ELECTROMAGNETIC FISHING BAIT DRIVE AND METHOD FOR CONTROLLING AN ELECTROMAGNETIC FISHING BAIT DRIVE

Abstract

An electromagnetic fishing bait drive and a method for controlling an electromagnetic fishing bait drive are disclosed. The electromagnetic fishing bait drive comprises a waterproof sealable bait body (102) having a longitudinal axis of the bait body (Y) and an electromagnetic pendulum drive, wherein a first pole axis (P1) of an electromagnet (300) is substantially parallel to the longitudinal axis of the bait body (Y) and a second pole axis (P2) of the permanent magnet (313) is disposed at a defined angle to the first pole axis (P1).

Claims

1.-18. (canceled)

19. An electromagnetic pendulum actuator, comprising: an electric power source (420); an electronic control unit (410); an electromagnet (300) comprising an excitation coil (301) having a first pole axis (P1); a pendulum actuator comprising a permanent magnet (313) having a second pole axis (P2) and a pendulum lever (312), wherein due to a magnetic force field of the electromagnet (300) the permanent magnet (313) is movable transversely to a longitudinal axis of a body (Y), wherein the excitation coil (301) is arranged with the first pole axis (P1) at an angle in the range of 0°+/−30° to the longitudinal axis of the body (Y).

20. The electromagnetic pendulum actuator of claim 19, wherein the excitation coil (301) comprises a core of ferromagnetic material (302).

21. The electromagnetic pendulum actuator according to claim 20, wherein a central core of ferromagnetic material (302) is arranged inside the excitation coil (301) and is guided via ferromagnetic material outside past the excitation coil (301) from a first pole end (304) of the central core of ferromagnetic material (302) to a second pole end (305) of the central core of ferromagnetic material (302) and forms a pole shoe or yoke of ferromagnetic material (303) which at the second pole end (305) of the central core of ferromagnetic material (302) has an air gap to the central core of ferromagnetic material (302) in which the permanent magnet (313) is movably arranged in such a way that a projection of the first pole axis (P1) through the excitation coil (301) and the second pole axis (P2) through the permanent magnet (313) intersect in at least one position at a defined angle.

22. The electromagnetic pendulum actuator of claim 21, wherein the pole shoe or yoke of ferromagnetic material (303) is formed U-shaped or E-shaped or is completely or at least partially pot-shaped.

23. The electromagnetic pendulum actuator according to claim 19, wherein the permanent magnet (313) is arranged with the second pole axis (P2) relative to the longitudinal axis of the body (Y) within an angular range of 90°+/−40°.

24. The electromagnetic pendulum actuator according to claim 19, wherein the permanent magnet (313) is arranged with the second pole axis (P2) relative to the longitudinal axis of the body (Y) within an angular range of 0°+/−40° and, in a zero position of the pendulum lever (312), intersects a projection of the first pole axis (P1) or the first pole axis (P1) is at a distance of not more than 5 mm from the second pole axis (P2) at an intersection of projections of the pole axes (P1, P2) relative to each other.

25. The electromagnetic pendulum actuator according to claim 19, wherein driving of the electromagnet (300) comprises alternating polarity comprising an electrically bipolar AC voltage as driving voltage (ue) at the excitation coil (301) and a bipolar flowing AC current as excitation current (ie) through the excitation coil (301) of the electromagnet (300).

26. The electromagnetic pendulum actuator according to claim 25, wherein a reversing operation of the pendulum lever (312) from an end position (smE+, smE−) is performed by an excitation current (ie) through the excitation coil (301) of the electromagnet (300), wherein the excitation current (ie) is switched off or reduced when the pendulum lever (312) has reached a defined position between the end positions (smE+; smE−).

27. The electromagnetic pendulum actuator according to claim 25, wherein means are arranged for detecting a position of the pendulum lever (312), said means causing the excitation current (ie) to be switched off or reduced via the electronic control unit (410).

28. The electromagnetic pendulum actuator according to claim 25, wherein the excitation coil (301) of the electromagnet (300) is controlled via an electrical high-pass filter, wherein dynamically high pulses of the excitation current (ie) can be generated in the excitation coil (301) of the electromagnet (300) and thereby an electrical charge taken from the electrical power source (420) can be limited.

29. The electromagnetic pendulum actuator according to claim 19, wherein an air gap (h) is arranged between the electromagnet (300) and the permanent magnet (313), wherein the air gap (h) becoming smaller during a deflection (sm) of the pendulum lever (312) as a function of the deflection (sm) of the pendulum lever (312) from its zero position, reaching a minimum in an end position (smE+; smE−) and becomes larger when an end position (smE+; smE−) is exceeded.

30. An electromagnetic fishing bait drive comprising: a bait body (102) which can be closed in a watertight manner and has a longitudinal axis of the bait body (Y), and an electromagnetic pendulum actuator, comprising: an electric power source (420); an electronic control unit (410); an electromagnet (300) comprising an excitation coil (301) having a first pole axis (P1); a pendulum actuator comprising a permanent magnet (313) having a second pole axis (P2) and a pendulum lever (312), wherein due to a magnetic force field of the electromagnet (300) the permanent magnet (313) is movable transversely to a longitudinal axis of the bait body (Y), wherein the excitation coil (301) is arranged with the first pole axis (P1) at an angle in the range of 0°+/−30° to the longitudinal axis of the body (Y).

31. The electromagnetic fishing bait drive according to claim 30, wherein a connecting line to an angler (10) is loopable from a float (150) through a front first attachment means (131) forming a front first deviation point (141) to a rear second attachment means (132) forming a rear second deviation point (142), wherein the connecting line to the angler (10) is limitable in its movement relative to the deviation points (141, 142) via a line stopper (138).

32. The electromagnetic fishing bait drive of claim 31, wherein the rear second deviation point (142) is located behind the pendulum pivot axis (311′) of the fishing bait drive.

33. The electromagnetic fishing bait drive of claim 31, wherein a connecting line to the angler 10 is loopable from a float (150) through a connecting tube (135) within the bait body (102).

34. A method of controlling an electromagnetic fishing bait drive, comprising the steps of: providing the electromagnetic fishing bait drive as in claim 30 in a body shell (100) of an artificial fishing bait or in a body shell (100) of a dead natural fishing bait; attaching a connecting line to an angler and to the bait body (102) and/or the body shell (100); producing an electrical joint from an electromagnetic power source (420) to electrical components of an electromagnetic pendulum drive; and releasing the body shell (100) into a body of water (3).

35. The method of controlling an electromagnetic fishing bait drive according to claim 34 further comprising the steps of: providing an electronic control unit (410) comprising a decoder within the bait body (102) or within the body shell (100), providing a sensor for detecting drag force variations between the bait body (102) or the body shell (100) and a connecting line (10) to the angler (2) and/or speed variations of the bait body (102) or the body shell (100), encoding a message by causing drag force variations on the connecting line (10) to the angler (2) by the angler and/or speed variations of the bait body (102) or the body shell (100) by causing drag force variations on the connecting line (10) to the angler (2) by the angler (2), decoding the encoded message by the decoder in the bait body (102) or body shell (100), performing a control action in response according to the decoded message by at least one control actuator and/or the electromagnetic pendulum drive.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0150] These and other features of the present invention will be apparent from the following description of preferred embodiments of the present invention, which are non-limiting examples, reference being made to the following figures.

