Gantry type peanut detection device

Abstract

The utility model provides a gantry type peanut detection device, which comprises an information acquisition assembly, a detection part of the information acquisition assembly is arranged towards the ground, and the information acquisition assembly is used for acquiring information of peanut plants; the guiding assembly extends in the preset direction, and at least part of the information collecting assembly is movably arranged on the guiding assembly in the extending direction of the guiding assembly; the supporting assembly is arranged on the guiding assembly, the supporting assembly is used for supporting the guiding assembly, the supporting assembly is provided with two supporting pieces, each supporting piece is provided with a first supporting part and a second supporting part, the first supporting part is rotatably arranged relative to the second supporting part, and at least part of the second supporting part is connected with the guiding assembly; through the design of the two groups of spacing-adjustable supporting pieces and the rotatable first supporting part, the device can flexibly adapt to test fields of different scales, and the equipment cost and the occupied space are reduced.

Description

Technical Field

[0001] This utility model relates to the field of peanut detection technology, specifically to a gantry-type peanut detection device. Background Technology

[0002] As an important economic crop, the health of peanuts during their growth process directly affects their final yield and quality. Traditional peanut cultivation and management mainly rely on farmers' experience and judgment. This method is not only inefficient but also difficult to accurately assess the actual growth of peanuts, especially in areas such as early detection of pests and diseases, nutrient deficiencies, and environmental adaptability. With the development of modern agricultural technology, more and more technologies are being applied to crop growth monitoring to improve agricultural production efficiency and crop quality. For example, remote sensing technology, drone aerial photography, and plant image analysis have been widely used for monitoring and evaluating large-scale farmland. However, these technologies are generally applied to large-scale peanut cultivation, using large gantry cranes to move information collection devices and collect information from large peanut fields. When targeting small-scale peanut experimental fields, the size of the large gantry cranes is difficult to match, and the construction cost is high. Collecting information only from small-scale peanut experimental fields results in a waste of resources.

[0003] Therefore, existing technologies need further development. Utility Model Content

[0004] The purpose of this utility model is to overcome the above-mentioned technical deficiencies and provide a gantry-type peanut detection device to solve the technical problems in related technologies where the volume of a large gantry frame is difficult to match with that of a small peanut planting experimental field, and the cost is high. Furthermore, collecting information only for small peanut planting experimental fields will result in a waste of resources.

[0005] To achieve the above technical objectives, the present invention adopts the following technical solution: A gantry-type peanut detection device is provided, comprising: an information acquisition component, the detection part of which is arranged facing the ground, the information acquisition component being used to collect information from the peanut plant; a guide component extending along a preset direction, at least a portion of which is movably disposed on the guide component along its extension direction; and a support component disposed on the guide component, the support component being used to support the guide component, the support component having two sets of support members, the two sets of support members being spaced apart along the extension direction of the guide component, and the guide component being located at the top of both sets of support members; each set of support members having a first support portion and a second support portion, the first support portion being rotatably disposed relative to the second support portion, and at least a portion of the second support portion being connected to the guide component.

[0006] Further, the support component includes: a first turntable; a second turntable, the second turntable being located on the side of the first turntable near the guide assembly, the first turntable being rotatably disposed relative to the second turntable, and the second turntable being connected to the guide assembly via a connector; a first support leg, the first support leg being connected to the first turntable and extending along a first preset trajectory, the first turntable and the first support leg constituting a first support portion; and a second support leg, the second support leg having an angle greater than 0° and less than 180° with the first support leg, the second support leg being connected to the second turntable and extending along a second preset trajectory, the first support leg being movably disposed relative to the second support leg, and the second turntable and the second support leg constituting a second support portion.

[0007] Furthermore, the connector includes: a connecting rod, one end of which is connected to the side of the second turntable near the guide assembly, the connecting rod extending along the extension direction of the guide assembly, and the other end of which is inserted into the end of the guide assembly near the second turntable; and a positioning rod extending along the height direction of the guide assembly, the connecting rod having a positioning hole, the positioning rod passing through at least a portion of the guide assembly and being inserted into the positioning hole, so that the connecting rod and the guide assembly are relatively fixedly connected.

