hooking determination information and releases the fixing of the fishing line <NUM>. The second fixing portion 220a is also divided into two parts by a gap or a through hole (however, even when divided into the two parts, the two parts are connected), and the second fixing portion 220a can release the fixing of the fishing line <NUM> inserted therethrough. As a result, since the fishing line <NUM> is separated from the unmanned aerial vehicle <NUM>, it is possible to prevent the unmanned aerial vehicle <NUM> from being pulled into the sea. The second fixing portion 220a is also fixed to the main body <NUM> without being dropped into the sea. Therefore, when the unmanned aerial vehicle <NUM> is recovered, the second fixing portion 220a can be recovered.

In the fishing system <NUM> including the modified fishing line fixing portion 200a, the movement of the unmanned aerial vehicle <NUM> in the direction of the sea can also be detected by the group of sensors <NUM> and a control signal can be generated. The second fixing portion 220a may receive this control signal and release the fixing of the fishing line <NUM>. As a result, it is further possible to prevent the unmanned aerial vehicle <NUM> from being pulled into the sea.

In addition, a configuration of the fishing line fixing portion <NUM> of the fishing system <NUM> is not limited to the configuration described above, including the first modification. The fishing line fixing portion <NUM> may release the fixing of the fishing line <NUM> by the first fixing portion to drop the artificial bait <NUM>, and release the fixing of the fishing line <NUM> by the second fixing portion to separate the unmanned aerial vehicle <NUM> and the fishing line <NUM>. Further, the first fixing portion and the second fixing portion may be integrated as long as the fixing of the fishing line <NUM> is released independently.

A configuration of a fishing line fixing portion 200b, which is a further modified example of the fishing line fixing portion <NUM>, is described with reference to <FIG>.

<FIG> shows schematic cross-sectional views illustrating a connection configuration between the unmanned aerial vehicle <NUM> and the fishing line fixing portion 200b of the fishing system <NUM> according to an embodiment of the present invention. In the following description, when the fishing line fixing portion 200b includes the configuration similar to the fishing line fixing portion <NUM> or the fishing line fixing portion 200a, the description of the configuration of the fishing line fixing portion 200b may be omitted.

<FIG> shows a state in which the fishing system <NUM> detects a school of fish while flying the unmanned aerial vehicle <NUM> (a step of detecting a school of fish). The fishing line fixing portion 200b is placed below the main body <NUM> of the unmanned aerial vehicle <NUM>. The fishing line fixing portion 200b includes a first fixing portion 230b and a second fixing portion 240b. The first fixing portion 230b has a gap or a through hole through which the fishing line <NUM> is inserted. Further, the first fixing portion 230b fixes the inserted fishing line <NUM>. On the other hand, the second fixing portion 240b is fixed to the main body <NUM> of the unmanned aerial vehicle <NUM>.

The first fixing portion 230b is formed with a convex portion, and a claw is provided at the end of the convex portion. On the other hand, the second fixing portion 240b is formed with a concave portion, and a groove is provided inside the concave portion. Therefore, when the convex portion of the first fixing portion 230b is inserted into the concave portion of the second fixing portion 240b, the claw of the convex portion engages with the groove of the concave portion, thereby connecting the first fixing portion 230b and the second fixing portion 240b. Further, when a certain force is applied from the outside, the groove of the concave portion and the claw of the convex portion are disengaged, and the connection between the first fixing portion 230b and the second fixing portion 240b is released. That is, the first fixing portion 230b and the second fixing portion 240b are detachably connected.

In this modification, the first fixing portion 230b can fix the fishing line <NUM> and suspend the artificial bait <NUM> attached to the first end of the fishing line <NUM>. Further, the first fixing portion 230b is connected to the second fixing portion 240b fixed to the unmanned aerial vehicle <NUM>. Therefore, the unmanned aerial vehicle <NUM> can fly while suspending the artificial bait <NUM> and detect a school of fish.

In <FIG>, although the second fixing portion 240b is embedded and fixed inside the main body <NUM>, the fixing of the second fixing portion 240b to the main body <NUM> is not limited to this configuration. For example, the second fixing portion 240b may be fixed by being suspended from the main body <NUM>. In <FIG>, although the first fixing portion 230a and the second fixing portion 240b are so-called male and female members, respectively, the male and female members may be reversed.

