A machine for reverse ditching and applying organic fertilizer and cutting roots

Abstract

The present invention relates to the technical field of agricultural machinery devices, and in particular to an organic fertilizer reverse furrowing and application root cutting machine; the device comprises a fertilizing mechanism, a root cutting mechanism, a frame, a hydraulic mechanism and a control mechanism; before operation, field fertility information is first imported into the control mechanism, and positioning information and travel information of the current position are obtained in real time. The control mechanism calculates specific parameter adjustment information, and then adjusts the real-time fertilization amount. The furrowing depth can also be adjusted according to different crop requirements; this solution can achieve neat cutting of crop roots along the furrow wall, solves the problems of inaccurate organic fertilizer application amount, shallow furrowing depth, difficult root cutting and uneven root cutting wounds for deep-rooted crops in the prior art, realizes the integrated operation of deep application of organic fertilizer and root cutting, and promotes the growth of crop roots.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery devices, and in particular to an organic fertilizer reverse furrowing and application root cutting machine. Background Art

[0002] As a major agricultural country, my country has a wide range of fruit planting areas. In order to pursue higher fruit harvest rates, improve fruit quality, and increase fruit set rates, many fruit farmers will apply fertilizers regularly. The depth of domestic trenching and fertilization is mostly less than 45cm, and the operation resistance is large. The trenched soil also requires additional soil backfill components to fill the soil back into the trench, which undoubtedly increases the energy consumption of the operation. For deep-rooted crops, such as vineyards, pear orchards, and apple orchards, the fertilization depth usually needs to reach 60cm. Currently, there is a lack of organic fertilizer applicators that can dig deep trenches on the market. Relevant scholars have shown that properly cutting off the crop roots during fertilization is conducive to promoting the germination and growth of new roots. Simply relying on trenching knives for root cutting operations can easily cause root tearing and uneven cross-sections, thereby affecting the development of the root system. Therefore, the problem of neat root cutting during trenching is also a major technical problem in agriculture.

[0003] Traditional fertilizer spreaders come in a wide variety of types, but most utilize a metered fertilization method. However, precise control of fertilizer application is crucial in fruit cultivation. Applying too much organic fertilizer in areas with high fertility can lead to rapid crop growth, wasting fertility resources. Insufficient fertilizer in areas with low fertility can stunt crop development, and in severe cases, even halt growth due to nutrient deficiency. Therefore, to better ensure fruit tree growth and reduce environmental pollution, a more intelligent and precise fertilization method is needed. Summary of the Invention

[0004] In view of the deficiencies in the prior art, the present invention aims to provide an organic fertilizer reversing trenching and root cutting machine that can apply fertilizer more accurately and solve the problems of shallow fertilization depth in deep-rooted crops and difficulty in neatly cutting off crop roots.

[0005] In order to solve the above technical problems, the present invention provides a technical solution: an organic fertilizer reverse furrowing and application root cutting machine, comprising a frame, on which a fertilizing mechanism, a root cutting mechanism and a control mechanism are provided;

[0006] The fertilizing mechanism includes a fertilizer box, the fertilizer box is provided with a fertilizer outlet and a fertilizer blocking plate driven by a first driving device to control the opening and closing of the fertilizer outlet, and the fertilizing mechanism also includes a fertilizer scraping plate arranged below the fertilizer outlet;

[0007] The root cutting mechanism includes a second driving device arranged on the frame, the second driving device is connected to a strong pressure beam that can rotate in a vertical plane, the strong pressure beam is connected to a leaf chain assembly, and a furrowing shaft that can rotate in the same plane as the strong pressure beam is installed on the frame, and the leaf chain assembly is driven by the second driving device to rotate around the furrowing shaft;

[0008] The leaf chain assembly includes a sprocket that rotates in the same plane as the trenching shaft, a leaf chain is sleeved between the sprocket and the trenching shaft, and multiple groups of root cutting pieces, left cup-shaped curved knives, and right cup-shaped curved knives are evenly spaced on the leaf chain. The organic fertilizer scraped off by the fertilizer scraper is applied to the ground surface below the sprocket;

[0009] The control mechanism includes a display and control integrated machine, a steering wheel and a satellite antenna arranged on the frame. The display and control integrated machine is connected to the satellite antenna line and displays and outputs the current position longitude and latitude coordinates and forward speed information in real time. The steering wheel is installed on the steering shaft of the tractor.

