CN114080891A - Rotary drilling type fruit tree accurate fertilizer injection device and method - Google Patents
Rotary drilling type fruit tree accurate fertilizer injection device and method Download PDFInfo
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- CN114080891A CN114080891A CN202111474430.3A CN202111474430A CN114080891A CN 114080891 A CN114080891 A CN 114080891A CN 202111474430 A CN202111474430 A CN 202111474430A CN 114080891 A CN114080891 A CN 114080891A
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- 239000003337 fertilizer Substances 0.000 title claims abstract description 400
- 238000002347 injection Methods 0.000 title claims abstract description 246
- 239000007924 injection Substances 0.000 title claims abstract description 246
- 238000005553 drilling Methods 0.000 title claims abstract description 50
- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 41
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 84
- 238000002360 preparation method Methods 0.000 claims abstract description 47
- 239000007788 liquid Substances 0.000 claims abstract description 39
- 230000004720 fertilization Effects 0.000 claims abstract description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 56
- 239000002689 soil Substances 0.000 claims description 36
- 230000002572 peristaltic effect Effects 0.000 claims description 24
- 230000035515 penetration Effects 0.000 claims description 19
- 230000003068 static effect Effects 0.000 claims description 13
- 235000015097 nutrients Nutrition 0.000 claims description 11
- 239000011591 potassium Substances 0.000 claims description 11
- 229910052700 potassium Inorganic materials 0.000 claims description 11
- ZLMJMSJWJFRBEC-UHFFFAOYSA-N Potassium Chemical compound [K] ZLMJMSJWJFRBEC-UHFFFAOYSA-N 0.000 claims description 10
- 235000013619 trace mineral Nutrition 0.000 claims description 10
- 239000011573 trace mineral Substances 0.000 claims description 10
- 239000000618 nitrogen fertilizer Substances 0.000 claims description 9
- 238000003860 storage Methods 0.000 claims description 9
- 239000002686 phosphate fertilizer Substances 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 6
- 238000009826 distribution Methods 0.000 claims description 5
- 230000008602 contraction Effects 0.000 claims description 4
- 230000003028 elevating effect Effects 0.000 claims description 4
- 238000005304 joining Methods 0.000 claims description 2
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 6
- OAICVXFJPJFONN-UHFFFAOYSA-N Phosphorus Chemical compound [P] OAICVXFJPJFONN-UHFFFAOYSA-N 0.000 description 5
- 229910052698 phosphorus Inorganic materials 0.000 description 5
- 239000011574 phosphorus Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 229910052757 nitrogen Inorganic materials 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 235000021048 nutrient requirements Nutrition 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- KWYUFKZDYYNOTN-UHFFFAOYSA-M Potassium hydroxide Chemical compound [OH-].[K+] KWYUFKZDYYNOTN-UHFFFAOYSA-M 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 229940072033 potash Drugs 0.000 description 1
- 235000015320 potassium carbonate Nutrition 0.000 description 1
- BWHMMNNQKKPAPP-UHFFFAOYSA-L potassium carbonate Substances [K+].[K+].[O-]C([O-])=O BWHMMNNQKKPAPP-UHFFFAOYSA-L 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/04—Distributing under pressure; Distributing mud; Adaptation of watering systems for fertilising-liquids
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/007—Metering or regulating systems
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/02—Special arrangements for delivering the liquid directly into the soil
- A01C23/023—Special arrangements for delivering the liquid directly into the soil for liquid or gas fertilisers
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/04—Machines for making or covering holes for sowing or planting
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Water Supply & Treatment (AREA)
- Fertilizing (AREA)
Abstract
The invention discloses a rotary drilling type fruit tree accurate fertilizer injection device and a fertilizer injection method, wherein the device comprises a fertilizer injection connecting frame (1) and an ultrasonic sensor (10) connected with a controller, a rotary drilling mechanism is installed on the last stage telescopic end of a multi-stage lifting mechanism on the fertilizer injection connecting frame (1), a fertilizer injection pipe (6) on the rotary drilling mechanism is communicated with a fertilizer liquid outlet (26) of an accurate fertilizer preparation mechanism through a pipeline, and a fertilizer injection drill bit (7) is arranged at the bottom end of the fertilizer injection pipe (6); during fertilizer injection, the multi-stage lifting mechanism drives the rotary ground drilling mechanism to linearly descend until the fertilizer injection drill bit (7) contacts the ground of a fertilizer injection point, then the multi-stage lifting mechanism continues to drive the rotary ground drilling mechanism to linearly descend, the rotary ground drilling mechanism drives the fertilizer injection pipe (6) with the fertilizer injection drill bit (7) to rotate to a target fertilizer application depth, and the accurate fertilizer preparation mechanism outputs quantitative fertilizer to the fertilizer injection pipe (6) to complete fertilizer application. The invention can realize the refined fertilization management of fruit trees and is in accordance with the development direction of precision agriculture.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to a rotary drilling type precise fertilizer injection device and a rotary drilling type precise fertilizer injection method for fruit trees.
Background
The top dressing is a key link of fruit tree management, along with the development of precision agriculture, the requirements on fertilization quality and fertilizer reduction and efficiency improvement are gradually improved, and the requirements on precision fertilization equipment and technology of fruit trees are increasingly highlighted. The fertilizer injection equipment and the technology aiming at a single fruit tree can improve the utilization rate of the fertilizer and realize accurate fertilization. However, the existing equipment and technology have the problems of large soil penetration resistance of a fertilizer injection pipe, and inaccurate control of the fertilizer application depth and nutrient elements.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a rotary drilling type precise fertilizer injection device and a fertilizer injection method for fruit trees.