<FIG> shows a state in which the fishing system <NUM> drops the artificial bait <NUM> (a step of dropping the artificial bait). When the fishing system <NUM> detects a school of fish, the unmanned aerial vehicle <NUM> descends to submerge the artificial bait <NUM> into the sea. Since the artificial bait <NUM> in the sea and the artificial bait <NUM> over the sea reflect different light, it is possible to identify the artificial bait <NUM> in the sea imaging data of the imaging device <NUM> to determine whether the artificial bait <NUM> is in the sea, for example.

<FIG> shows a state in which the fish <NUM> is hooked, and <FIG> shows a state in which the fishing line <NUM> is separated from the unmanned aerial vehicle <NUM> in the fishing system <NUM> (a step of separation between the unmanned aerial vehicle and the fishing line). When the fish <NUM> is hooked on the artificial bait <NUM>, the fish <NUM> moves while biting the artificial bait <NUM>, thereby, the fishing line <NUM> is pulled toward the sea. Further, the unmanned aerial vehicle <NUM> is also pulled toward the sea along with the fishing line <NUM>. That is, when the fish <NUM> is hooked, the unmanned aerial vehicle <NUM> moves in the direction of the sea. The fishing system <NUM> detects the movement of the unmanned aerial vehicle <NUM> toward the sea using the group of sensors <NUM>, and controls the unmanned aerial vehicle <NUM> so that the unmanned aerial vehicle <NUM> ascends. As a result, the first fixing portion 230b and the second fixing portion 240b are pulled in opposite directions, and when pulled with a certain force, the connection between the first fixing portion 230b and the second fixing portion 240b is released.

In this modification, the force of pulling the fishing line is transmitted to the fishing line fixing portion 200b, and the force can be used to release the connection between the first fixing portion 730b and the second fixing portion 740b. Therefore, it is possible to prevent the unmanned aerial vehicle <NUM> from being pulled into the sea. Also, although the hooking determination process of the fishing system <NUM> is not necessarily required, the hooking determination process may be executed in this modification. By executing the hooking determination process, it is possible to speed up the response of the control for ascent of the unmanned aerial vehicle <NUM> and further prevent the unmanned aerial vehicle <NUM> from being pulled into the sea.

The fish school detection process of the fishing system <NUM> and the generation of the fish school detection model are described with reference to <FIG>.

<FIG> is a flowchart illustrating the fish school detection process and the generation of the fish school detection model of the fishing system <NUM> according to an embodiment of the present invention.

The fish school detection process of the fishing system <NUM> is executed when the user <NUM> starts fishing. The fish school detection process of the fishing system <NUM> includes a step of obtaining various information from the group of sensors <NUM> (S1010), a step of determining a fishing ground (S1020), a step of the unmanned aerial vehicle taking off <NUM> (S1030), a step of flying the unmanned aerial vehicle <NUM> (S1040), a step of obtaining the sea imaging data of the imaging device <NUM> (S1050), a step of identifying a school of fish (S1060), a step of generating fish school detection information (S1070), and a step of dropping the first fixing portion <NUM> (S1080).

In the step S1010, the fish school detection processing unit <NUM> obtains various information from the group of sensors <NUM> of the unmanned aerial vehicle <NUM> at the departure position before the unmanned aerial vehicle <NUM> takes off. For example, the fish school detection processing unit <NUM> obtains temperature information, humidity information, barometric pressure information, or position information (hereinafter, the position information obtained in the step is referred to as "departure position information") from the group of sensors <NUM>. The temperature information, the humidity information, and the barometric pressure information are used in generating the fish school detection information in the step S1080. Further, the departure position information is used when the unmanned aerial vehicle <NUM> returns in step S3050.

In the step S1020, the fish school detection processing unit <NUM> determines a fishing ground, which is a target position of the unmanned aerial vehicle <NUM>. The fishing ground may be determined by the user <NUM> selecting from pre-registered fishing grounds, or may be determined by applying the fish school detection model based on the temperature information, the humidity information, and the atmospheric pressure information.

In the step S1030, the fish school detection processing unit <NUM> transmits a takeoff signal to the flight control unit <NUM>. The flight control unit <NUM> rotates the blades <NUM> so that the unmanned aerial vehicle <NUM> ascends based on the takeoff signal.