[0151] FIG. 1 shows the situation of an angler with a fishing assembly and a fishing bait placed in a body of water,

[0152] FIG. 2 is the side view of a fishing bait with a tail-side propulsion with the electromagnetic fishing bait drive,

[0153] FIG. 3 shows the sectional plane A-B of the embodiment of a fishing bait of FIG. 2,

[0154] FIG. 4 shows an arrangement of control means and of drive means in the fishing bait in the representation of the sectional plane C-D of a side view,

[0155] FIG. 5 shows a principle arrangement of drive means in the fishing bait in the representation of the sectional plane A-B of a top view,

[0156] FIG. 6a shows a cross-section through the body shell and bait body of the fishing bait in the sectional plane E-F according to a first alternative embodiment,

[0157] FIG. 6b shows a longitudinal section through the body shell and bait body of the fishing bait according to a first alternative embodiment,

[0158] FIG. 6c shows as a detail of section G-H, a sectional view of the electromagnet and the components of the pendulum actuator according to a first alternative embodiment,

[0159] FIG. 6a′ shows a cross-section through the body shell and bait body of the fishing bait in the sectional plane E-F, of an embodiment according to a second alternative embodiment,

[0160] FIG. 6b′ shows a longitudinal section through the body shell and the bait body of the fishing bait of an embodiment according to a second alternative embodiment,

[0161] FIG. 6c′ shows as a detail of the section G-H, in part, the electromagnet and the components of the pendulum actuator of an embodiment according to a second alternative embodiment

[0162] FIG. 7a shows schematically the electromagnet and the components of the pendulum actuator in a zero position,

[0163] FIG. 7b shows schematically the electromagnet and the components of the pendulum actuator according to an embodiment of the first embodiment in a partially positively deflected state,

[0164] FIG. 7c shows schematically the electromagnet and the components of the pendulum actuator according to an embodiment of the first embodiment in its positive end position of deflection,

[0165] FIG. 7d shows schematically the electromagnet and the components of the pendulum actuator according to an embodiment of the first embodiment in its negative end position of deflection,

[0166] FIG. 8a shows the course of the dynamic air gap h as a function of the deflection sm,

[0167] FIG. 8b shows the course of the magnetic force Fm as a function of the deflection sm,

[0168] FIG. 9a shows the course of the magnetic moment of motion Mm as a function of the deflection sm of the pendulum lever,

[0169] FIG. 9b shows the course of the magnetic moment of motion Mm as a function of the deflection sm of the pendulum lever and the control ranges required for reversing,

[0170] FIG. 10 shows the principle relationship between the magnitude of the magnetic force and the magnitude of the air gap width,

[0171] FIG. 11 shows the arrangement of the electromagnetic pendulum drive within the bait body,

[0172] FIG. 12 shows schematic of the electromagnet and the components of the pendulum actuator of an embodiment of the first embodiment with a second pole axis P2, which is arranged in an angular range of 0°+/−40° to the longitudinal axis of the bait body,

[0173] FIG. 13 shows a sectional view of a fishing bait drive having an E-shaped pole shoe or yoke made of ferromagnetic material,

[0174] FIG. 14a and FIG. 14b show an embodiment with partially pot-shaped pole shoe or yoke made of ferromagnetic material,

[0175] FIG. 15 shows an assembly example with line stopper with external line guide, and

[0176] FIG. 16 shows an assembly example with line stopper with internal line guide.

DETAILED DESCRIPTION

[0177] In the following, currently preferred embodiments of the present invention are explained in more detail with reference to the accompanying figures. Identical components have identical reference signs.

[0178] FIG. 1 shows the situation of an angler 2 with fishing assembly 10, 11, 12 and a fishing bait 1 introduced into a body of water 3. The fishing assembly comprises a reeling device 12, a fishing rod 11 and a connecting line 10 between the angler 2 and the fishing bait 1. In the example shown, the fishing bait 1 moves with a relative velocity v in the direction y in the surrounding water 3 and drags the connecting line 10 behind it. Alternatively, the fishing bait 1 may be cast and moved in a controlling manner with or without relative velocity v to imitate a moving prey fish. In practice, the experienced angler 2 will take care to ensure that the connecting line 10 is sufficiently taut to be able to selectively strike the fishing assembly in the event of a bite by a fish to be caught, that is, to ensure that a fishing hook of the fishing bait 1 is set in the fish to be caught by jerking the connecting line 10 towards itself.

[0179] In FIG. 2, an embodiment of a fishing bait 1 having a tail-side propulsion 330 and a vertically oriented tail fin 103 for propulsion with the electromagnetic fishing bait drive is shown in the sectional plane C-D of the side view. Instead of a vertically oriented tail fin 103, a horizontally oriented tail fin 103 may be arranged for propulsion with the electromagnetic fishing bait drive. A connecting line 10 to an angler 2 (see FIG. 1) is attached to an attachment means 130 at an attachment point 230. At this point, an inertial force component Fyr engages, which in the case of forward movement of the fishing bait is caused by the backward force of the connecting line 10 to the angler 2, which is caused on the one hand by friction of the connecting line 10 to the angler 2 on the surrounding water 3 (see FIG. 1) and on the other hand by backward force action of the fishing rod assembly.

[0180] Optionally, several attachment means 130, 130′ may be provided at different positions in order to adapt the position of the attachment point 230 of the connecting line 10 to the angler 2 to different control situations. Optionally, at least one attachment means 130, 130′ may be adjustably and lockably arranged on the fishing bait 1.

[0181] The fishing bait 1 has a center of buoyancy 200, in which the fishing bait 1 immersed in surrounding water 3 experiences a buoyant force directed upward toward the water surface by displacement of water volume. The position of the center of buoyancy 200 can be changed by an artificial swim bladder 440 (compare FIG. 4) arranged in the fishing bait 1 via its position and/or volume when the fishing bait 1 is substantially fixed in shape.

[0182] The fishing bait 1 further has a center of gravity 210, in which the fishing bait 1 introduced into surrounding water 3 experiences a weight force caused by the earth's gravity directed downward toward the bottom of the body of water. The position of the center of gravity 210 can be changed by changing the position of relatively heavy elements of the fishing bait 1, such as the electrical power source 420 (compare FIG. 4) or optional ballast weights (not shown).

[0183] The fishing bait 1 is designed with respect to the position of the center of buoyancy 200 and the center of gravity 210 in such a way that, when the fishing bait 1 is immersed in surrounding water 3, the center of buoyancy 200 is located above the center of gravity 210. This ensures a stable position of the fishing bait 1. Optionally, a floating pose can generate or supplement the buoyancy. Advantageously, in addition to the generated buoyancy, the position of the fishing bait 1 on the water surface is indicated. The connecting line which passes through the center of buoyancy 200 and through the center of gravity 210 is hereinafter referred to as the plumb axis 250. For static trimming of the fishing bait 1, the plumb axis 250 points in the direction of the center of gravity of the earth, that is, in the direction of the bottom of the body of water in which the self-movable artificial baitfish 1 is swimming.

[0184] For dynamic controller at existing relative velocity v between fishing bait 1 and surrounding water 3, flow bodies such as optionally shown elevators 122 and 121 (see FIG. 3) and/or optionally a rudder 120 at the top and/or optionally a rudder 120′ at the bottom may be arranged at the body shell 100 of the fishing bait 1 as controller means. The controller means 120, 120′, 121, 122, if present, are fixed or either manually adjustable for example via manually operable control actuators 450 (see FIG. 4) and/or via electrical control actuators (not shown) of the fishing bait 1.

[0185] In the embodiment shown, the tail fin 103 is oriented vertically. In this case, the oscillating motion transverse to the direction of motion y occurs in the positive and negative direction of the horizontal x-axis (see, for example, FIG. 3 or FIG. 5).

[0186] FIG. 3 shows the sectional plane A-B of the embodiment of a fishing bait 1 of FIG. 2 with tail-side propulsion 330 and vertically oriented tail fin 103 in plan view.

[0187] FIG. 4 shows an arrangement of control means and of drive means in the fishing bait 1 in the view of the sectional plane C-D of a side view.

[0188] In one embodiment, the bait body 102 is symbolized with a permanent magnet 313 disposed within the bait body with a continuous line. Alternatively, in one embodiment, the bait body 102′ is symbolized with a permanent magnet 313 disposed outside the bait body 102, 102′ with a broken line.

[0189] In addition to the bait body 102, 102′, the electromagnetic fishing bait drive comprises an electromagnetic pendulum drive. The electromagnetic pendulum drive comprises an electric power source 420, an electromagnet 300, an electronic control unit 410 and a pendulum actuator 310 comprising a permanent magnet 313 which is movably arranged transversely to the longitudinal axis of the bait body Y and a pendulum lever 312, on which the permanent magnet 313 is mounted in a pendulum radius Rp around a pendulum bearing 311 and an oscillating movement of the tail of the dead natural fishing bait 1 or the artificial fishing bait 1 with a defined deflection sm (see FIG. 7a to FIG. 9b) transverse to the longitudinal axis of the bait body Y.

[0190] The electromagnet 300, which exerts an electromagnetic force on the permanent magnet 313, generates an oscillating movement transverse to the longitudinal axis of the bait body Y, which is transmitted to a tail fin 103 via a pendulum lever 312 and a transition area 101 of the tail fin. Advantageously, a moment of motion may be generated via the pendulum bearing 311 and an overdrive or underdrive may be provided.