The invention aims to solve the problems by the following technical scheme:
the utility model provides a fertile device of accurate notes of rotatory formula fruit tree that bores, includes accurate fertile mechanism of joining in marriage and annotates fertile mechanism, its characterized in that: the fertilizer injection mechanism comprises a fertilizer injection connecting frame, a multi-stage lifting mechanism, a rotary earth boring mechanism and an ultrasonic sensor connected with a controller, wherein the fertilizer injection connecting frame is provided with the multi-stage lifting mechanism, the last stage telescopic end of the multi-stage lifting mechanism is provided with the rotary earth boring mechanism, a fertilizer injection pipe on the rotary earth boring mechanism is communicated with a fertilizer liquid outlet of the accurate fertilizer preparation mechanism through a pipeline, and the bottom end of the fertilizer injection pipe is provided with a fertilizer injection drill bit; based on signal feedback of the ultrasonic sensor to the position of the fertilizer injection drill bit and a control instruction of the controller, the multi-stage lifting mechanism firstly drives the rotary drilling mechanism to linearly descend until the fertilizer injection drill bit contacts the ground of a fertilizer injection point, then the multi-stage lifting mechanism continuously drives the rotary drilling mechanism to linearly descend, the rotary drilling mechanism drives the fertilizer injection pipe with the fertilizer injection drill bit to rotate, so that the fertilizer injection pipe rotates and descends to a target fertilizing depth, and the accurate fertilizer distribution mechanism outputs quantitative fertilizer to the fertilizer injection pipe to complete fertilizer distribution.
The multi-stage lifting mechanism comprises a first hydraulic cylinder, an initial position adjusting frame, a second hydraulic cylinder and a fertilizer injection pipe lifting platform, wherein the telescopic end of the first hydraulic cylinder arranged on the fertilizer injection connecting frame is connected with the initial position adjusting frame, and the telescopic end of the second hydraulic cylinder arranged on the initial position adjusting frame is connected with the fertilizer injection pipe lifting platform.
The fixed end of the first hydraulic cylinder is mounted on the fertilizer injection connecting frame through a pin shaft, and the fertilizer injection connecting frame forms a linear guide rail of the initial position adjusting frame; and the fixed end of the second hydraulic cylinder is arranged on the initial position adjusting frame through a pin shaft, and the initial position adjusting frame forms a linear guide rail of the fertilizer injection pipe lifting platform.
The hydraulic cylinder I is connected with a hydraulic reversing valve on the hydraulic valve block through a line, the hydraulic reversing valve is connected with a controller through a line, and the controller controls the stroke of the hydraulic cylinder I through the hydraulic reversing valve; the second hydraulic cylinder is connected with a proportional reversing valve on the hydraulic valve block through a line, the proportional reversing valve is connected with a controller through a line, and the controller controls the stroke and the speed of the second hydraulic cylinder through the proportional reversing valve.
The rotary ground drilling mechanism comprises a T-shaped gear box and a hydraulic motor, the T-shaped gear box is fixedly mounted at the last stage telescopic end of the multi-stage lifting mechanism, the hydraulic motor is fixed at the input end of the T-shaped gear box through a bolt, two ends of the fertilizer injection pipe penetrate through a hollow output shaft of the T-shaped gear box, and the fertilizer injection pipe can rotate along with the hollow output shaft of the T-shaped gear box under the driving of the hydraulic motor.
The hydraulic motor is connected with a proportional flow valve on the hydraulic valve block through a line, the proportional flow valve is connected with a controller through a line, and the controller controls the rotating speed of the hydraulic motor through the proportional flow valve.
The fertilizer injection pipe is connected with a fertilizer liquid supply pipeline communicated with a fertilizer liquid outlet through a rotary joint, the upper part and the lower part of the rotary joint can rotate relatively, the lower part of the rotary joint is installed at the top end of the fertilizer injection pipe through threads and rotates along with the fertilizer injection pipe, and the upper part of the rotary joint is connected with the fertilizer liquid supply pipeline.
The fertilizer injection pipe is provided with a photoelectric encoder which can rotate along with the fertilizer injection pipe; the lower part of the fertilizer injection pipe is provided with a fertilizer injection small hole, and the bottom end of the fertilizer injection pipe is provided with a fertilizer injection drill bit through threads.
The accurate fertilizer preparation mechanism comprises a water tank arranged on a fertilizer preparation support, a fertilizer preparation box body and a storage battery, wherein a nitrogen fertilizer box, a phosphorus fertilizer box, a potassium fertilizer box and a trace element fertilizer box are distributed in the same region of an inner cavity of the fertilizer preparation box body, the nitrogen fertilizer box, the phosphorus fertilizer box, the potassium fertilizer box and the trace element fertilizer box are respectively connected with a pipe body of a connecting pipe through a peristaltic pump and a fertilizer liquid flow sensor which are respectively matched correspondingly, one end of the connecting pipe is connected with the water tank through the water flow sensor and the water pump which are matched, the other end of the connecting pipe is connected with a static fertilizer mixer, and the static fertilizer mixer is communicated with or penetrates through a fertilizer liquid outlet on the fertilizer preparation box body; the peristaltic pumps, the fertilizer liquid flow sensor, the water pump and the storage battery are respectively connected with a controller in the fertilizer preparation box body through lines.
The ultrasonic sensor is arranged at the tail end of the multi-stage lifting mechanism or on the rotary earth drilling mechanism.