In the step S1040, the fish school detection processing unit <NUM> transmits the target position signal to the flight control unit <NUM>. The flight control unit <NUM> flies the unmanned aerial vehicle <NUM> toward the target position based on the target position information included in the target position signal.

In the step S1050, the fish school detection processing unit <NUM> obtains the sea imaging data captured by the imaging device <NUM> at or near the target position.

In the step S1060, the fish school detection processing unit <NUM> applies the fish school detection model to the captured sea imaging data to identify a school of fish in the sea imaging data. For example, the fish school detection processing unit <NUM> can recognize a fish using the size, the shape, or the color (including the shadow) of an object in the sea imaging data as feature amounts, and can identify a school of fish. Further, the fish school detection processing unit <NUM> may recognize a moving object as a fish and identify a school of fish from the difference in the sea imaging data between frames.

In the fish school detection process of the fishing system <NUM>, the step S1050 and the step S1060 are repeated until a school of fish is identified in the step S1060. At this time, the unmanned aerial vehicle <NUM> may hover at the target position or fly near the target position. Once the school of fish is identified in the step S1060, the step S1070 is executed.

In the step S1070, the fish school detection processing unit <NUM> generates the fish school detection information. The fish school detection information is generated by associating the position information of the position where the school of fish is identified, and the imaging sea data, the temperature information, the humidity information, and the barometric pressure information, and the like obtained in the step S1010.

In the step S1080, the fish school detection processing unit <NUM> transmits the fish school detection information to the connection control unit <NUM>. The connection control unit <NUM> that receives the fish school detection information releases the fixing of the first fixing portion <NUM>. As a result, the artificial bait <NUM> is dropped into the sea together with the first fixing portion <NUM>. Also, the fish school detection processing unit <NUM> may transmit a part of the fish school detection information to the connection control unit <NUM> as the first drop signal.

When the first fixing portion <NUM> is dropped, the fish school detection process of the fishing system <NUM> ends. Also, when the first fixing portion <NUM> is not dropped (for example, when it is not possible to identify that the artificial bait <NUM> is dropped into the sea by the imaging data of the imaging device <NUM>), the fish school detection processing unit <NUM> may transmit an abnormal signal to the flight control unit <NUM> in order to return the unmanned aerial vehicle <NUM> to the departure position.

As described above, in the fish school detection process of the fishing system <NUM>, the fish school detection model is applied to the sea imaging data to identify a school of fish in the sea imaging data. The fish school detection learning unit <NUM> can use the generated fish school detection information as teacher data, for example, to repeatedly execute deep learning to generate the fish school detection model having a learned neuron network (S1110).

In addition, the unmanned aerial vehicle <NUM> may be operated by the user <NUM>. Further, the user <NUM> may confirm the image based on the sea imaging data transmitted from the unmanned aerial vehicle <NUM> and identify the school of fish in the sea imaging data. In this case, the fixing of the first fixing portion <NUM> may be released by remote control by the user <NUM>.

The fish school tracking process of the fishing system <NUM> and the generation of the fish school tracking model are described with reference to <FIG> and <FIG>.

<FIG> is a flow chart illustrating the process of tracking the fish school and the generation of the fish school tracking model of the fishing system <NUM> according to an embodiment of the present invention.

The fish school tracking process of the fishing system <NUM> is executed after the first fixing portion <NUM> is dropped. The fish school tracking process of the fishing system <NUM> includes a step of obtaining various information from the group of sensors <NUM> (S2010), a step of obtaining sea imaging data from the imaging device <NUM> (S2020), a step of identifying the direction of movement of the school of fish (S2030), a step of determining a fish school tracking pattern (S2040), and a step of generating fish school tracking information (S2050).

In the step S2010, the fish school tracking processing unit <NUM> obtains the various information from the group of sensors <NUM> of the unmanned aerial vehicle <NUM>. For example, the fish school tracking processing unit <NUM> obtains the position information, the water temperature information, or the fish school information from the group of sensors <NUM>.

In the step S2020, the fish school tracking processing unit <NUM> obtains the sea imaging data captured by the imaging device <NUM>.