[0010] Furthermore, the fertilizer outlet is located on a vertical side surface of the fertilizer box, the first driving device is a stepping motor, the stepping motor controls the lifting and lowering of the fertilizer guard plate, the fertilizer scraper is close to the end of the fertilizer outlet and rotates in the horizontal plane, and on the same side of the fertilizer box, a pull rod displacement sensor is installed for real-time detection of the lifting distance of the fertilizer guard plate.

[0011] Furthermore, the second driving device includes an upper ear of the oil cylinder arranged on the frame, the upper ear of the oil cylinder is connected to a downward-inclined hydraulic cylinder, the other end of the hydraulic cylinder is connected to a lower ear of the oil cylinder, and the lower ear of the oil cylinder is fixedly connected to the strong pressure beam.

[0012] Furthermore, when the hydraulic cylinder is fully extended, the leaf chain assembly reaches a maximum trenching depth; and when the hydraulic cylinder is fully retracted, the leaf chain assembly leaves the ground.

[0013] Furthermore, the rotation angle of the plate chain assembly is 0 to 70 degrees.

[0014] Furthermore, the left cup-shaped scimitar and the right cup-shaped scimitar are alternately arranged on the left and right sides, and the sizes of the multiple groups of the left cup-shaped scimitar and the right cup-shaped scimitar are arranged from small to large.

[0015] Furthermore, the frame is further provided with a hydraulic mechanism, the hydraulic mechanism including a gear pump, the gear pump is transmission-connected to an intermediate gearbox, and the intermediate gearbox is transmission-connected to the trenching shaft via a first coupling;

[0016] The hydraulic mechanism further comprises a hydraulic motor, on which a differential pressure reducing valve and a proportional throttle valve are integrated via a valve block, and the hydraulic motor is transmission-connected to the fertilizer scraper via a second coupling.

[0017] Furthermore, the scraper is connected to a photoelectric encoder, which measures the rotation speed of the hydraulic motor in real time and transmits the measurement signal to the control mechanism in real time.

[0018] A control method for the organic fertilizer reverse furrowing and application root cutting machine includes the following steps:

[0019] (1) The control mechanism collects and obtains soil fertility information of different plots in the field, and calculates the specific value of the amount of organic fertilizer to be applied to the corresponding plot under the fertility;

[0020] (2) The display and control integrated machine obtains satellite message information in real time at a fixed frequency and extracts positioning information and travel information therefrom;

[0021] (3) The control mechanism calculates the fertilizer amount information corresponding to the latitude and longitude information through a machine learning model, and provides parameter adjustment information adapted to the working conditions according to the travel information;

[0022] (4) The control mechanism converts the amount of fertilizer applied into the lifting data of the fertilizer baffle and the speed data of the fertilizer discharge shaft according to the fertilizer amount-rotation speed-fertilizer discharge height conversion model, and transmits the control signals to the first drive device and the hydraulic mechanism respectively;

[0023] (5) The first driving device drives the fertilizer baffle to rise and fall according to the signal, and the hydraulic mechanism drives the fertilizer scraper to rotate according to the signal;

[0024] (6) The control mechanism sends the currently obtained positioning information, travel information, parameter adjustment information, fertilizer application amount information and torque information to the display screen in real time through serial communication.

[0025] Compared with the existing technology, this solution has the following significant advantages:

[0026] This solution can obtain real-time positioning and movement information of the current location, and use this information to make intelligent fertilization decisions, obtaining a specific fertilizer amount suitable for the current location. It also enables real-time adjustment of the fertilizer amount and visualization of information parameters. After the discharged organic fertilizer falls to the ground surface, the root cutting mechanism rotates in the opposite direction, simultaneously opening trenches and cutting soil, bringing the organic fertilizer into the trench, and throwing the soil-fertilizer mixture back into the trench in real time. The additional root cutting element can neatly sever the crop roots during the trenching process, solving the problems of inaccurate fertilization, shallow depth, difficult root cutting, and uneven root cutting in deep-rooted crops in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0028] Figure 1 It is a schematic diagram of the overall structure of the variable root cutting machine in the present invention;