A fertilizer injection method of a rotary drilling type fruit tree accurate fertilizer injection device is characterized in that: the method comprises the following steps:
when the controller receives an operation instruction, reading data of the ultrasonic sensor, judging whether the fertilizer injection drill bit is in contact with the ground or not, and controlling the hydraulic reversing valve to act to enable the first hydraulic cylinder to contract until the fertilizer injection drill bit is in contact with the ground, and stopping contraction of the first hydraulic cylinder;
the controller acquires the data of the application amount, the application depth, the soil moisture content and the compactness of each nutrient element of the fruit tree at the position corresponding to the fertilizer injection drill bit from the background cloud or the upper computer, calculates the rotating speed of the water pump and each peristaltic pump corresponding to the four fertilizer boxes, and calculates the soil penetration speed and the rotating speed of the fertilizer injection pipe and the fertilizer injection drill bit;
thirdly, the controller controls the action of the proportional flow valve to drive the hydraulic motor to drive the fertilizer injection pipe and the fertilizer injection drill bit to rotate, controls the action of the proportional reversing valve to drive the hydraulic cylinder II to extend out, and presses the fertilizer injection pipe and the fertilizer injection drill bit into soil;
the controller reads the data fed back by the ultrasonic sensor until the target fertilization depth is reached, and controls the second hydraulic cylinder to stop extending out and the hydraulic motor to stop rotating;
the controller drives the water pump and the four peristaltic pumps to work, water flows through the connecting pipe and enters the static fertilizer mixer together with various nutrient elements, and the mixed water flows through the fertilizer liquid supply pipeline and is injected into soil through a small hole in the lower part of the fertilizer injection pipe; and the controller reads data fed back by the water flow sensor and the four fertilizer liquid flow sensors, and controls the water pump and the four peristaltic pumps to stop working until the target fertilizer application amount is reached.
And (VI) the controller controls the first hydraulic cylinder to extend out and the second hydraulic cylinder to retract, and the hydraulic cylinder returns to the initial position.
In the third step, the controller calculates the soil penetration speed of the fertilizer injection pipe and the fertilizer injection drill bit according to the data fed back by the ultrasonic sensor, and calculates the rotating speed of the fertilizer injection pipe and the fertilizer injection drill bit according to the data fed back by the photoelectric encoder, and the controller controls the soil penetration speed and the rotating speed of the fertilizer injection pipe and the fertilizer injection drill bit by adopting a PID algorithm so as to stabilize the soil penetration speed and the rotating speed at a target value.
Compared with the prior art, the invention has the following advantages:
the device solves the problem of precision of the fertilization depth through a multi-stage lifting structure, and based on the ultrasonic sensor controlled by the controller, the fertilizer injection drill bit is accurately controlled to contact the ground, and then the soil penetration depth of the fertilizer injection pipe and the fertilizer injection drill bit is accurately controlled, so that the precision control of the fertilization depth is realized.
The device solves the problem of reducing the resistance to soil penetration through the cooperation of a multi-stage lifting structure and a rotary ground drilling mechanism, feeds back the soil penetration speed and the feedback rotating speed of a photoelectric encoder based on an ultrasonic sensor controlled by a controller, adapts to the soil with different characteristics by adjusting the soil penetration speed and the rotating speed of a fertilizer injection pipe and a fertilizer injection drill bit, and can reduce the resistance to soil penetration
The device solves the problems of accurate and controllable nutrition element proportion through the accurate fertilizer preparation device, the accurate fertilizer preparation device supplies water by using a water pump, respectively supplies nitrogen, phosphorus, potassium and trace element fertilizers (pre-dissolved water soluble fertilizers or liquid fertilizers) by using four peristaltic pumps, and the nitrogen, phosphorus, potassium and trace element fertilizers are uniformly mixed by a static fertilizer mixer and then are injected into soil through a small hole at the bottom of a fertilizer injection pipe; the controller controls the concentration proportion of nutrient elements by controlling the rotating speeds of the water pump and the four peristaltic pumps and controls the fertilizing amount by controlling the fertilizing amount accurately through the water flow sensor and the fertilizer liquid flow sensor, so that the accurate proportion of the nutrient elements such as nitrogen, phosphorus and potassium microelements can be realized pointedly according to the nutrient requirement of each fruit tree, and further, fertilizer is prepared and injected, and differential fertilization among the fruit trees is realized.
The fertilizer injection method is based on ultrasonic ranging, two-section adjustment control is adopted to accurately control the fertilizer application depth, the first hydraulic cylinder contracts to enable the fertilizer injection drill bit to be in contact with the ground, and the second hydraulic cylinder extends out to reach the target depth; the precise fertilizer preparation device is arranged to realize the precise proportion of each nutrient element through the precise control of the water pump and the peristaltic pump, and can provide differentiated fertilizer preparation and injection according to the nutrient requirement of each fruit tree; the whole device is simple in structure, accurate in control, capable of achieving fine fertilization management of fruit trees, and suitable for development directions of accurate agriculture, and has popularization and application values.
Drawings
Fig. 1 is a schematic structural diagram of a fertilizer injection mechanism part of the rotary drilling type fruit tree accurate fertilizer injection device (fertilizer liquid supply pipeline, hydraulic oil circuit and control circuit are not shown);
FIG. 2 is a partial cross-sectional view of the fertilizer injection tube of the present invention;
FIG. 3 is a schematic structural view of a precise fertilizer preparation mechanism of the rotary drilling type fruit tree precise fertilizer injection device of the present invention;
FIG. 4 is a schematic structural view of a fertilizer preparation box part of the precise fertilizer preparation mechanism of the present invention;
FIG. 5 is a schematic diagram of a pump set structure of the precise fertilizer preparation mechanism of the present invention;
fig. 6 is a control flow diagram of the rotary drilling type fruit tree precision fertilizer injection device of the invention.
Wherein: 1-fertilizer injection connecting frame; 2-initial position adjusting bracket; 3-fertilizer injection pipe lifting platform; 4-T-shaped gear box; 5-a hydraulic motor; 6, fertilizer injection pipe; 7-fertilizer injection drill bit; 8-a rotary joint; 9-photoelectric encoder; 10-an ultrasonic sensor; 11, a first hydraulic cylinder; 12-a second hydraulic cylinder; 13-hydraulic valve block; 14-a hydraulic directional valve; 15-proportional reversing valve; 16-proportional flow valve; 17-preparing a fertilizer rack; 18-a water tank; 19-a storage battery; 20-preparing a fertilizer box body; 21-fertilizer preparation box cover; 22-nitrogen fertilizer box; 23-phosphate fertilizer box; 24-potassium fertilizer box; 25-microelement fertilizer box; 26-fertilizer liquid outlet; 27-water pipe inlet; 28-a controller; 29-water pump; 30-a connecting pipe; 31-a peristaltic pump; 32-static fertilizer mixer; 33-fertilizer liquid flow sensor; 34-water flow sensor.