[0191] The electromagnet 300 comprises an excitation coil 301 (see FIGS. 6a and 6a′ to 7d, respectively, and FIGS. 11 and 12) of N windings with or without a core 302 of ferromagnetic material. Upon excitation by an excitation voltage ue (see FIG. 7a to FIG. 7d), an electric excitation current ie flows through the windings of the excitation coil 301 and generates an outgoing magnetic field with defined polarity N, S at the ends of the excitation coil 301 or at the ends of the core 302 of ferromagnetic material, depending on the direction of the current flow.

[0192] To control the electromagnetic pendulum drive via the electromagnet 300, a drive driver 400 is provided as part of the electronic control unit 410, which provides the conversion of control signals of an electronic control unit 410 into the signal required for the drive excitation 300 with a defined time-dependent curve progression of the electrical excitation voltage ue or the electrical excitation current ie. Advantageously, the electronic control unit 410 comprises discrete and/or partially integrated electronic components and/or a programmable microcontroller. The control signal of the electronic control unit 410 is provided either as a digital signal or as an analog signal to the drive driver 400. The drive driver 400 converts this signal into an electrical unipolar excitation voltage ue or into a bipolar excitation voltage ue or into a unipolar excitation current ie or into a bipolar electrical excitation current ie, respectively. For this purpose, an electrical power source 420 supplies either a unipolar supply voltage or a split, i.e. bipolar, supply voltage which is positively and negatively oriented with respect to an electrical potential point lying between the total voltage. In the case of bipolar control, the drive driver 400 comprises means such as a bridge circuit for alternation of polarity of the excitation voltage ue and the excitation current ie. Preferably, the drive driver 400 comprises an electronic H-bridge for generating a bipolar excitation voltage ue and a bipolar excitation current ie, respectively.

[0193] A line sensor 430 and/or an acceleration sensor 431 may optionally be provided as message detecting means in the electronic control unit 410. A message detecting means optionally detects the changes in the backward force component Fyr at the attachment point 230 or backward temporal velocity changes dv/dt as negative acceleration values of the fishing bait 1 provided for transmitting messages as a signal, converts them into an electrical signal and supplies it to the electronic control unit 410 for further evaluation of the temporal sequence of signals and, if necessary, for decoding.

[0194] Message detecting means may comprise, for example, an acceleration sensor 431, for example an integrated MEMS sensor and/or a line sensor 430.

[0195] In the case of an acceleration sensor 431, detecting is performed via a spring-mass acceleration sensor in the fishing bait 1. Such inertial sensors evaluate the inertial force acting on a mass and can be implemented very well on a silicon basis with so-called MEMS structures within an integrated electronic component in a compact and cost-effective manner. When a defined threshold value of the acceleration dv/dt detected in this way is exceeded, a signal is detected which is provided to the decoder for decoding.

[0196] The line sensor 430 comprises either a switch with a force-specific defined switching point, which changes its electrical switching contact in a defined manner at a defined mechanical inertial force component at the attachment point Fyr and thereby generates an electrical signal at a defined inertial force component at the attachment point Fyr, or a sensor for analog conversion of the inertial force component at the attachment point Fyr into an electrical value, such as the result signal of a piezo element, a strain gauge, an optoelectronic sensor, an inductive sensor, a capacitive sensor or a pressure sensor.

[0197] Electrical power is supplied to the electrical components of the electromagnetic pendulum drive via a unipolar electrical power source 420 or via a split, bipolar electrical power source 420. Battery cells or rechargeable electrical power sources such as accumulators or capacitors, for example so-called “supercaps”, may be provided as the electrical power source 420 for supplying the electronic control unit 410 of the control actuators, the drive driver 400 and the electromagnet 300. In the case of a rechargeable electrical power source 420, charging may be provided from an external electrical power source such as a car battery cigarette lighter or from an external rechargeable battery/“power pack” and via the wired interface 460.

[0198] Advantageously, a DC converter 421 is arranged between the electrical power source 420 and the electronic control unit 410 and the electromagnet 300, which adapts the voltage of the electrical power source 420 to a higher voltage for supplying the electrical components of the electromagnetic pendulum drive. Preferably, the voltage converter is embodied as an inductive step-up converter, for example in the form of a so-called boost converter or step-up converter. In this case, a low input voltage range of 0.8 V to 3.8 V is stepped up to a higher output voltage of 2.0 V to 18 V.

[0199] The advantage of this arrangement is that single or multiple simple, for example alkaline/manganese cells or, for example, lithium cells, which are available in various formats, for example in AAA or AA format or as button cells in various sizes, can be used inexpensively and widely with high charge capacity to operate the propulsion and the electronic control unit. The cell voltage of a single alkaline cell is 1.5 V. The practical usable voltage range of alkaline/manganese cells or of lithium iron sulfide cells, is between 1.2 V and 1.7 V. The practically usable voltage range of other lithium cells is from 2.0 V to 3.8 V.

[0200] Furthermore, the advantage of this arrangement is that as energy supply single or several simple rechargeable accumulator cells, for example in NiCd or NiMh or lithium-ion or NiZk technology hereinafter referred to as accumulator cells, which are available in different formats, for example in AAA or AA format or as button cells in different sizes at low cost and widely available with high charge capacity, can be used to operate the propulsion and the electronic control unit. The cell voltage of a single NiCd or NiMh cell is 1.2 V, and that of a NiZk cell is 1.6 V. The practically usable voltage range of these cells is between 0.8 V and 1.7 V. The cell voltage of a single lithium-ion cell is 3.7 V. The practically usable voltage range of this cell is between 3.0 V and 3.8 V.

[0201] This results in the following particularly advantageous input voltage ranges for the DC converter based on the input voltage range of 0.8 V to 3.8 V: [0202] 0.8V to 1.7V [0203] 2.0V to 2.8V [0204] 3.0V to 3.8V

[0205] Series connections of individual cells are also possible. This can result in integer multiples of the mentioned cell voltages as input voltage ranges.

[0206] In order to have a sufficiently high voltage swing available for the control of the electromagnetic propulsion even when using an H-bridge, bipolar integrated circuits with a lower operating voltage of 4.5 V (selected from 3.5 V) or integrated CMOS circuits with a lower operating voltage of 2.5 V (selected from 2.0 V) can be considered.

[0207] The upper limit of the supply voltage of these circuits is usually 18 V. This results in the output voltage range of the DC converter being 2.0 V to 18 V. Preferably, the output voltage range is between 4.0 V and 6 V and particularly preferably between 4.5 V and 5.5 V.

[0208] To shift the center of gravity 210 (cf. FIG. 2), the mass of the electrical power source 420 and/or the mass of a ballast body (not shown) can optionally be changed in its position within the body shell 100 of the fishing bait 1 via electrical control actuators (not shown) and/or manually via a sealed manual control means that can be operated from the outside and extends into the body shell 100, such as a manually operable control actuator 450. For example, a manually operable control actuator 450 comprises mechanical adjustment means such as a screw, clamp, slide, valve or the like, or electrical adjustment means such as a potentiometer, switch, electrical or magnetic activatable contact/measurement point or the like.

[0209] The interface 460 may be a wired interface, such as a USB interface or an RS232 interface or other proprietary interface on the fishing bait 1 with sealable contacts, or a wireless interface in the fishing bait 1, such as a Bluetooth interface or a WiFi interface. A computer such as a stationary computer, a portable computer, a tablet or a smartphone may be used by an angler 2 to program the electronic control unit 410. Advantageously, this computer has a further interface to a remote computer or the Internet, in order to be able to download from there ready-made programs or updates for programming the electronic control unit 410 of the fishing bait 1.

[0210] The self-movable fishing bait 1 comprises at least one fishing hook 110 for hooking a predatory fish to be caught on the fishing bait 1 in the event of a successful bite. Advantageously, the fishing hook 110 is resiliently connected to the fastening device 130 via a fishing hook reinforcement 111 in order to ensure a secure mechanical joint between the predatory fish to be caught and the angler 2 via the connecting line 10 to the angler 2 even in the event of a violent drill, and to enable the catch to be retrieved by the angler 2.