[0029] Figure 2 It is a partial structural diagram of the variable root cutting machine in the present invention;

[0030] Figure 3 Schematic diagram of the structure of the fertilizing mechanism of the present invention;

[0031] Figure 4 It is a structural diagram of the variable root cutting mechanism in the present invention;

[0032] Figure 5 It is a structural diagram of the hydraulic mechanism in the present invention;

[0033] Figure 6 is another structural schematic diagram of the hydraulic mechanism in the present invention;

[0034] Figure 7 Schematic diagram of the internal structure of the fuel tank of the present invention;

[0035] Figure 8 Schematic diagram of the steps of the control method of the present invention;

[0036] In the figure: 1-fertilizing mechanism, 2-root cutting mechanism, 3-frame, 4-hydraulic mechanism, 5-control mechanism, 6-multi-information fusion system, 7-main controller, 101-fertilizer box, 102-stepping motor, 103-fertilizer baffle, 104-fertilizer scraper, 105-screw, 107-photoelectric encoder, 108-pull rod displacement sensor, 201-hydraulic cylinder, 202-strong pressure beam, 203-sprocket, 204-oil cylinder lower ear, 205-oil cylinder upper ear, 206-plate chain assembly, 207 - Trenching shaft, 208- root cutting piece, 209- plate chain, 210- left cup-shaped scimitar, 211- right cup-shaped scimitar, 401- intermediate gearbox, 402- gear pump, 403- oil tank, 404- pressure line filter, 405- oil suction filter, 406- differential pressure reducing valve, 407- proportional throttle valve, 408- hydraulic motor, 409- air cooler, 410- oil return filter, 411- valve, 501- display and control integrated machine, 502- steering wheel, 503- satellite antenna. DETAILED DESCRIPTION

[0037] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention and are not used to limit the present invention.

[0038] like Figure 1-7 As shown, the organic fertilizer reverse furrowing and root cutting machine of the present invention includes a frame 3, on which a fertilizing mechanism 1, a root cutting mechanism 2, a hydraulic mechanism 4 and a control mechanism 5 are provided.

[0039] Specifically, the fertilizing mechanism 1 includes a fertilizer box 101. It can be seen that the fertilizer box 101 is generally in the shape of a square funnel. Its three sides are surrounded by bent plates with a bending angle of 45 degrees. The fourth side is a vertical flat plate. The fourth side is also the front side of the fertilizer box 101. The bottom of the fertilizer box is provided with a fertilizer outlet. At the same time, a first drive device, namely a stepper motor 102, is also provided on the front side. It is connected to a screw 105 through a coupling. The screw 105 is also connected to a fertilizer baffle 103 that can control the opening and closing of the fertilizer outlet through a nut. The driving action of the stepper motor 102 can drive the fertilizer baffle 103 to rise and fall, thereby adjusting the size of the fertilizer outlet. A pull rod displacement sensor 108 is installed on the fourth side to detect the height information of the fertilizer baffle in real time and feed the detected data information back to the control mechanism 5.

[0040] A fertilizer scraping plate 104 is provided at the end of the fertilizer outlet. Both ends of the fertilizer scraping plate 104 are respectively connected to mining ring chains, and the fertilizer scraping plate 104 can scrape fertilizer toward the fertilizer outlet as the ring chains move.

[0041] The root cutting mechanism 2 includes a driving device, and the second driving device includes an upper ear 205 of the cylinder arranged on the frame 3. The upper ear 205 of the cylinder is connected to the lower ear 204 of the cylinder through a downward-inclined hydraulic cylinder 201. The lower ear 204 of the cylinder is fixedly connected to the strong pressure beam 202. The strong pressure beam 202 is connected to the plate chain assembly 206. A trenching shaft 207 is also provided on the frame 3. The rotation of the plate chain assembly 206 around the trenching shaft 207 can be realized by the extension and retraction of the hydraulic cylinder 201.