Detailed Description
The invention is further described with reference to the following figures and examples.
As shown in fig. 1-5: a rotary drilling type fruit tree accurate fertilizer injection device comprises an accurate fertilizer preparation mechanism and a fertilizer injection mechanism, wherein the fertilizer injection mechanism comprises a fertilizer injection connecting frame 1, a multi-stage lifting mechanism, a rotary drilling mechanism and an ultrasonic sensor 10 capable of being connected with a controller, the ultrasonic sensor 10 is installed at the tail end of the multi-stage lifting mechanism or on the rotary drilling mechanism, the fertilizer injection connecting frame 1 is provided with the multi-stage lifting mechanism, the last stage telescopic end of the multi-stage lifting mechanism is provided with the rotary drilling mechanism, a fertilizer injection pipe 6 on the rotary drilling mechanism is communicated with a fertilizer liquid outlet 26 of the accurate fertilizer preparation mechanism through a pipeline, the lower part of the fertilizer injection pipe 6 is provided with a fertilizer injection small hole, and the bottom end of the fertilizer injection pipe 6 is provided with a fertilizer injection drill bit 7 through threads; based on signal feedback of the ultrasonic sensor 10 to the position of the fertilizer injection drill bit 7 and a control instruction of the controller, the multi-stage lifting mechanism firstly drives the rotary drilling mechanism to linearly descend until the fertilizer injection drill bit 7 contacts the ground of a fertilizer injection point, then the multi-stage lifting mechanism continuously drives the rotary drilling mechanism to linearly descend and the rotary drilling mechanism drives the fertilizer injection pipe 6 with the fertilizer injection drill bit 7 to rotate so that the fertilizer injection pipe 6 rotates and descends to a target fertilizer application depth, and the accurate fertilizer distribution mechanism outputs quantitative fertilizer to the fertilizer injection pipe 6 to complete fertilizer application.
As shown in fig. 1, the multi-stage lifting mechanism comprises a first hydraulic cylinder 11, an initial position adjusting frame 2, a second hydraulic cylinder 12 and a fertilizer injection pipe lifting platform 3, wherein the telescopic end of the first hydraulic cylinder 11 arranged on the fertilizer injection connecting frame 1 is connected with the initial position adjusting frame 2, and the telescopic end of the second hydraulic cylinder 12 arranged on the initial position adjusting frame 2 is connected with the fertilizer injection pipe lifting platform 3. The hydraulic cylinder I11 is connected with a hydraulic reversing valve 14 on a hydraulic valve block 13 through a line, the hydraulic reversing valve 14 is connected with a controller 28 through a line, and the controller 28 controls the stroke of the hydraulic cylinder I11 through the hydraulic reversing valve 14; the second hydraulic cylinder 12 is connected with a proportional reversing valve 15 on the hydraulic valve block 13 through a line, the proportional reversing valve 15 is connected with a controller 28 through a line, and the controller 28 controls the stroke and the speed of the second hydraulic cylinder 12 through the proportional reversing valve 15. Regarding the fixed of two pneumatic cylinders, this application adopts the mode that round pin axle and linear guide combine, and wherein the stiff end of pneumatic cylinder one 11 is installed on annotating fertile link 1 through the round pin axle, and annotates fertile link 1 and constitute the linear guide of initial position alignment jig 2, and the stiff end of pneumatic cylinder two 12 is installed on initial position alignment jig 2 through the round pin axle, and initial position alignment jig 2 constitutes the linear guide of annotating fertile pipe elevating platform 3.
As shown in fig. 1-2, the rotary earth-boring mechanism comprises a T-shaped gear box 4 and a hydraulic motor 5, the T-shaped gear box 4 is fixedly installed on the last stage telescopic end of the multistage lifting mechanism, the hydraulic motor 5 is fixed on the input end of the T-shaped gear box 4 through bolts, the hydraulic motor 5 is connected with a proportional flow valve 16 on a hydraulic valve block 13 through a line, the proportional flow valve 16 is connected with a controller 28 through a line, and the controller 28 controls the rotating speed of the hydraulic motor 5 through the proportional flow valve 16; two ends of the fertilizer injection pipe 6 penetrate through a hollow output shaft of the T-shaped gear box 4, the fertilizer injection pipe 6 can rotate along with the hollow output shaft of the T-shaped gear box 4 under the driving of the hydraulic motor 5, the fertilizer injection pipe 6 is connected with a fertilizer liquid supply pipeline communicated with a fertilizer liquid outlet 26 through a rotary joint 8, the upper part and the lower part of the rotary joint 8 can rotate relatively, the lower part of the rotary joint 8 is installed at the top end of the fertilizer injection pipe 6 through threads and rotates along with the fertilizer injection pipe 6, and the upper part of the rotary joint 8 is connected with the fertilizer liquid supply pipeline; the fertilizer injection pipe 6 is provided with a photoelectric encoder 9 connected with the controller, and the photoelectric encoder 9 can rotate along with the fertilizer injection pipe 6 to feed back the rotating speed of the fertilizer injection pipe 6; the lower part of the fertilizer injection pipe 6 is provided with a fertilizer injection small hole, and the bottom end of the fertilizer injection pipe is provided with a fertilizer injection drill 7 through threads.