In the step S2030, the fish school tracking processing unit <NUM> applies the fish school tracking model to the captured sea imaging data to identify the fish school or the direction of the movement of the school of fish in the sea imaging data. For example, the fish school tracking processing unit <NUM> can recognize a fish using the size, the shape, the color (including the shadow) of the object in the sea imaging data as feature amounts, and identify the school of fish. Further, the fish school tracking processing unit <NUM> can calculate the direction of the moving object from the difference in the sea image data between frames, and can identify the direction of the movement of the school of fish.

In the step S2040, the fish school tracking processing unit <NUM> determines a fish school tracking pattern. The fish school tracking pattern may be determined by the user <NUM> selecting from pre-registered fish school tracking patterns, and the fish school tracking model is applied based on the position information, the water temperature information, the fish school information, and the sea imaging data, or the like. When the fish school tracking model is applied, an appropriate fish school tracking pattern learned from the position information, the water temperature information, the fish school information, and the sea imaging data, or the like is determined.

Here, the fish school tracking patterns are described with reference to <FIG>.

<FIG> shows schematic diagrams illustrating fish school tracking patterns executed in the fish school tracking process of the fishing system according to an embodiment of the present invention.

In the fishing system <NUM>, since the unmanned aerial vehicle <NUM> moves the artificial bait <NUM> in the vicinity of the artificial bait <NUM>, the artificial bait <NUM> can be moved in complex ways. <FIG> shows a fish school tracking pattern in which the artificial bait <NUM> is moved linearly along the direction of movement of the school of fish including fish <NUM>. <FIG> shows a fish school tracking pattern in which the artificial bait <NUM> is moved in a wave shape along the direction of movement of the school of fish including the fish <NUM>. <FIG> is a fish school tracking pattern in which the artificial bait <NUM> is moved circularly so as to surround the school of fish in the direction of the movement of the school of fish including the fish <NUM>. <FIG> is a fish school tracking pattern in which the artificial bait <NUM> is moved in a figure-of-eight shape so as to surround the school of fish in the direction of the movement of the school of fish including the fish <NUM>. The fish school tracking patterns are not limited to the patterns shown in <FIG>. The fish school tracking pattern may be a combination of the patterns shown in <FIG>.

In the fish school tracking process of the fishing system <NUM>, the steps S2020 to S2040 are repeated until the hooking determination information is generated by the hooking determination process, which is described later. At this time, the unmanned aerial vehicle <NUM> flies according to the fish school tracking pattern. When the hooking determination information is generated, the step S2050 is executed.

In the step S2050, the fish school tracking processing unit <NUM> generates the fish school tracking information. The fish school tracking information is generated by associating the position information, the water temperature information, and the fish school information obtained in the step S2010, and the fish school tracking pattern and the sea imaging data in the process of tracking the fish school.

When the fish school tracking information is generated, the fish school process of the fishing system <NUM> ends.

As described above, in the fish school tracking process of the fishing system <NUM>, the fish school tracking model is applied to the sea imaging data to identify the direction of the movement of the school of fish in the sea imaging data. The fish school tracking learning unit <NUM> can use the generated fish school tracking information as teacher data, for example, to repeatedly execute deep learning in order to generate the fish school tracking model having a learned neuron network (S2110).

The hooking determination process of the fishing system <NUM> and the generation of the hooking determination model are described with reference to <FIG>.

<FIG> is a flowchart illustrating the hooking determination process and the generation of the hooking determination model of the fishing system <NUM> according to an embodiment of the present invention.

The hooking determination process of the fishing system <NUM> is executed in parallel with the fish school detection process in the above description. The hooking determination process of the fishing system <NUM> includes a step of obtaining various information from the group of sensors <NUM> (S3010), a step of obtaining sea imaging data from the imaging device <NUM> (S3020), a step of identifying the position of the fish <NUM> (S3030), a step of generating the hooking determination information of the fish <NUM> (S3040), a step of dropping the second fixing portion <NUM> (S3050), and a step of returning the unmanned aerial vehicle <NUM> (S3060).

In the step S3010, the hooking determination processing unit <NUM> obtains the various information from the group of sensors <NUM> of the unmanned aerial vehicle <NUM>. For example, the hooking determination processing unit <NUM> obtains speed variation information, angular velocity variation information, or the like from the group of sensors <NUM>.

In the step S3020, the hooking determination processing unit <NUM> obtains the sea imaging data captured by the imaging device <NUM>.