[0211] An optionally arranged artificial swim bladder 440 serves for defined positioning of the center of buoyancy 200 (cf. FIG. 2) within the body shell 100 of the fishing bait 1. For displacement of the center of buoyancy 200, the volume of the artificial swim bladder 440 and/or the position of the center of buoyancy 200 within the body shell 100 can optionally be changed via electrical control actuators (not shown) or manually via a manually operable control actuator 450. Shifting the center of buoyancy 200 relative to the center of gravity 210 changes the position of the plumb axis 250 relative to the direction of motion y, and thus changes the static position (trim) or angle of the plumb axis 250 of the fishing bait 1 relative to, for example, the vertical z-direction in the surrounding water 3. Optionally, a floating pose may alternatively or additionally generate or supplement buoyancy. In the case of a dynamic movement v of the fishing bait 1 relative to the surrounding water 3, it can be determined together with one or more flow bodies, for example one or more elevators 121, 122 (see FIG. 3 and FIG. 4), in which vertical z-direction the self-movable artificial baitfish 1 swims.

[0212] Optionally, a pressure sensor (not shown) for detecting the static water pressure of the current diving depth may be arranged at the electronic control unit 410, wherein in joint with the electronic control unit 410 the means for controlling the diving depth are controllable to maintain a certain predetermined diving depth based on programming or in response to a decoded message from the angler.

[0213] Optionally, means (not shown) for delivering acoustic attractants and/or visual attractants and/or taste attractants for attracting prey fish may be provided on the electronic control unit 410, and may optionally be activated and deactivated by the control unit 410. Means for delivering acoustic attractants may comprise an electromechanical vibrator that delivers vibrations, in particular simulating a sick baitfish to the surrounding water. Means for delivering visual attractants may comprise, for example, a flashing light-emitting diode or a light-emitting diode emitting a continuous signal, which emits attractant visual signals to the surrounding water. Means for delivering flavored attractants may comprise a manually fillable attractant tank that can be emptied by control signal, or a permanently drainable attractant tank in the self-movable artificial baitfish that delivers a flavored attractant substance, such as simulating a body fluid of a sick or dead bait, or an aromatic substance, to the surrounding water.

[0214] Advantageously, at least one means for locating (not shown) is optionally provided in the self-movable fishing bait 1. In particular, GPS locating means and/or acoustic locating means, for example ultrasonic transmitters, and/or optical locating means, for example a flashing light-emitting diode, are provided as means for locating. Means for locating are preferably used for the retrieval of a fishing bait 1 that may have been lost.

[0215] FIG. 5 illustrates a principal arrangement of drive means in the fishing bait in the representation of the sectional plane A-B of a plan view. Here, the electromagnet 300 within the bait body 102, 102′ causes an oscillating movement of the permanent magnet transversely to the longitudinal axis of the bait body Y due to an electromagnetic force effect. The motion is transmitted to the Transition area of the tail fin 101 and to the tail fin 103 via the pendulum lever 312 and the drive bearing point 311. As a result, the pendulum lever 312, the transition area of the tail fin 101 and the tail fin 103 are directly set into oscillating motion transverse to the longitudinal axis of the bait body Y. Therefore, a natural movement of the fishing bait 1 is produced without any unnatural mechanical vibration due to contact, rotary motion, commutation, bearing of a drive motor or from a gearbox, or from an eccentric mechanism or the like. The propulsion is largely noiseless and emits the same vibrations when the tail fin 103 moves in the surrounding water 3 as a living fish does in its natural movement situations from standing in the water 3 to escaping or moving when injured or sick.

[0216] FIG. 6a shows a cross-section through the body shell and bait body of the fishing bait in the cut plane E-F according to a first alternative embodiment. The cut plane E-F shows a section through a cylindrically shaped excitation coil 301 and a ferromagnetic core 302, which are centrally located within a circular tube of the bait body 102.

[0217] FIG. 6b shows a longitudinal section through the body shell and bait body of the fishing bait according to a first alternative embodiment. The body shell 100 of the fishing bait 1 receives the bait body 102 therein along the longitudinal axis of the bait body Y. The tubular bait body 102 is sealed watertight at its head end by the front outer wall of the bait body 105, and at its tail end by the rear outer wall of the bait body 104. Advantageously, the bait body 102 may be removed from the body shell 100 or opened within the body shell 100, for example, by a means of severing the body shell 100 at its forward end. By removing the front outer wall of the bait body 105, the bait body 102 may be opened to replace the electrical power source 420 or to gain access to an interface 460′ of the electronic control unit 410 disposed within the bait body 102 through which the electronic control unit 410 is controllable and/or programmable. For example, one means of controller comprises a manually operable control element 422 that is either accessible to the user when the bait body 102 is open or operable from outside the bait body 102 when sealed in a watertight manner. The manually operable control element 422 comprises, for example, an on/off switch that can be used to produce or cut off power from the electromagnetic power source 420 to the electrical components of the electromagnetic pendulum drive. The manually operable control element 422 may further allow, for example, a step switch or an adjustment knob or other controls for manually changing the control parameters, such as frequency, pause times, etc., of the controller of the electromechanical pendulum drive. The bait body 102 houses the electronic control unit 410 with its electrical components, the electrical power source 420, and the excitation coil 301 with its core of ferromagnetic material 302. In this embodiment, the rear end of the core of ferromagnetic material 302 passes through the rear outer wall of the bait body 104 in a watertight manner to form the rear end of the electromagnet 300. Alternatively, the rear end of the core of ferromagnetic material 302 may be disposed within the bait body 102.

[0218] In this embodiment, the permanent magnet 313 is located outside the bait body 102 at a distance h from the electromagnet 300 comprising a core of ferromagnetic material 302 of the excitation coil 301. In this case, the pendulum lever 312 is movably supported outside the bait body 102, and is reciprocally movable contactless by the magnetic field of the excitation coil 301. The pendulum lever transitions to the tail fin (not shown), which it sets into mechanical oscillating motion. In this example, the permanent magnet 313 is composed of two stacked cube-shaped permanent magnets forming a common pole axis P2 transverse to the longitudinal axis of the bait body Y. The permanent magnet 313 is attached to the pendulum lever 312 of the permanent magnet pendulum actuator located outside the bait body 102. Alternatively, the permanent magnet 313 may be integrable into the body shell 100 of the artificial fishing bait 1 in the tail fin region or into the tail fin region of the dead fishing bait 1.

[0219] In these embodiments, the pendulum bearing 311 is located outside the bait body 102 in the body shell 100 of the artificial fishing bait 1 or the dead natural fishing bait 1. The pendulum bearing 314 of the artificial fishing bait 1 advantageously comprises an elastic material such as, for example, plastic, in particular elastomers, rubber or silicone, having a defined modulus of elasticity in the range between 0.5 MPa to 100 MPa, or a Shore hardness A according to DIN ISO 7619-1 in the range from 50 to 95 Shore 00 or from 10 Shore A to 90 Shore A, preferably in the range from 10 Shore A to 60 Shore A.

[0220] FIG. 6c shows, as a detail of section G-H, a section of the electromagnet and the components of the pendulum actuator according to a first alternative embodiment. Shown in plan view is the electromagnet 300, comprising the excitation coil 301 and the core of ferromagnetic material 302.

[0221] The first pole axis P1 of the electromagnet is parallel to the longitudinal axis of the bait body Y. The pendulum bearing 311 is disposed at a distance L from the electromagnet 300. The pendulum actuator, comprising the permanent magnet 313 and the pendulum lever 312, is shown in its zero position, in which no excitation current ie flowing through the excitation coil 301. The pendulum lever 312 is moved to the zero position by the elastic return element 314. The pole axis P2 is oriented transversely at right angles to the longitudinal axis of the bait body Y. In the zero position, the permanent magnet 313 has the air gap h0 to the core of ferromagnetic material 302 of the permanent magnet 300. The edges of a cuboid formed by two cube-shaped permanent magnets extend along the interrupted line at a distance Rp from the pendulum bearing when the pendulum lever 312 rotates about the pendulum bearing 311. Thereby, the edges have a minimum air gap he.

[0222] FIG. 6a′ shows a cross-section through the body shell and bait body of the fishing bait in the section plane E-F of an embodiment according to a second alternative embodiment, The section plane E-F shows a section through a cylindrically shaped excitation coil 301 and a ferromagnetic core 302 and a pole shoe or yoke of ferromagnetic material 303, which are arranged within a round tube of the bait body 102.