As shown in fig. 3-5, the precise fertilizer preparation mechanism includes a water tank 18, a fertilizer preparation tank 20 and a storage battery 19, which are disposed on a fertilizer preparation bracket 17, a nitrogen fertilizer tank 22, a phosphate fertilizer tank 23, a potassium fertilizer tank 24 and a trace element fertilizer tank 25 are distributed in the same area of the inner cavity of the fertilizer preparation tank 20, the nitrogen fertilizer tank 22, the phosphate fertilizer tank 23, the potassium fertilizer tank 24 and the trace element fertilizer tank 25 are respectively connected with the pipe body of a connecting pipe 30 through a peristaltic pump 31 and a fertilizer liquid flow sensor 33 which are respectively matched with each other, one end of the connecting pipe 30 is connected with the water tank 18 through a water flow sensor 34 and a water pump 29 which are matched with each other, the other end is connected with a static fertilizer mixer 32, and the static fertilizer mixer 32 is communicated with or passes through a fertilizer liquid outlet 26 on the fertilizer preparation tank 20; the peristaltic pump 31, the fertilizer liquid flow sensor 33, the water flow sensor 34, the water pump 29 and the storage battery 19 are respectively connected with the controller 28 in the fertilizer preparation box body 20 through lines.
The following describes in detail a specific embodiment of the rotary drilling type fruit tree precision fertilizer injection device provided by the present invention with reference to fig. 1 to 5. The following examples are provided to illustrate the device for precisely injecting fertilizer into fruit trees under rotary drilling type, but are not intended to limit the scope of the present invention.
The fertilizer injection mechanism in the rotary drilling type fruit tree accurate fertilizer injection device is shown in figure 1 and mainly comprises a fertilizer injection connecting frame 1, an initial position adjusting frame 2, a fertilizer injection pipe lifting platform 3, a T-shaped gear box 4, a hydraulic motor 5, a fertilizer injection pipe 6, a fertilizer injection drill bit 7, a rotary joint 8, a photoelectric encoder 9, an ultrasonic sensor 10, a first hydraulic cylinder 11, a second hydraulic cylinder 12, a hydraulic valve block 13, a hydraulic reversing valve 14, a proportional reversing valve 15, a proportional flow valve 16 and other components (a fertilizer liquid supply pipeline, a hydraulic oil way and a control circuit are not shown).
The fertilizer injection connecting frame 1 is arranged at the front part of the tractor, and a square pipe extending downwards at the left side of the initial position adjusting frame 2 is inserted into a square pipe at the right side of the fertilizer injection connecting frame 1, so that the two square pipes form a linear guide rail structure; two round steels are welded on four inner side surfaces of the square pipe on the right side of the fertilizer injection connecting frame 1 and are in line contact with the outer side surface of the square pipe extending downwards on the left side of the initial position adjusting frame 2, so that friction force is reduced; the telescopic end of the first hydraulic cylinder 11 is connected with the initial position adjusting frame 2 through a pin shaft, the fixed end of the first hydraulic cylinder is connected with the fertilizer injection connecting frame 1 through a pin shaft, and the relative movement of the initial position adjusting frame 2 and the fertilizer injection connecting frame 1 is realized by controlling the extension and the contraction of the first hydraulic cylinder 11. The square pipe extending upwards from the left side of the fertilizer injection pipe lifting platform 3 is inserted into the square pipe on the right side of the initial position adjusting frame 2, so that the two square pipes form a linear guide rail structure; two round steels are welded on four inner side surfaces of the square pipe on the right side of the initial position adjusting frame 2 and are in line contact with the outer side surface of the square pipe extending upwards on the left side of the fertilizer injection pipe lifting platform 3, so that the friction force is reduced; the telescopic end of the second hydraulic cylinder 12 is connected with the fertilizer injection pipe lifting platform 3 through a pin shaft, the fixed end of the second hydraulic cylinder 12 is connected with the initial position adjusting frame 2 through a pin shaft, and the relative movement of the fertilizer injection pipe lifting platform 3 and the initial position adjusting frame 2 is realized by controlling the extension and the contraction of the second hydraulic cylinder 12.
The hydraulic motor 5 is fixed at the input end of the T-shaped gear box 4 through a bolt, and the T-shaped gear box 4 is fixed on the fertilizer injection pipe lifting platform 3 through a bolt; the fertilizer injection pipe 6 penetrates through a hollow output shaft of the T-shaped gear box 4, the hollow output shaft of the T-shaped gear box 4 transmits power to the fertilizer injection pipe 6 through a flat key, the lower end of the fertilizer injection pipe 6 is limited through a stepped shaft, and the upper end of the fertilizer injection pipe 6 is limited through a clamp spring; the lower part of the fertilizer injection pipe 6 is provided with a fertilizer injection small hole, and the bottom end of the fertilizer injection pipe is provided with a fertilizer injection drill 7 through threads (as shown in figure 2, the fertilizer injection drill 7 is in threaded arrangement on a stepped shaft for limiting). The inner side of the photoelectric encoder 9 is connected with the fertilizer injection pipe 6 through a flat key, and the outer side of the photoelectric encoder is fixed on the fertilizer injection pipe lifting platform 3 through a screw; the upper part and the lower part of the rotary joint 8 can relatively rotate, the lower part is arranged at the top end of the fertilizer injection pipe 6 through threads and rotates along with the fertilizer injection pipe 6, and the upper part is connected with a fertilizer liquid supply pipeline; the ultrasonic sensor 10 is installed on the square pipe on the left side of the fertilizer injection pipe lifting platform 3 through threads. As shown in fig. 2, the fertilizer injection tube 6 is hollow so that the fertilizer solution can be injected to a target depth.
The accurate fertilizer distribution mechanism part in the rotary drilling type fruit tree accurate fertilizer injection device is shown in fig. 3, 4 and 5. The accurate fertilizer preparation mechanism mainly comprises a fertilizer preparation rack 17, a water tank 18, a storage battery 19, a fertilizer preparation box body 20, a fertilizer preparation box cover 21, a nitrogen fertilizer box 22, a phosphate fertilizer box 23, a potash fertilizer box 24, a trace element fertilizer box 25, a controller 28, a water pump 29, a connecting pipe 30, a peristaltic pump 31, a static fertilizer mixer 32, a fertilizer liquid flow sensor 33, a water flow sensor 34 and relevant connecting pipelines.