[0042] The leaf chain assembly 206 includes a sprocket 203 that rotates in the same vertical plane as the trenching shaft 207. A leaf chain 209 is sleeved between the sprocket 203 and the trenching shaft 207. Multiple sets of root cutting elements 208, left cup-shaped curved blades 210, and right cup-shaped curved blades 211 are evenly spaced on the leaf chain 209. When the hydraulic cylinder 201 is fully extended, the leaf chain assembly 206 reaches its maximum trenching depth, which is 60 cm in this embodiment. When the hydraulic cylinder 201 is fully retracted, the leaf chain assembly 206 is lifted off the ground, and the rotation angle of the leaf chain assembly 206 is between 0 and 70 degrees.

[0043] The organic fertilizer scraped off by the fertilizer scraper 104 is applied on the ground surface below the sprocket 203, and the plate chain 209 drives the left cup-shaped curved knife 210 and the right cup-shaped curved knife 211 to bring the organic fertilizer into the ditch bottom together with the soil.

[0044] In addition, the sizes of the left cup-shaped scimitar 210 and the right cup-shaped scimitar 211 are usually 12 cm, 15 cm, 20 cm, 25 cm, and 30 cm. The two are arranged alternately on the left and right, and the multiple groups are arranged in a cycle from small to large. They are fixed to the plate chain 209 by bolts. During operation, the two cup-shaped scimitars move from top to bottom, cutting the soil while bringing the surface organic fertilizer into the bottom of the ditch.

[0045] The hydraulic mechanism 4 includes a gear pump 402, which is transmission-connected to an intermediate gearbox 401. The intermediate gearbox 401 is located below the fertilizing mechanism 1 and is connected to the trenching shaft 207 through a first coupling to provide power for the plate chain assembly 206.

[0046] The hydraulic mechanism 4 further includes an oil tank 403 , a pressure line filter 404 and an air cooler 409 . An oil suction filter 405 , an oil return filter 410 and a valve 411 are integrated into the oil tank 403 .

[0047] The hydraulic mechanism 4 also includes a hydraulic motor 408, which is integrated with a differential pressure reducing valve 406 and a proportional throttle valve 407 via a valve block. This minimizes the volume of the oil chamber between the valve and the hydraulic motor 408, maximizing the hydraulic response frequency. The hydraulic motor 408 is also connected to the fertilizer scraper 104 via a second coupling. The faster the speed, the greater the amount of fertilizer applied. The other end of the drive shaft is connected to a photoelectric encoder 107 via a coupling. This encoder measures the speed of the hydraulic motor 408 in real time and transmits the measurement signal to the control mechanism 5 in real time, achieving closed-loop speed control.

[0048] The control mechanism 5 includes an integrated display and control unit 501, a steering wheel 502 and a satellite antenna 503. The integrated display and control unit 501 is connected to the satellite antenna 503 via a cable and can display and output the current position longitude and latitude coordinates and forward speed information in real time. The electric steering wheel 502 is installed on the steering shaft of the original tractor, and the automatic driving system can make the unit move along the calibrated trajectory.

[0049] The control mechanism 5 also includes a multi-information fusion system 6, which integrates multiple components such as a main controller, an organic fertilizer application intelligent decision-making system, and a display screen.

[0050] On the basis of the above scheme, Figure 8 As shown, the control method of the device includes the following steps:

[0051] (1) Obtain soil fertility information of different plots in the field through soil testing and formulation technology, and import the fertility information into the intelligent fertilization decision-making system, and use the decision-making system to obtain the specific value of the amount of organic fertilizer to be applied based on the fertility information;

[0052] (2) The integrated display and control machine 501 obtains satellite message information in real time at a fixed frequency, and extracts positioning information (including latitude, longitude and heading angle) and travel information (crew operating speed);

[0053] (3) The main controller obtains the current longitude and latitude and operating speed through 485 communication and transmits this information to the fertilization intelligent decision-making system; the fertilization intelligent decision-making system calculates the fertilizer amount information corresponding to the longitude and latitude information through the trained machine learning model, and provides the parameter adjustment information (including speed and fertilizer outlet height) adapted to the working conditions according to the travel information, and returns it to the main controller through the USB communication line;

[0054] (4) The main controller converts the amount of fertilizer applied into the speed data of the stepper motor 102 and the hydraulic motor 408 according to the fertilizer amount-speed-fertilizer discharge height conversion model, and transmits the control signals to the motor driver and the solenoid valve respectively; the speed and fertilizer shield lifting height information are obtained in real time through the photoelectric encoder 107 and the pull rod displacement sensor 108 respectively, and the information is sent to the control mechanism 5 to realize the negative feedback regulation of the speed and fertilizer shield height.