[0223] FIG. 6b′ shows a longitudinal section through the body shell and bait body of the fishing bait of an embodiment according to a second alternative embodiment. The body shell 100 of the fishing bait 1 receives the bait body 102 therein along the longitudinal axis of the bait body Y. The tubular bait body 102 is sealed watertight at its head end by the front outer wall of the bait body 105, and at its tail end by the rear outer wall of the bait body 104. Advantageously, the bait body 102 may be removed from the body shell 100 or opened within the body shell 100, for example, by a means of severing the body shell 100 at its forward end. By removing the front outer wall of the bait body 105, the bait body 102 may be opened to replace the electrical power source 420 or to gain access to an interface 460′ of the electronic control unit 410 disposed within the bait body 102 through which the electronic control unit 410 is controllable and/or programmable or the electrical power source 410 is chargeable. One means of controller comprises, for example, a manually operable control element 422 that is either accessible to the user when the bait body 102 is open or operable from outside the bait body 102 when sealed in a watertight manner. The manually operable control element 422 comprises, for example, an on/off switch that can be used to produce or cut off power from the electromagnetic power source 420 to the electrical components of the electromagnetic pendulum drive. The manually operable control element 422 may further allow, for example, a step switch or an adjustment knob or other controls for manually changing the control parameters, such as frequency, pause times, etc., of the controller of the electromechanical pendulum drive. The bait body 102 houses the electronic control unit 410 with its electrical components, the electrical power source 420, and the excitation coil 301 with its core of ferromagnetic material 302 and the pole shoe or yoke of ferromagnetic material 303. In this embodiment, the rear end of the core of ferromagnetic material 302 passes through the rear outer wall of the bait body 104 in a watertight manner and forms the rear end of the electromagnet 300. Alternatively, the rear end of the core of ferromagnetic material 302 may be formed in a watertight manner within the bait body 104 and forms the rear end of the electromagnet 300.

[0224] In this embodiment, the permanent magnet 313 is located outside the bait body 102 at a distance h from the electromagnet 300 comprising a core of ferromagnetic material 302 of the excitation coil 301. In this case, the pendulum lever 312 is movably supported outside the bait body 102, and is reciprocally movable contactless by the magnetic field of the excitation coil 301. The pendulum lever transitions to the tail fin (not shown), which it sets into mechanical oscillating motion. In this example, the permanent magnet 313 is composed of two stacked cube-shaped permanent magnets forming a common pole axis P2 transverse to the longitudinal axis of the bait body Y. The permanent magnet 313 is attached to the pendulum lever 312 of the permanent magnet pendulum actuator located outside the bait body 102. Alternatively, the permanent magnet 313 may be integrable into the body shell 100 of the artificial fishing bait 1 in the tail fin region or into the tail fin region of the dead fishing bait 1.

[0225] In these embodiments, the pendulum bearing 311 is located outside the bait body 102 in the body shell 100 of the artificial fishing bait 1 or the dead natural fishing bait 1. The pendulum bearing 314 of the artificial fishing bait 1 advantageously comprises an elastic material such as, for example, plastic, in particular elastomers, rubber or silicone, having a defined modulus of elasticity in the range between 0.5 MPa to 100 MPa, or a Shore hardness A according to DIN ISO 7619-1 in the range from 50 to 95 Shore 00 or from 10 Shore A to 90 Shore A, preferably in the range from 10 Shore A to 60 Shore A.

[0226] FIG. 6c′ shows, as a detail of section G-H, a section of the electromagnet and the components of the pendulum actuator of an embodiment according to a second alternative embodiment. Shown in plan view is the electromagnet 300, comprising the excitation coil 301 and the core of ferromagnetic material 302.

[0227] The first pole axis P1 is guided tail-side to the rear via at least one pole shoe or yoke of ferromagnetic material 303 and forms a further first pole axis P1′ of the pole shoe or yoke of ferromagnetic material 303, which preferably has an angle in the range of 0°+/−30°, preferably 0°+/−10°, in particular in the range of 0°+/5° to the longitudinal axis of the bait body Y and therefore runs substantially parallel to the longitudinal axis of the bait body Y.

[0228] The further first pole axis P1′ is parallel to the longitudinal axis of the bait body Y. The pendulum bearing 311 is arranged at a distance L from the electromagnet 300. The pendulum actuator, comprising the permanent magnet 313 and the pendulum lever 312, is shown in a zero position in which no excitation current ie flowing through the excitation coil 301. The pendulum lever 312 is moved to the zero position by the elastic return element 314. The pole axis P2 is oriented transversely at right angles to the longitudinal axis of the bait body Y. In the zero position, the permanent magnet 313 has the air gap h0 to the core of ferromagnetic material 302 of the permanent magnet 300. The edges of a cuboid formed by two cube-shaped permanent magnets extend along the interrupted line at a distance Rp from the pendulum bearing when the pendulum lever 312 rotates about the pendulum bearing 311. Thereby, the edges have a minimal air gap he.

[0229] FIG. 7a schematically shows the electromagnet and the components of the pendulum actuator according to an embodiment of the first embodiment in a zero position. Shown in plan view is the electromagnet 300, comprising the excitation coil 301 and the core of ferromagnetic material 302.

[0230] The pole axis P1 is parallel to the longitudinal axis of the bait body Y. The pendulum bearing 311 is located at a distance L from the electromagnet 300. The pendulum actuator, comprising the permanent magnet 313 and the pendulum lever 312, is shown in a zero position in which no excitation current ie flowing through the excitation coil 301. The joint of the power source 420 to the excitation coil 301 is broken by a manually operable control element 422. In this embodiment, the pendulum lever 312 is moved to the zero position by an optional elastic return element 314. The restoring force Fr in this position is 0. The pole axis P2 is oriented transversely at right angles to the longitudinal axis of the bait body Y. In the zero position, the permanent magnet 313 has the air gap h0 to the core of ferromagnetic material 302 of the permanent magnet 300. The return element 314 may optionally be omitted because the restoring force is provided by the reversing in the case of reversing excitation of the electromagnet 300 continuously or for a sufficiently long time within a deflection period, and/or by a force action of the surrounding water 3 flowing past the fin.

[0231] In the zero position, the magnetic center of the permanent magnet 313 is at a distance h0 from the ferromagnetic core 302 of the excitation coil 301 and is aligned with the pole axis P1. In this position, the permanent magnet 313 exerts a minimum force Fm0 on a core of ferromagnetic material 302 of the electromagnetic excitation coil 301 spaced at distance h0 from the magnetic center, which is the magnetically neutral zone of the permanent magnet to the side of the permanent magnet. The pendulum drive is in an unstable to slightly stable equilibrium position and can already be deflected in the positive direction sm+ with a weak positive electromagnetic pulse or in the negative direction sm− with a weak negative electromagnetic pulse. The deflection sm of the pendulum lever 312 is 0 in this position.

[0232] FIG. 7b schematically shows the electromagnet and the components of the pendulum actuator according to an embodiment of the first embodiment in a partially positively deflected state.

[0233] The circuit between the power source 420 and the excitation coil 301 is closed. The electromagnet 300 is driven with alternating polarity (cf. FIG. 7b versus FIG. 7c), comprising an electrically bipolar AC voltage as drive voltage ue at the excitation coil 301 and a bipolar flowing AC current as excitation current ie through the excitation coil 301 of the electromagnet 300.

[0234] The excitation voltage ue is applied to the excitation coil 301 in the positive direction and a positive excitation current ie flows through the excitation coil 301. As a result, a south pole S is formed along the first pole axis P1 at the rear end of the core of ferromagnetic material 302 and a north pole N is formed at the front end of the core of ferromagnetic material 302. The polarities are chosen by way of example and may also have reversed polarity. In the illustrated position of the pendulum lever 312, the latter has left the zero position in the positive sm direction and has reached a deflection sm, but not yet its positive end position smE+.

[0235] The effective air gap hi between the electromagnet 300 and the permanent magnet 313 decreases dynamically after leaving the zero position as a function of the deflection sm of the pendulum lever 312 when the pendulum drive moves towards its respective end position smE. The magnetic force fm of the permanent magnet 313 is concentrated on the edge of the permanent magnet 313 that forms the smallest air gap hi. As the air gap hi decreases, the magnetic force component increases and takes a relative minimum at the end position smE and the magnetic force effect Fm reaches a relative maximum. Until the end position is reached, the magnetic force component forms a force component Fmd acting perpendicularly on the pendulum lever. This produces the magnetic moment of motion Mm acting on the pendulum lever at distance Rp.