In the step S3030, the hooking determination processing unit <NUM> applies the hooking determination model to the captured sea imaging data to identify the positions of the artificial bait <NUM> and the fish <NUM> in the captured sea data. For example, the hook determination processing unit <NUM> recognizes the artificial bait <NUM> or the fish <NUM> by using the size, the shape, the color (including the shadow) of the object in the sea imaging data as feature quantities, and can identify the positions of the artificial bait <NUM> and the fish <NUM>.

In the hooking determination process of the fishing system <NUM>, the steps S3010 to S3030 are repeated until the position of the artificial bait <NUM> and the position of the fish <NUM> overlap each other in the step S3030. When the position of the artificial bait <NUM> and the position of the fish <NUM> overlap each other, it may be determined whether the fish <NUM> is hooked, and the step S3040 may be executed. However, for example, the hooking determination processing unit <NUM> preferably determines whether the fish <NUM> is hooked when it is being pulled in the direction of the sea based on the speed variation information or the angular velocity variation information.

In the step S3040, the hooking determination processing unit <NUM> generates the hooking determination information. The hooking determination information is generated by associating the sea imaging data when the fish <NUM> is hooked, the positions of the fish <NUM> and the artificial bait <NUM>, and the like.

In the step S3050, the hooking determination processing unit <NUM> transmits the hooking determination information to the connection control unit <NUM>. The connection control unit <NUM> that receives the hooking determination releases the fixing of the second fixing unit <NUM>. As a result, the second fixing portion <NUM> is dropped into the sea. Also, the hooking determination processing unit <NUM> may transmit a part of the hooking determination information to the connection control unit <NUM> as the second drop signal. Further, when the hooking determination processing unit <NUM> detects that the unmanned aerial vehicle <NUM> is pulled in the direction of the sea, a control signal may be transmitted to the flight control unit <NUM> so that the unmanned aerial vehicle <NUM> ascends or flies in the direction opposite to the pulling direction.

In the step S3060, the hooking determination processing unit <NUM> transmits a returning signal to the flight control unit <NUM>. The flight control unit <NUM> controls so that the unmanned aerial vehicle <NUM> flies toward the departure position based on the departure position information included in the returning signal.

When the unmanned aerial vehicle <NUM> returns to the departure position, the hook determination process of the fishing system <NUM> ends.

As described above, in the hooking determination process of the fishing system <NUM>, the hooking determination model is applied to the sea imaging data to identify the positions of the fish <NUM> and the artificial bait <NUM> in the sea imaging data. The hooking determination learning unit <NUM> uses the generated hooking determination information as teacher data, for example, to repeatedly execute deep learning to generate the hooking determination model having a learned neuron network (S3110).

As described above, in the fishing system <NUM> according to an embodiment of the present invention, even after the artificial bait <NUM> is dropped into the sea by releasing the fixing of the first fixing portion <NUM>, the second fixing portion <NUM> is fixed to the unmanned aerial vehicle <NUM> so that the flight of the unmanned aerial vehicle <NUM> can be controlled to track the school of fish. Further, since not only the group of sensors <NUM> but also the hook determination processing unit <NUM> determines whether the fish is hooked, it is possible to quickly release the second fixing portion <NUM> and separate the fishing line <NUM> from the unmanned aerial vehicle <NUM>. As a result, it is possible to prevent the unmanned aerial vehicle <NUM> from being pulled into the sea when the fish is hooked.

A fishing system 10A according to an embodiment of the present invention is described with reference to <FIG> and <FIG>. In the following description, when the fishing system 10A includes the configuration similar to the fishing system <NUM>, the description of the configuration of the fishing system 10A may be omitted.

<FIG> is a schematic diagram illustrating the use of the fishing system 10A according to an embodiment of the present invention. The fishing system 10A includes an unmanned aerial vehicle 100A, a fishing line fixing portion 200A, and an information communication terminal 400A. Each of the unmanned aerial vehicle 100A and the information communication terminal 400A is equipped with a communication unit, and the unmanned aerial vehicle 100A and the information communication terminal 400A can be communicatively connected to each other via wireless communication.