[0055] (5) The hydraulic motor 408 drives the fertilizer discharge shaft to rotate, and the stepper motor 102 drives the fertilizer baffle to increase its height, thus achieving timely adjustment of the fertilizer application amount;

[0056] (6) The main controller sends the current positioning information, travel information, parameter adjustment information, fertilizer application amount information and torque information to the smart display screen in real time through serial communication, realizing the visualization of parameter adjustment.

[0057] The working process of this program is:

[0058] First, the tractor's PTO shaft provides power to the hydraulic mechanism 4, which then transmits the power to the root-cutting mechanism 2 and hydraulic mechanism 4. Before operation, the tractor is modified to be equipped with a Beidou navigation autopilot system. A satellite antenna, intelligent display and control terminal, and electric steering wheel are installed on the tractor, which receives real-time positioning and travel information via the satellite antenna. During operation, valve 411 is opened, controlling the hydraulic cylinder 201 to slowly extend until the root-cutting mechanism 2 reaches its maximum trenching depth. The operator then clicks the start button on the intelligent screen, and the control system begins operation. The main controller receives the positioning and travel information via 485 communication and transmits it to the intelligent fertilization decision-making system via USB. Based on the current positioning and travel information, the system queries the specific fertilizer amount for the current location, generates the adjustment parameters for the fertilizer amount and travel speed, and returns them to the main controller 7. The main controller 7 transmits control signals to the solenoid valve and driver, respectively, enabling the hydraulic motor to adjust the fertilizer speed and the stepper motor to adjust the fertilizer outlet height, thereby achieving dual-variable combined control of organic fertilizer. The photoelectric encoder 107 measures the speed of the hydraulic motor 408 in real time and transmits the measurement signal to the main controller. If there is a discrepancy between the measured speed and the speed given by the intelligent decision-making system, the main controller 7 sends an adjustment signal to the solenoid valve to correct the speed, thereby ensuring speed accuracy. Finally, the main controller sends various information to the intelligent display screen for visualization.

[0059] Driven by hydraulic motor 408, scraper blade 104 moves toward the fertilizer outlet, discharging organic fertilizer onto the ground surface. The chain-type trenching device then rotates in the opposite direction, simultaneously digging and cutting the soil and bringing the organic fertilizer into the trench. The soil-fertilizer mixture is then thrown back into the trench in real time. The installed root cutter neatly severs the crop roots during the trenching process, thus completing the entire trenching, fertilizing, and root cutting process. After the operation is completed, the tractor power output is stopped, the piston rod of hydraulic cylinder 201 is fully retracted until the entire leaf chain assembly 206 clears the ground surface, and the fertilizer outlet is closed by stepper motor 102, and the machine is placed in a safe and open area.