[0236] When the respective end position smE is exceeded, the effective air gap h increases again, the magnetic force effect Fm on the permanent magnet pendulum actuator decreases and the direction of the force vector Fmd reverses, whereby the pendulum is guided back to the end position smE, in which the magnetic force effect Fm has a relative maximum. The distance h and the magnetic force effect Fm are relative because the pendulum radius and the distance of the pendulum pivot from the electromagnet, respectively from the core of the electromagnet, can be chosen differently in different embodiments.

[0237] As the deflection sm increases, the restoring force Fr of the elastic return element 314 also increases and generates a small counter-torque compared to the magnetic moment of motion Mm.

[0238] FIG. 7c schematically shows the electromagnet and the components of the pendulum actuator according to an embodiment of the first embodiment in its positive end position of deflection.

[0239] Once deflected, the magnetic field of the permanent magnet 313 begins to develop its force effect Fm on the magnetic field of the core of ferromagnetic material 302 of the electromagnetic excitation coil 301 and causes an increasing deflection of the pendulum drive, until the latter reaches a positive end position smE+ or a negative end position smE− at which the air gap hE reaches a minimum and thus the force effect Fm of the magnetic field of the permanent magnet 313 on the magnetic field of the core of ferromagnetic material 302 of the electromagnetic excitation coil 301 reaches a maximum. The end position of the pendulum, for example the positive end position smE+ is thereby reached, depending on the damping effect of an optional elastic return element 314 of the pendulum bearing 311 and/or the flow forces acting on the tail fin when used in water 3 (cf. FIG. 1), either in a damped manner following an e-function, aperiodically transiently or after a damped transient process.

[0240] In this case, in addition to the restoring force of the tail fin in still or moving water 3, a speed-dependent damping resulting from the relative movement of the tail fin to the surrounding water and/or a restoring force Fr is generated by the elastic return element, which damps the pendulum swing and/or returns the pendulum to its zero position when excitation is outstanding and thus supports the pole reversal process.

[0241] FIG. 7d schematically shows the electromagnet and the components of the pendulum actuator according to an embodiment of the first embodiment in its negative end position of deflection.

[0242] From the position shown in FIG. 7c, the pendulum drive is reversed by flowing an opposite current ie through the excitation coil 301 of the electromagnet 300 by reversing the polarity of the voltage ue applied to the excitation coil 301 of the electromagnet 300. The oppositely polarized magnetic force field of the electromagnet 300 thus generated opposes the magnetic force field of the permanent magnet 313 and supports the restoring force Fr caused by the elastic return element 314 to accelerate the pendulum lever 312 in the direction of the opposite end position. In the process, the pendulum lever 312 is deflected in the opposite direction beyond the zero position by the force field of the electromagnet 300 and the permanent magnet. In the process, the magnetic field Fm of the permanent magnet 313 again begins to exert its force effect on the magnetic field of the core of ferromagnetic material 302 and causes an increasing deflection of the pendulum lever 312 until the latter reaches a negative end position smE−, at which the air gap hE reaches a minimum and thus the force effect Fm of the magnetic field of the permanent magnet on the magnetic field of the core of ferromagnetic material 302 reaches a maximum. The end position of the pendulum lever 312 is thereby reached, depending on the damping effect of the elastic return element 314 and/or on the flow forces acting on the tail fin during use in the water 3, either in a damped manner following an e-function, aperiodically transient or after a damped transient.

[0243] FIG. 8a shows the course of the dynamic air gap h as a function of the deflection sm. In the above embodiments, the air gap h has a minimum in the end positions of the pendulum lever 312 smE and a maximum in the zero position of the pendulum lever 312 smO.

[0244] The air gap h is the shortest distance between the permanent magnet 313 of the permanent magnet pendulum actuator and the pole of the electromagnet 300 of the electromagnetic pendulum drive. A dynamic air gap h is the air gap h formed when the permanent magnet pendulum actuator moves as a function of the deflection of the permanent magnet pendulum actuator from its rest position. The air gap h advantageously varies in the range between 20 mm and 0.05 mm, in particular between 5 mm and 0.05 mm and preferably between 2 mm and 0, 5 mm.

[0245] FIG. 8b shows the course of the magnetic force effect Fm as a function of the deflection sm. The magnetic force effect Fm has a minimum at the largest air gap h0 in the zero position of the pendulum lever 312 and assumes a maximum at the smallest air gap in the respective end positions of the pendulum lever 312 smE. The smaller the air gap h can be selected in synergy with the pendulum radius, the elastic and dynamic restoring torque, the number of windings N and the magnitude of the excitation current ie, the greater the moment of motion of the permanent magnet pendulum actuator that can be achieved and thus the moment of motion of the fishing bait drive.

[0246] FIG. 9a shows the variation of the magnetic moment of motion Mm as a function of the deflection sm of the pendulum lever. As the deflection sm of the pendulum lever increases in the positive or negative direction, the air gap decreases (see FIG. 8a). As the air gap hi decreases, the magnetic force component Fm˜1/h increases hyperbolically and reaches a relative maximum at the end position smE. Until the end position is reached, the magnetic force component forms a force component Fmd acting perpendicularly on the pendulum lever. This produces the magnetic moment of motion Mm acting on the pendulum lever at the distance Rp. The magnetic moment of motion reaches a relative maximum MmE in the respective end position. When the respective end position smE is exceeded, the effective air gap h increases again, the magnetic force effect Fm on the pendulum lever 312 decreases and the direction of the force vector Fmd reverses, whereby the pendulum is guided back to the end position smE, in which the magnetic force effect Fm has a relative maximum. The relationship of Mm as a function of the deflection sm has a pole point in each of the end positions smE of the pendulum lever 312, which stabilizes the pendulum lever 312 in the end positions smE until reversing by the electromagnet in the end points smE. This results in a maximum force effect Fm and a stop-free and therefore noise-free limitation of the deflection sm of the pendulum lever 312 can take place, because the attraction between the permanent magnet 313 and the pole shoe or the yoke made of ferromagnetic material or the core made of ferromagnetic material 302 reaches a stabilizing critical maximum MmE in the end positions. An elastic stop can optionally be provided to limit the pendulum swing.

[0247] FIG. 9b shows the variation of the magnetic moment of motion Mm as a function of the deflection sm of the pendulum lever and the control ranges required for reversing. The pendulum lever 312 of the pendulum drive is reversed (cf. FIG. 7d) by reversing the polarity of the voltage ue applied to the excitation coil 301 of the electromagnet 300 by causing an opposite current ie to flow through the excitation coil 301 of the electromagnet 300. The oppositely polarized magnetic force field of the electromagnet 300 thus generated counteracts the magnetic force field of the permanent magnet 313 and supports the restoring force Fr caused by the elastic return element 314 to accelerate the pendulum lever 312 in the direction of the opposite end position.

[0248] The restoring magnetic moment of motion Mm to be applied for this purpose must overcome the force effect caused by the permanent magnet 313 when attracted to the core of ferromagnetic material 302 and/or to the pole shoe or the yoke of ferromagnetic material 303 and the resulting moment of motion Mm in order to initiate the reversing of the pendulum lever 312. In this regard, the required restoring moment MmR is assisted by a permanent elastic restoring moment caused by the elastic restoring means and by a restoring moment applied to the tail fin by the surrounding water 3. The magnetic restoring moment of motion MmR can be reduced by the amount of these additional restoring moments. Further, reversing advantageously requires reversing excitation of the electromagnet 300 only until the pendulum lever reaches the range in which the permanent elastic restoring moment alone is sufficient to overcome the residual attractive moment of the permanent magnet 313. The accelerated mass of the permanent magnet 313 advantageously exerts sufficient kinetic energy on the pendulum lever 312 to move it further beyond the zero position towards the opposite end position, where it is picked up and stabilized by the counter-pole excited electromagnet which starts again.

[0249] In the process, the pendulum lever 312 is deflected in the opposite direction beyond the zero position by the force field of the electromagnet 300 and the permanent magnet.

[0250] For reversing, the acceleration from one end position in the direction of the other end position is advantageously initiated by a current pulse which has a defined duty cycle compared with the drive frequency or the period of the pendulum drive. The current pulse ie thereby entered for excitation of the excitation coil 301 advantageously has a smaller integral over time than in each case with symmetrical or asymmetrical control. The integral of the current ie over time represents the charge to be drawn from the entrained electrical power source 420 for actuation. By reducing the pulse width of the excitation current ie, either the amplitude of the current pulse ie and thus the restoring torque can be increased for the same amount of charge, which increases the moment of motion of the propulsion, or the charge to be taken from the electrical power source 420 can be reduced for a constant moment of motion, which increases the running time of a particular electrical power source 420 or allows a smaller electrical power source 420 to be used for a comparable running time.