The fertilizer preparation machine frame 17 is hung at the rear part of the tractor through a three-point suspension device, the water tank 18 is placed at the front part of the fertilizer preparation machine frame 17 and limited through a square pipe, the fertilizer preparation box body 20 is fixed at the rear part of the fertilizer preparation machine frame 17 through a bolt, and the storage battery 19 is fixed on the fertilizer preparation machine frame 17 at the lower part of the fertilizer preparation box body 20 through a bolt. The nitrogen fertilizer box 22, the phosphate fertilizer box 23, the potassium fertilizer box 24 and the trace element fertilizer box 25 are respectively placed in the upper, lower, left and right spaces on the right side of the inner cavity of the fertilizer preparation box body 20 and limited by the fertilizer preparation box cover 21; the water pump 29, the peristaltic pump 31 and the controller 28 are all fixed in the space on the left side of the fertilizer preparation box body 20 through bolts, and the four peristaltic pumps 31 are uniformly distributed in a circle by taking the connecting pipe 30 as the center. The right outlet end of the connecting pipe 30 is connected with a static fertilizer mixer 32 through threads, the left inlet end is connected with a water flow sensor 34 through threads, and the middle of the connecting pipe is respectively connected with four fertilizer liquid flow sensors 33 through threads. The static fertilizer mixer 32 passes through the fertilizer liquid outlet 26 on the right side surface of the fertilizer preparation box body 20 and is connected with the rotary joint 8 through a fertilizer supply pipeline; the right outlet end of the water pump 29 is connected with a water flow sensor 34 through threads, and the left inlet end is connected with the water tank 18 through a water pipe outlet pipe inlet 27; the outlet ends of the four peristaltic pumps 31 are respectively connected with the corresponding fertilizer liquid flow sensors 33 through threads, and the inlet ends of the four peristaltic pumps are connected with the corresponding fertilizer boxes through hoses.
When the rotary drilling type fruit tree accurate fertilizer injection device works, the whole fertilizer injection process is as shown in fig. 6. The method comprises the following specific steps:
when the controller 28 receives an operation instruction, reading data of the ultrasonic sensor 10, judging whether the fertilizer injection drill bit 7 is in contact with the ground or not, controlling the hydraulic reversing valve 14 to act, and enabling the first hydraulic cylinder 11 to contract until the fertilizer injection drill bit 7 is in contact with the ground, wherein the first hydraulic cylinder 11 stops contracting;
secondly, the controller 28 acquires the data of the application amount, the application depth, the soil moisture content and the compactness of each nutrient element of the fruit tree at the position corresponding to the fertilizer injection drill bit 7 from a background cloud end or an upper computer, calculates the rotating speed of the water pump 29 and each peristaltic pump 31 respectively corresponding to the four fertilizer boxes, and calculates the soil-entering speed and the rotating speed of the fertilizer injection pipe 6 and the fertilizer injection drill bit 7;
thirdly, the controller 28 controls the action of the proportional flow valve 16 to drive the hydraulic motor 5 to drive the fertilizer injection pipe 6 and the fertilizer injection drill bit 7 to rotate, controls the action of the proportional reversing valve 15 to drive the hydraulic cylinder II 12 to extend out, and presses the fertilizer injection pipe 6 and the fertilizer injection drill bit 7 into the soil; the controller 28 calculates the soil-entering speed of the fertilizer injection pipe 6 and the fertilizer injection drill bit 7 according to the data fed back by the ultrasonic sensor 10, calculates the rotating speed of the fertilizer injection pipe 6 and the fertilizer injection drill bit 7 according to the data fed back by the photoelectric encoder 9, and controls the soil-entering speed and the rotating speed by adopting a PID algorithm to be stabilized at a target value, so as to further reduce the soil-entering resistance;
reading data fed back by the ultrasonic sensor 10 until the target fertilization depth is reached, and controlling the second hydraulic cylinder 12 to stop extending and the hydraulic motor 5 to stop rotating by the controller 28;
fifthly, the controller 28 drives the water pump 29 and the four peristaltic pumps 31 to work, water flows through the connecting pipe 30 and enters the static fertilizer mixer 32 together with all nutrient elements, and the mixed water is injected into soil through a small hole at the lower part of the fertilizer injection pipe 6 through the fertilizer liquid supply pipeline; the controller 28 reads the data fed back by the water flow sensor 34 and the four fertilizer liquid flow sensors 33, and controls the water pump 29 and the four peristaltic pumps 31 to stop working until the target fertilizing amount is reached.
And (VI), the controller 28 controls the first hydraulic cylinder 11 to extend and the second hydraulic cylinder 12 to retract, and the hydraulic cylinder returns to the initial position.
The rotary drilling type fruit tree accurate fertilizer injection device uses two groups of lifting mechanisms to accurately control the fertilizer application depth, and the lifting is controlled by a hydraulic cylinder I11 and a hydraulic cylinder II 12 respectively, firstly, the hydraulic cylinder 11 contracts to enable a fertilizer injection pipe 6 and a fertilizer injection drill bit 7 to descend, whether the fertilizer injection drill bit 7 contacts the ground or not is judged through an ultrasonic sensor 10, and the hydraulic cylinder I stops contracting until the fertilizer injection drill bit 7 contacts the ground; and then, the second hydraulic cylinder 12 extends out to enable the fertilizer injection pipe 6 and the fertilizer injection drill bit 7 to penetrate into the soil, the depth of the soil penetration is also judged through the ultrasonic sensor 10, and the second hydraulic cylinder 12 stops extending out until the target fertilizer application depth is reached, so that the precise control of the fertilizer application depth is realized.