[0060] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. An organic fertilizer reverse ditching and application root cutting machine, characterized in that: The machine comprises a frame, on which a fertilizing mechanism, a root cutting mechanism and a control mechanism are arranged; and a hydraulic mechanism is also arranged on the frame; The fertilizing mechanism includes a fertilizer box, the fertilizer box is provided with a fertilizer outlet and a fertilizer blocking plate driven by a first driving device to control the opening and closing of the fertilizer outlet, and the fertilizing mechanism also includes a fertilizer scraping plate arranged below the fertilizer outlet; The root cutting mechanism includes a second driving device arranged on the frame, the second driving device is connected to a strong pressure beam that can rotate in a vertical plane, the strong pressure beam is connected to a leaf chain assembly, and a furrowing shaft that can rotate in the same plane as the strong pressure beam is installed on the frame, and the leaf chain assembly is driven by the second driving device to rotate around the furrowing shaft; The leaf chain assembly includes a sprocket that rotates in the same plane as the trenching shaft, a leaf chain is sleeved between the sprocket and the trenching shaft, and multiple groups of root cutting pieces, left cup-shaped curved knives, and right cup-shaped curved knives are evenly spaced on the leaf chain. The organic fertilizer scraped off by the fertilizer scraper is applied to the ground surface below the sprocket; The control mechanism includes a display and control integrated device, a steering wheel, and a satellite antenna arranged on the frame. The display and control integrated device is connected to the satellite antenna line and displays and outputs the current position latitude and longitude coordinates and forward speed information in real time. The steering wheel is installed on the steering shaft of the tractor; The control method of the root cutting machine comprises the following steps: (1) The control mechanism collects and obtains soil fertility information of different plots in the field, and calculates the specific value of the amount of organic fertilizer to be applied to the corresponding plot under the fertility; (2) The display and control integrated machine obtains satellite message information in real time at a fixed frequency and extracts positioning information and travel information therefrom; (3) The control mechanism calculates the fertilizer amount information corresponding to the longitude and latitude information through a machine learning model, and provides parameter adjustment information adapted to the working conditions based on the travel information; (4) The control mechanism converts the fertilizer amount into the lifting data of the fertilizer baffle and the speed data of the fertilizer discharge shaft according to the fertilizer amount-rotation speed-fertilizer discharge height conversion model, and transmits the control signals to the first drive device and the hydraulic mechanism respectively; (5) The first driving device drives the fertilizer baffle to rise and fall according to the signal, and the hydraulic mechanism drives the fertilizer scraper to rotate according to the signal; (6) The control mechanism sends the currently obtained positioning information, travel information, parameter adjustment information, fertilizer application amount information and torque information to the display screen in real time through serial communication.

2. The organic fertilizer reversal ditching and application root cutting machine according to claim 1, characterized in that, The fertilizer outlet is located on a vertical side surface of the fertilizer box. The first driving device is a stepping motor. The stepping motor controls the lifting and lowering of the fertilizer guard plate. The fertilizer scraper is close to the end of the fertilizer outlet and rotates in a horizontal plane. On the same side of the fertilizer box, a pull rod displacement sensor is installed to detect the lifting distance of the fertilizer guard plate in real time.

3. The organic fertilizer reversal ditching and application root cutting machine according to claim 1, is characterized in that, The second driving device includes an upper ear of a cylinder arranged on the frame, the upper ear of the cylinder is connected to a downward-inclined hydraulic cylinder, the other end of the hydraulic cylinder is connected to a lower ear of the cylinder, and the lower ear of the cylinder is fixedly connected to the strong pressure beam.

4. The organic fertilizer reversal ditching and application root cutting machine according to claim 3, is characterized in that, When the hydraulic cylinder is fully extended, the leaf chain assembly reaches the maximum trenching depth; when the hydraulic cylinder is fully retracted, the leaf chain assembly leaves the ground.

5. The organic fertilizer reversal ditching and application root cutting machine according to claim 4 is characterized in that, The rotation angle of the plate chain assembly is 0-70°.

6. The organic fertilizer reversal ditching and application root cutting machine according to claim 1 is characterized in that, The left cup-shaped scimitar and the right cup-shaped scimitar are alternately arranged on the left and right sides, and the sizes of the multiple groups of left cup-shaped scimitars and right cup-shaped scimitars are arranged from small to large.

7. The organic fertilizer reversal ditching and application root cutting machine according to claim 1 is characterized in that, The hydraulic mechanism includes a gear pump, the gear pump is transmission-connected to an intermediate gearbox, and the intermediate gearbox is transmission-connected to the trenching shaft via a first coupling; The hydraulic mechanism further comprises a hydraulic motor, on which a differential pressure reducing valve and a proportional throttle valve are integrated via a valve block, and the hydraulic motor is transmission-connected to the fertilizer scraper via a second coupling.

8. The organic fertilizer reversal ditching and application root cutting machine according to claim 7, characterized in that: The scraper is connected to the drive with a photoelectric encoder, which measures the rotation speed of the hydraulic motor in real time and transmits the measurement signal to the control mechanism in real time.

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