[0251] Advantageously, a sensor is optionally arranged to detect the current position of the pendulum lever 312 and to transmit this information to the electronic control unit 410 (cf. FIG. 4). The electronic control unit 410 determines from the current position of the pendulum lever 312 whether excitation of the electromagnet 300 is required for reversing, whether the excitation current ie required, or whether the excitation current ie can be reduced or switched off without hindering or supporting the reversing process.

[0252] FIG. 10 shows the principle relationship between the magnitude of the magnetic force and the magnitude of the air gap width. The illustration shows the basically hyperbolic relationship between the magnitude of the magnetic force effect and the magnitude of the air gap width, which is derived from the relationship of the magnetic force in the air gap according to the equation

Fm˜K*(ie*N/h).sup.2,

[0253] can be represented. With decreasing air gap h, the magnetic force Fm increases quadratically-hyperbolically.

[0254] Due to the advantageous arrangement of the electromagnet 300 (cf. FIG. 4 to FIG. 7d and FIG. 11), on the one hand, the high magnetic holding force of the permanent magnet 313 is used to generate a high magnetic moment of motion Mm in synergy with the effect of the electromagnetic force field of the electromagnet 300, which attracts during deflection sm and compensates during reversing, in order to effect compensation of the magnetic field required for reversing with the lowest possible excitation current ie and thus in an energy-saving manner with respect to the energy source 420 carried along, and thus to initiate an energy-saving reversing of the pendulum actuator.

[0255] FIG. 11 shows an arrangement of the electromagnetic pendulum drive within the bait body. The permanent magnet 313 is disposed within the bait body 102. The bait body 102 is enclosed tail-side by the body cavity 100 of the artificial or dead natural fishing bait 1. In this regard, the pendulum lever 312 is mounted within the bait body 102 in the rear outer wall 104 thereof and is reciprocated in a contactless manner by the magnetic field of the excitation coil 301. A pendulum actuator formed thereby is movably carried out of the rear end of the bait body 102, sealed against ingress of water, and passes into the tail fin, which it sets into mechanically oscillating motion transversely to the longitudinal axis Y of the bait body. Advantageously, the passage of the pendulum lever 312 through the rear wall of the bait body 104 comprises the permanently elastic return element 314, further advantageously comprising a permanently elastic sealing means, for example made of rubber or silicone or another elastomer, and advantageously forms the pendulum bearing 311 around which the pendulum lever 312 of the pendulum actuator is rotatably movable. The pendulum bearing 311 and the seal provided by the permanently elastic return element 314 advantageously comprise an elastic material such as, for example, plastic, in particular elastomers, rubber or silicone, with a defined modulus of elasticity in the range between 0.5 MPa to 100 MPa, or a Shore hardness A according to DIN ISO 7619-1 in the range from 50 to 95 Shore 00 or from 10 Shore A to 90 Shore A, preferably in the range from 10 Shore A to 60 Shore A. The body shell 100 may, in the case of a dead natural fishing bait 1, completely coat the pendulum actuator so that the pendulum actuator causes lateral movement of the body of the fishing bait and/or its tail fin 103.

[0256] FIG. 12 schematically shows the electromagnet and the components of the pendulum actuator of an embodiment of the first embodiment with a second pole axis P2, which is arranged in an angular range of 0°+/−40° to the longitudinal axis of the bait body.

[0257] Thereby, the excitation coil 301 is arranged with the first pole axis P1 in an angular range of 0°+/−40° to the longitudinal axis of the bait body Y and there is arranged the permanent magnet 313 with the second pole axis P2 in an angular range of 0°+/−40° to the longitudinal axis of the bait body Y. Advantageously, a bipolar control is used. Alternatively, in this embodiment, a unipolar actuation can optionally be provided in a less advantageous manner. In this embodiment, the zero position is located in one of the end positions smE and is transferred by the elastic return element 314 from a possibly previous deflection to a zero position when the electromagnet 300 is not excited, that is, when no current ie flowing through the excitation coil 301 of the electromagnet 300. The elastic return element 314 comprises, for example, an elastomer, rubber or silicone, or one or more permanently elastic springs made of metal or of plastic. In the case of bipolar control, when the excitation current ie in the electromagnet 300 is in opposite polarity with respect to the polarity of the permanent magnet 313, the permanent magnet 313 is attracted towards the pole of the electromagnet 300, causing the pendulum lever 312 to move away from its zero position. It is particularly advantageous if an excitation coil with ferromagnetic core 302 is arranged, because the permanent magnet 313 exerts an additional magnetic force Fm on the core of ferromagnetic material 302 in the air gap h due to a permanent magnetic attraction force. Conversely, when the excitation current ie in the electromagnet 300 is of the same pole, a repulsion of the permanent magnet 313 away from the pole of the electromagnet 300 occurs with respect to the polarity of the permanent magnet 313, causing the pendulum lever 312 to move back to its zero position. When an excitation coil 301 with core of ferromagnetic material 302 is arranged, the additional magnetic force exerted by the permanent magnet 313 on the core of ferromagnetic material in the air gap h must be overcome in the process. In order to achieve a symmetrical movement of the tail fin 103 with respect to the longitudinal axis of the bait body Y, a laterally offset arrangement of the pendulum actuator and/or the electromagnet 300 with respect to the longitudinal axis of the pendulum actuator Y is advantageous in this embodiment.

[0258] FIG. 13 shows a sectional view of a fishing bait drive with an electromagnet 300 comprising an excitation coil 301 with a first pole axis P1 and a pendulum actuator comprising a permanent magnet 313 with a second pole axis P2 and a pendulum lever 312, wherein due to an electromagnetic force field of the electromagnet 300 the permanent magnet 313 is movable transversely to the longitudinal axis of the bait body Y, wherein the excitation coil 301 is arranged with the first pole axis P1 at an angle in the range of 0°+/−30° to the longitudinal axis of the bait body Y, with an E-shaped pole shoe or yoke 303 of ferromagnetic material, wherein a central core 302 of ferromagnetic material is disposed within the excitation coil 301 and is passed over ferromagnetic material outside of the excitation coil 301 from a first pole end 304 of the central core of ferromagnetic material 302 to a second pole end 305 of the central core of ferromagnetic material 302, forming a pole shoe or yoke of ferromagnetic material 303 which at the second pole end 305 of the central core of ferromagnetic material 302 has an air gap to the central core of ferromagnetic material 302 in which the permanent magnet 313 is movably arranged in such a way that the projection of the first pole axis P1 by the excitation coil 301 and the second pole axis P2 by the permanent magnet 313 intersect in at least one position at a defined angle.

[0259] The core, comprising the central core of ferromagnetic material 302 and at least one lateral pole shoe or yoke of ferromagnetic material 303, can be formed as a flat E-shaped or U-shaped core or as a rotationally symmetrical cylindrically pot-shaped or as a cylindrically pot-shaped pole shoe or yoke of ferromagnetic material 303 cut out at the ends in each case, as shown for example in FIG. 14a and FIG. 14b.

[0260] FIG. 14a and FIG. 14b show an embodiment with a partially pot-shaped pole shoe or yoke made of ferromagnetic material 303, each as a sectional view, and FIG. 14a shows an embodiment in which the central core 302 and the lateral ends of the pole shoe or yoke made of ferromagnetic material 303 are designed in this embodiment such that the permanent magnet 313, during its rotation in the pendulum bearing 311 about the pendulum bearing axis of rotation 311′, passes through the circular arc-shaped distance lines h0 and he in such a way, in such a way that in its respective end position the permanent magnet assumes a respective minimum distance to the central core of ferromagnetic material 302 and to the pole shoe or yoke of ferromagnetic material 303 and in this position exerts the highest magnetic attractive force. Advantageously, the permanent magnet remains in this position even without an optionally possible mechanical stop until the reversing process (cf. FIG. 9a). The propulsion can thus be operated with particularly low noise.

[0261] FIG. 14b shows in cross section the ends of the central core of ferromagnetic material 302 forming the air gap and the ends of the pole shoe or yoke of ferromagnetic material 303. Advantageously, the cross section has a width corresponding to the shape of the magnetically effective edge of the permanent magnet.