According to the rotary drilling type accurate fertilizer injection device for fruit trees, the fertilizer injection drill bit 7 is arranged at the tail end of the fertilizer injection pipe 6, the fertilizer injection pipe 6 and the fertilizer injection drill bit 7 are driven to rotate by the hydraulic motor 5, the fertilizer injection pipe 6 and the fertilizer injection drill bit 7 are pressed into the soil by the hydraulic cylinder II 12, and the soil is penetrated in a rotary drilling mode to reduce the soil penetration resistance; matching proper soil penetration speed and rotation speed according to soil characteristics (such as water content, compactness, soil type and the like) to reduce soil penetration resistance; the controller 28 controls the extending speed of the second hydraulic cylinder 12 through the proportional reversing valve 15 to control the soil entering speed of the fertilizer injection pipe 6 and the fertilizer injection drill bit 7, and controls the rotating speed of the hydraulic motor 5 through the proportional flow valve 16 to control the rotating speed of the fertilizer injection pipe 6 and the fertilizer injection drill bit 7; the controller adopts a PID algorithm to keep the soil penetration speed and the rotating speed of the fertilizer injection pipe 6 and the fertilizer injection drill bit 7 at theoretical values; the soil penetration speed of the fertilizer injection pipe 6 is fed back by using the ultrasonic sensor 10, and the rotating speed of the fertilizer injection pipe 6 is fed back by using the photoelectric encoder 9.
The above embodiments are only for illustrating the invention and are not to be construed as limiting the invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention, therefore, all equivalent technical solutions also fall into the scope of the invention, and the scope of the invention is defined by the claims. Techniques not described in this disclosure may be implemented by or within the skill of the art.
Claims (13)
1. The utility model provides a fertile device of accurate notes of rotatory formula fruit tree that bores, includes accurate fertile mechanism of joining in marriage and annotates fertile mechanism, its characterized in that: the fertilizer injection mechanism comprises a fertilizer injection connecting frame (1), a multi-stage lifting mechanism, a rotary earth boring mechanism and an ultrasonic sensor (10) connected with a controller, wherein the fertilizer injection connecting frame (1) is provided with the multi-stage lifting mechanism, the last stage telescopic end of the multi-stage lifting mechanism is provided with the rotary earth boring mechanism, a fertilizer injection pipe (6) on the rotary earth boring mechanism is communicated with a fertilizer liquid outlet (26) of the accurate fertilizer preparation mechanism through a pipeline, and the bottom end of the fertilizer injection pipe (6) is provided with a fertilizer injection drill bit (7); based on signal feedback of the ultrasonic sensor (10) to the position of the fertilizer injection drill bit (7) and a control instruction of the controller, the multi-stage lifting mechanism firstly drives the rotary earth boring mechanism to linearly descend until the fertilizer injection drill bit (7) contacts the ground of a fertilizer injection point, then the multi-stage lifting mechanism continuously drives the rotary earth boring mechanism to linearly descend and the rotary earth boring mechanism drives the fertilizer injection pipe (6) with the fertilizer injection drill bit (7) to rotate so that the fertilizer injection pipe (6) rotates and descends to a target fertilizing depth, and the accurate fertilizer distribution mechanism outputs quantitative fertilizer to the fertilizer injection pipe (6) to complete fertilizing.
2. The rotary drilling type fruit tree accurate fertilizer injection device of claim 1, wherein: multistage elevating system include pneumatic cylinder (11), initial position alignment jig (2), pneumatic cylinder two (12) and notes fertile pipe elevating platform (3), install the flexible end of pneumatic cylinder (11) on annotating fertile link (1) and be connected with initial position alignment jig (2), the flexible end of the pneumatic cylinder two (12) that set up on initial position alignment jig (2) is connected with notes fertile pipe elevating platform (3).
3. The rotary drilling type fruit tree accurate fertilizer injection device of claim 2, wherein: the fixed end of the first hydraulic cylinder (11) is installed on the fertilizer injection connecting frame (1) through a pin shaft, and the fertilizer injection connecting frame (1) forms a linear guide rail of the initial position adjusting frame (2); the fixed end of the second hydraulic cylinder (12) is installed on the initial position adjusting frame (2) through a pin shaft, and the initial position adjusting frame (2) forms a linear guide rail of the fertilizer injection pipe lifting platform (3).
4. The rotary drilling type fruit tree accurate fertilizer injection device of claim 2 or 3, wherein: the hydraulic cylinder I (11) is connected with a hydraulic reversing valve (14) on the hydraulic valve block (13) through a line, the hydraulic reversing valve (14) is connected with a controller (28) through a line, and the controller (28) controls the stroke of the hydraulic cylinder I (11) through the hydraulic reversing valve (14); the second hydraulic cylinder (12) is connected with a proportional reversing valve (15) on the hydraulic valve block (13) through a line, the proportional reversing valve (15) is connected with a controller (28) through a line, and the controller (28) controls the stroke and the speed of the second hydraulic cylinder (12) through the proportional reversing valve (15).
5. The rotary drilling type fruit tree accurate fertilizer injection device of claim 1, wherein: the rotary ground drilling mechanism comprises a T-shaped gear box (4) and a hydraulic motor (5), the T-shaped gear box (4) is fixedly installed at the last-stage telescopic end of the multi-stage lifting mechanism, the hydraulic motor (5) is fixed at the input end of the T-shaped gear box (4) through a bolt, two ends of a fertilizer injection pipe (6) penetrate out of a hollow output shaft of the T-shaped gear box (4), and the fertilizer injection pipe (6) can rotate along with the hollow output shaft of the T-shaped gear box (4) under the driving of the hydraulic motor (5).