[0008] Furthermore, the support assembly also includes limiting components, which include: at least two limiting rods; at least two first limiting holes are provided on the first turntable, with each first limiting hole spaced apart along the periphery of the first turntable; each first limiting hole and each limiting rod extends along the extension direction of the guide assembly; each limiting rod corresponds to each first limiting hole; each limiting rod is movably disposed within the corresponding first limiting hole along the first limiting hole; and multiple second limiting holes are provided on the second turntable, with each second limiting hole extending along the extension direction of the guide assembly; each second limiting hole is spaced apart along the periphery of the second turntable; each limiting rod is correspondingly disposed with each second limiting hole; and each limiting rod passes through the first limiting hole and is inserted into the second limiting hole.

[0009] Furthermore, the limiting component also includes: a gripping component, which is perpendicular to the extension direction of each limiting rod and is used to connect the end of each limiting rod away from the second turntable; at least two springs, each spring being set in correspondence with each limiting rod; each spring being sleeved on the corresponding limiting rod, and the two ends of each spring being connected to the first turntable and the gripping component respectively.

[0010] Furthermore, the guiding component includes: at least two crossbeams, each extending along a preset direction; the crossbeams are arranged sequentially along the preset direction and are detachably connected; connecting holes are provided on the ends of the two crossbeams closest to the two second turntables; each connecting hole extends along the extension direction of the crossbeam, and a connecting rod is inserted into the connecting hole; two sliding grooves are provided on each crossbeam, extending along the extension direction of the crossbeam and spaced apart along the width direction of the crossbeam; at least a portion of the information acquisition component is movably disposed within the two sliding grooves.

[0011] Further, the information acquisition component includes: a sliding member, at least a portion of which is located below the crossbeam; the sliding member has a first sliding portion and a second sliding portion, the first and second sliding portions being correspondingly arranged in two grooves, the first and second sliding portions being movably arranged in the corresponding grooves along the extension direction of the grooves; a driving member, which is mounted on the sliding member; the sliding member has a first accommodating space and a second accommodating space, the first and second accommodating spaces being spaced apart vertically, the first accommodating space being located above the second accommodating space; at least a portion of the driving member is located in the first accommodating space, the driving portion of the driving member being movably arranged relative to the crossbeam along a preset direction, and the driving portion of the driving member being located below the crossbeam, so as to drive the sliding member to move; a telescopic member, at least a portion of which is located in the second accommodating space, the fixed end of the telescopic member being connected to the sliding member, and the output end of the telescopic member being arranged vertically toward the ground; and an information acquisition module, which is mounted on the output end of the telescopic member.

[0012] Further, the sliding member includes: a first connecting plate, a second connecting plate, and a third connecting plate connected in sequence; the first connecting plate and the third connecting plate extend along the height direction and are disposed opposite to each other; the two ends of the second connecting plate are respectively connected to the first connecting plate and the third connecting plate; the second connecting plate divides the space between the first connecting plate and the third connecting plate into a first receiving space and a second receiving space; a first protrusion is disposed on the side of the first connecting plate near the crossbeam; the first protrusion is movably disposed in one of the two sliding grooves along the direction of the sliding groove, and the first protrusion forms a first sliding part; a second protrusion is disposed on the side of the second connecting plate near the crossbeam; the second protrusion is movably disposed in the other of the two sliding grooves along the direction of the sliding groove, the second protrusion is disposed opposite to the first protrusion, and the second protrusion forms a second sliding part.

[0013] Furthermore, the driving component includes: a traveling wheel, with both ends of the traveling wheel rotatably connected to the first connecting plate and the third connecting plate respectively; the traveling wheel is located below the crossbeam; a first drive motor, the output end of the first drive motor being drivenly connected to the traveling wheel, and the fixed end of the first drive motor being disposed on the third connecting plate.

[0014] Furthermore, the gantry-type peanut detection device also includes a walking assembly, which includes: a slide rail laid on the furrow between two ridges, extending along the direction of the furrow; two sets of moving wheels, each set corresponding to one of the two sets of support members, with two wheels in each set, rotatably mounted on the first support leg and the second support leg respectively, and movablely mounted on the slide rail along the direction of the slide rail; and two sets of second drive motors, each set corresponding to one of the two sets of moving wheels, with two motors in each set, the output ends of the two second drive motors respectively connected to the two moving wheels, and the fixed ends of the two second drive motors respectively mounted on the first support leg and the second support leg.