[0262] The ends of a pot-shaped pole shoe or yoke made of ferromagnetic material 303 can optionally be embodied straight, for example to correspond with the straight edge of a cube- or cuboid-shaped permanent magnet 313. In the case of bar-shaped or cylindrical permanent magnets, the ends may each be embodied in an arcuate shape, so that in each of the aforementioned cases an air gap as homogeneous as possible is formed between the edge of the permanent magnet 313 and the central core of ferromagnetic material 302 and the pole shoe or yoke of ferromagnetic material 303. On the one hand, this achieves a high force effect of the permanent magnet 313 in the end positions and, on the other hand, a high magnetic flux density can be provided for reversing the pendulum lever 312.

[0263] FIG. 15 shows an assembly example with line stopper with external line guide. As the mass of components such as the excitation coil 301 with the ferromagnetic components and the power source of the fishing bait 1 increases, the downward weight force on the fishing bait 1 increases. In order to compensate for this during the diving process of the fishing bait 1 in the surrounding water 3 so that the fishing bait 1 assumes a stable position in the surrounding water 3, a float 150 is advantageously attached to the bait body 102, which, on the one hand, statically determines the inclination of the bait body 102 and the diving depth in the surrounding water 3 and, on the other hand, indicates the current position of the fishing bait 1 to the angler at the surface of the surrounding water 3. In the embodiment shown, a line stopper 138 that is adjustable and lockable on the line is attached to the connecting line to the angler 10. The connecting line to the angler 10 is looped from behind by a rear second attachment means 132, which provides a rear second deviation point 142. The connecting line to the angler 10 is further looped through a front first attachment means 131, which provides a front first deviation point 141. From there, the connecting line to the angler 10 is further routed to the float 150 to the underside of which it is attached.

[0264] Due to the weight force, the fishing bait 1 initially slides down along the connecting line to the angler 10 in the surrounding water 3 until it reaches the position of the line stopper 138 at the rear second deviation point 142 of the rear second attachment means 132. A forward y-direction sum of force components Fyv generated by the fishing bait drive initially causes the fishing bait 1 to leave this position again, until the movement generated by the fishing bait drive over the portion of the connecting line to the angler 10 located between the fishing bait 1 and the float 150 causes the float 150 to move, thereby experiencing an upwardly directed force component Fa in balance with a downwardly directed weight force which pulls the line stopper 138 back to the rear second deviation point 142 of the rear second attachment means 132 on the bait body 102 and stabilizes the position of the fishing bait 1 on the connecting line to the angler 10 and thus the depth at which the fishing bait moves.

[0265] Optionally, the front first attachment means 131 is attached to a front first extension element 133. Advantageously, the front first extension element 133 comprises elastic deformable material, for example metal or plastic, and remains in the set shape until the next deformation. By these measures, the fishing bait 1 is statically trimmable in the inclination of the longitudinal axis of the bait body Y with respect to the plumb axis 250 in the surrounding water 3 in synergy with the weight force of the fishing bait drive and the components of the fishing bait 1 and is dynamically trimmable in its inclination with respect to the plumb axis 250 in synergy with the forward sum of force components Fyv generated by the fishing bait drive in the y-direction, and the fishing bait 1 is definably adjustable in its position in depth with respect to the surface of the surrounding water 3.

[0266] The connecting line to the angler 10 can be attached at any point on the bait body 102, depending on the desired lateral and/or forward movement v in the surrounding water 3. If a defined controllable forward movement v, directed away from the angler with natural course of motion of the bait body is to be achieved, the connecting line to the angler 10 is to be attached behind the drive point, preferably behind the pendulum bearing 311 or an auxiliary straight line, the pendulum bearing axis of rotation 311′, which runs axially inside the pendulum bearing 311.

[0267] In this example, the connecting line to the angler 10 is loopable from a float 150 through a front first attachment means 131 forming a front first deviation point 141 to a rear second attachment means 132 forming a rear second deviation point 142, where the connecting line to the angler 10 is limitable in its movement relative to the deviation points via a line stopper 138. Advantageously, the rear second deviation point 142 is arranged behind the pendulum pivot axis 311′ of the fishing bait drive.

[0268] In a preferred embodiment, the connecting line to the angler 10 is attached behind the pendulum pivot axis 311′ of the propulsion as viewed from the head end of the bait body.

[0269] FIG. 16 shows an assembly example with line stopper 138 corresponding to FIG. 15 with internal line guidance. Advantageously, in this embodiment, a connecting tube 135 is disposed within the bait body 102 through which the connecting line is looped to the angler 10 and whose rear second opening 137 forms a rear second deviation point 147 and whose front first opening 136 forms a front second deviation point 146.

[0270] In this embodiment, the connecting line to the angler 10 is loopable from a float 150 through a connecting tube 135 within the bait body 102.

[0271] It will be understood that the above description of preferred embodiments is exemplary only, and that various modifications may be embodied by those skilled in the art. Although various embodiments have been described above with some degree of precision, or with reference to one or more individual embodiments, those skilled in the art could make numerous modifications to the disclosed embodiments without departing from the essence or scope of protection of the present invention. Aspects of any of the examples described above may be combined with aspects of any other examples described to form further examples without losing any effect.

LIST OF REFERENCE SIGNS

[0272] 1 fishing bait [0273] 2 angler [0274] 3 surrounding water [0275] 10 connecting line to angler [0276] 11 fishing rod [0277] 12 rolling-up attachment [0278] 100 body shell [0279] 101 transition area of the tail fin [0280] 102 bait body [0281] 103 tail fin [0282] 104 rear outer wall of bait body [0283] 105 front outer wall of bait body [0284] 110 fishing hook [0285] 111 fishing hook reinforcement [0286] 120; 120′ rudder [0287] 121 right elevator [0288] 122 left elevator [0289] 130; 130′ attachment means [0290] 131 front first attachment means [0291] 132 rear second attachment means [0292] 133 front first extension element [0293] 134 rear second extension element [0294] 135 connecting tube [0295] 136 front first opening [0296] 137 rear second opening [0297] 138 line stopper [0298] 141 front first deviation point [0299] 142 rear second deviation point [0300] 146 front first deviation point [0301] 147 rear second deviation point [0302] 150 float [0303] 200 center of buoyancy [0304] 210 center of gravity [0305] 220 drive point [0306] 230 attachment point [0307] 250 plumb axis [0308] 300 electromagnet [0309] 301 excitation coil [0310] 302 core made of ferromagnetic material [0311] 303 pole shoe or yoke made of ferromagnetic material [0312] 304 first pole end [0313] 305 second pole end [0314] 310 pendulum actuator [0315] 311 pendulum bearing [0316] 311′ pendulum bearing pivot axis [0317] 312 pendulum lever [0318] 313 permanent magnet [0319] 314 elastic return element [0320] 330 tail-side propulsion [0321] 400 drive driver [0322] 410 electronic control unit [0323] 420 electrical power source [0324] 421 optional DC converter [0325] 422 manually operated control element [0326] 4301 ine sensor [0327] 431 acceleration sensor [0328] 440 artificial swim bladder [0329] 450 manually operated control actuator [0330] 460, 460′ interface [0331] Y longitudinal axis of bait body [0332] S magnetic south pole [0333] N magnetic north pole [0334] P1 first pole axis [0335] P1′ further first pole axis [0336] P2 second pole axis of the permanent magnet [0337] sm deflection [0338] h air gap [0339] hi current air gap as a function of s [0340] h0 air gap in zero position [0341] hE air gap in end position [0342] Mtr dynamic trim torque [0343] Rp pendulum radius [0344] L distance of pendulum bearing from electromagnet [0345] Fm resulting magnetic force [0346] Fmd magnetic force component transverse to pendulum lever [0347] FmE resulting magnetic force in end position [0348] Fr resetting force component [0349] Mm magnetic moment of motion=Rp*Fmd [0350] y optional direction of motion forward [0351] x horizontal direction of motion right/left transverse to optional direction of motion [0352] z vertical direction up/down transverse to optional direction of motion y [0353] v velocity when moving in the direction of motion y, relative to surrounding water [0354] Fyv forward in y-direction sum of force components at the point of attack [0355] Fyr inertial force component at attachment point or rear second deviation point [0356] ue electrical excitation voltage [0357] ie. electrical excitation current