6. The rotary drilling type fruit tree accurate fertilizer injection device of claim 5, wherein: the hydraulic motor (5) is connected with a proportional flow valve (16) on the hydraulic valve block (13) through a line, the proportional flow valve (16) is connected with a controller (28) through a line, and the controller (28) controls the rotating speed of the hydraulic motor (5) through the proportional flow valve (16).
7. The rotary drilling type fruit tree accurate fertilizer injection device of claim 1 or 5, wherein: the fertilizer injection pipe (6) is connected with a fertilizer liquid supply pipeline communicated with a fertilizer liquid outlet (26) through a rotary joint (8), the upper part and the lower part of the rotary joint (8) can rotate relatively, the lower part of the rotary joint (8) is installed at the top end of the fertilizer injection pipe (6) through threads and rotates along with the fertilizer injection pipe (6), and the upper part of the rotary joint (8) is connected with the fertilizer liquid supply pipeline.
8. The rotary drilling type fruit tree accurate fertilizer injection device of claim 1 or 5, wherein: the fertilizer injection pipe (6) is provided with a photoelectric encoder (9) which can rotate along with the fertilizer injection pipe (6); the lower part of the fertilizer injection pipe (6) is provided with a fertilizer injection small hole, and the bottom end of the fertilizer injection pipe is provided with a fertilizer injection drill bit (7) through threads.
9. The rotary drilling type fruit tree accurate fertilizer injection device of claim 1, wherein: the accurate fertilizer preparation mechanism comprises a water tank (18) arranged on a fertilizer preparation support (17), a fertilizer preparation tank body (20) and a storage battery (19), wherein a nitrogen fertilizer tank (22), a phosphate fertilizer tank (23), a potassium fertilizer tank (24) and a trace element fertilizer tank (25) are distributed in the same area of the inner cavity of the fertilizer preparation tank body (20), the nitrogen fertilizer tank (22), the phosphate fertilizer tank (23), the potassium fertilizer tank (24) and the trace element fertilizer tank (25) are respectively connected with a pipe body of a connecting pipe (30) through peristaltic pumps (31) and fertilizer liquid flow sensors (33) which are respectively matched correspondingly, one end of the connecting pipe (30) is connected with the water tank (18) through a water flow sensor (34) and a water pump (29) which are matched, the other end of the connecting pipe is connected with a static fertilizer mixer (32), and the static fertilizer mixer (32) is communicated with or penetrates through a fertilizer liquid outlet (26) on the fertilizer preparation tank body (20); the peristaltic pumps (31), the fertilizer liquid flow sensor (33), the water flow sensor (34), the water pump (29) and the storage battery (19) are respectively connected with a controller (28) in the fertilizer preparation box body (20) through lines.
10. The rotary drilling type fruit tree accurate fertilizer injection device of claim 1, wherein: the ultrasonic sensor (10) is arranged at the tail end of the multi-stage lifting mechanism or on the rotary earth drilling mechanism.
11. A fertilizer injection method of the rotary drilling type fruit tree precision fertilizer injection device according to any one of claims 1 to 10, wherein the method comprises the following steps: the method comprises the following steps:
when the controller (28) receives an operation instruction, reading data of the ultrasonic sensor (10), judging whether the fertilizer injection drill bit (7) is in contact with the ground or not, controlling the hydraulic reversing valve (14) to act, enabling the hydraulic cylinder I (11) to contract until the fertilizer injection drill bit (7) is in contact with the ground, and stopping contraction of the hydraulic cylinder I (11);
the controller (28) acquires data of the application amount, the application depth, the soil moisture content and the compactness of each nutrient element of the fruit tree at the position corresponding to the fertilizer injection drill bit (7) from a background cloud end or an upper computer, calculates the rotating speeds of the water pump (29) and each peristaltic pump (31) corresponding to the four fertilizer boxes, and calculates the soil penetration speed and the rotating speed of the fertilizer injection pipe (6) and the fertilizer injection drill bit (7);
thirdly, the controller (28) controls the action of the proportional flow valve (16) to drive the hydraulic motor (5) to drive the fertilizer injection pipe (6) and the fertilizer injection drill bit (7) to rotate, controls the action of the proportional reversing valve (15) to drive the hydraulic cylinder II (12) to extend out, and presses the fertilizer injection pipe (6) and the fertilizer injection drill bit (7) into soil;
fourthly, the controller (28) reads data fed back by the ultrasonic sensor (10), until the target fertilization depth is reached, the controller (28) controls the second hydraulic cylinder (12) to stop extending out, and the hydraulic motor (5) stops rotating;
fifthly, the controller (28) drives the water pump (29) and the four peristaltic pumps (31) to work, water flows through the connecting pipe (30) and enters the static fertilizer mixer (32) together with all nutrient elements, and the mixed water and the nutrient elements are injected into soil through a small hole at the lower part of the fertilizer injection pipe (6) through the fertilizer liquid supply pipeline; and the controller (28) reads data fed back by the water flow sensor (34) and the four fertilizer liquid flow sensors (33), and controls the water pump (29) and the four peristaltic pumps (31) to stop working until the target fertilizer application amount is reached.
And 12, (VI) the controller (28) controls the first hydraulic cylinder (11) to extend and the second hydraulic cylinder (12) to retract, and the hydraulic cylinder returns to the initial position.
13. The fertilizer injection method of the rotary drilling type fruit tree precise fertilizer injection device according to claim 11, wherein: and (3) calculating the soil penetration speed of the fertilizer injection pipe (6) and the fertilizer injection drill bit (7) by the controller (28) in the step (three) according to the data fed back by the ultrasonic sensor (10), calculating the rotating speed of the fertilizer injection pipe (6) and the fertilizer injection drill bit (7) according to the data fed back by the photoelectric encoder (9), and controlling the soil penetration speed and the rotating speed of the fertilizer injection pipe (6) and the fertilizer injection drill bit (7) by the controller (28) by adopting a PID algorithm to be stabilized at a target value.
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