A fishing tackle 700A used in the fishing system 10A includes a fishing rod 710A, a fishing line 720A, a reel 730A, an artificial bait 740A, and a fishing rod support 750A. The fishing rod support 750A can support the fishing rod 710A. Therefore, when the fishing rod 710A is placed on the fishing rod support 750A, the user <NUM> does not need to hold the fishing rod 710A. A motor and a communication unit are mounted on the reel 730A. The communication unit of the reel 730A can communicate with the unmanned aerial vehicle 100A via wireless communication, and can automatically reel the fishing line 720A according to an instruction from the unmanned aerial vehicle 100A. Therefore, in the fishing system 10A, the user <NUM> can catch the fish <NUM> by simply causing the unmanned aerial vehicle 100A to take off without touching the fishing rod <NUM> or the reel <NUM> at all.

<FIG> is a schematic diagram illustrating a screen of the information communication terminal of the fishing system 10A according to an embodiment of the present invention.

In the fishing system 10A, the user <NUM> can confirm the detection and tracking of the school of fish on the screen of the information communication terminal 400A. Further, the screen of the information communication terminal 400A is a so-called touch panel. On the screen of the information communication terminal 400A shown in <FIG>, an image <NUM> based on the sea imaging data, an image <NUM> based on the sonar information, and an image <NUM> based on the position information are displayed. An icon 440A for the controller of the unmanned aerial vehicle <NUM> and an icon for dropping the fishing line fixing portion 200A are also displayed. Therefore, the user <NUM> can input an instruction by touching the icon while confirming the detection or tracking of the fish school on the screen of the information communication terminal 400A, and the user instruction signal can be transmitted to the unmanned aerial vehicle 100A. Therefore, the user <NUM> can intervene and make fine adjustments in the fish school detection process, the fish school tracking process, or the hooking determination process.

Also, the images and icons displayed on the screen of information communication terminal 400A are not limited to the configuration shown in <FIG>. The information communication terminal 400A can display images of all kinds of information related to the detection and tracking of the school fish. Further, the information communication terminal 400A can display icons for instructions on all kinds of controls or processes related to the fish school detection process, the fish school tracking process, and the hook determination process. In addition, the position of the image or the position of the icon displayed on the information communication terminal 400A may be freely changed by the user <NUM>.

As described above, in the fishing system 10A according to an embodiment of the present invention, the fish <NUM> can be caught using the information communication terminal 400A. Further, since the unmanned aerial vehicle 100A is provided with the fishing line fixing portion 200A, it is possible to prevent the unmanned aerial vehicle <NUM> from being pulled into the sea when the fish is hooked.

An embodiment of the present invention can be appropriately combined with components and implemented as long as they do not contradict each other. In addition, deletion, or design changes of constituent elements, or additions, omissions, or changes to conditions of steps as appropriate based on the embodiment of the present invention are also included within the scope of the present invention as long as the gist of the present invention is provided.

Claim 1:
A fishing system (<NUM>, 10A) comprising:
an unmanned aerial vehicle (<NUM>, 100A); and
a fishing line fixing portion (<NUM>) detachably fixed to a main body (<NUM>) of the unmanned aerial vehicle (<NUM>, 100A) and fixing a fishing line (<NUM>),
wherein the unmanned aerial vehicle (<NUM>, 100A) comprises:
an imaging device (<NUM>),
a connection control unit (<NUM>) configured to release a fixing between the main body (<NUM>) and the fishing line fixing portion (<NUM>), and
a fish school tracking processing unit configured to identify a fish in imaging data captured by the imaging device and control the unmanned aerial vehicle to track the fish,
wherein the fishing line fixing portion (<NUM>) comprises a first fixing portion (<NUM>) and a second fixing portion (<NUM>),
a fixing between the main body (<NUM>) and the first fixing portion (<NUM>) and a fixing between the main body (<NUM>) and the second fixing portion (<NUM>) are configured to be independently released, and
the connection control unit (<NUM>) is configured to drop the artificial bait (<NUM>) into the sea together with the first fixing portion (<NUM>) when the fixing between the main body (<NUM>) and the first fixing portion (<NUM>) is released,
characterized in that
the unmanned aerial vehicle (<NUM>, 100A) further comprises a hooking determination processing unit configured to determine whether the fish is hooked on an artificial bait attached to a first end of the fishing line, and
the connection control unit (<NUM>) is configured to release the fixing between the main body (<NUM>) and the second fixing portion (<NUM>) and to drop the second fixing portion (<NUM>) into the sea when the fish is hooked.