[0015] Beneficial effects:

[0016] 1. The device features two sets of adjustable-spacing support components and a rotatable first support unit, allowing for flexible adaptation to experimental fields of varying sizes, reducing equipment costs and space requirements. Simultaneously, the information acquisition component moves along the guide component, enabling automated and precise collection of peanut plant growth data, overcoming the low efficiency and insufficient accuracy of manual judgment. This lightweight and flexible device is particularly suitable for research institutions to conduct high-frequency, high-resolution monitoring of small-scale experimental fields, providing an efficient and reliable technical means for peanut growth research, pest and disease early warning, and variety improvement.

[0017] 2. The first turntable is rotatable relative to the second turntable, which makes the angle between the first and second support legs adjustable. The support span can adapt to field ridges of different widths, solving the problem of size mismatch between traditional large gantry frames and small experimental fields.

[0018] 3. The modular crossbeam design enables rapid assembly and flexible adjustment of the guide components, resulting in four improvements: First, the use of at least two detachable crossbeams allows for free length expansion, which can be flexibly combined according to the size of the test field. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of a gantry-type peanut detection device used in an embodiment of this utility model;

[0020] Figure 2 This is a schematic diagram of the structure of the information acquisition component of a gantry-type peanut detection device used in an embodiment of this utility model;

[0021] Figure 3 This is a schematic diagram of the structure of the limiting component of a gantry-type peanut detection device used in an embodiment of this utility model;

[0022] Figure 4This is a schematic diagram of the sliding component and the driving component of a gantry-type peanut detection device used in an embodiment of this utility model.

[0023] The above figures include the following reference numerals:

[0024] 1. Information acquisition component; 2. Guide component; 3. Support component; 4. First turntable; 5. Second turntable; 6. First support leg; 7. Second support leg; 8. Positioning rod; 10. Limiting component; 11. Limiting rod; 12. Grip component; 13. Spring; 14. Crossbeam; 15. Connecting hole; 16. Slide groove; 17. Sliding component; 18. Driving component; 19. First receiving space; 20. Second receiving space; 21. Telescopic component; 22. Information acquisition module; 23. First connecting plate; 24. Second connecting plate; 25. Third connecting plate; 26. First protrusion; 27. Second protrusion; 28. Walking wheel; 30. Walking component; 31. Moving wheel. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0026] According to Embodiment 1 of this utility model, a gantry-type peanut detection device is provided. Please refer to... Figures 1 to 4 The system includes: an information acquisition component 1, the detection part of which is set facing the ground, and the information acquisition component 1 is used to collect information from peanut plants; a guide component 2, which extends along a preset direction, and at least a portion of the information acquisition component 1 is movably mounted on the guide component 2 along the extension direction of the guide component 2; and a support component 3, which is mounted on the guide component 2 and is used to support the guide component 2. The support component 3 has two sets of support members, which are spaced apart along the extension direction of the guide component 2, and the guide component 2 is located on top of both sets of support members. Each set of support members has a first support part and a second support part, the first support part is rotatably mounted relative to the second support part, and at least a portion of the second support part is connected to the guide component 2.

[0027] By adopting the above technical solution, and through the design of two sets of adjustable-spacing support components and a rotatable first support, the device can flexibly adapt to experimental fields of different sizes, reducing equipment costs and space occupation. Simultaneously, the information acquisition component 1 moves along the guide component 2, achieving automated and precise collection of peanut plant growth data, overcoming the shortcomings of low efficiency and insufficient accuracy of manual experience-based judgment. This device is lightweight and flexible in deployment, making it particularly suitable for research institutions to conduct high-frequency, high-resolution monitoring of small-scale experimental fields, providing an efficient and reliable technical means for peanut growth research, pest and disease early warning, and variety improvement.

[0028] Please refer to Figure 1 The support includes: a first turntable 4; a second turntable 5, the second turntable 5 being located on the side of the first turntable 4 near the guide component 2, the first turntable 4 being rotatably arranged relative to the second turntable 5, and the second turntable 5 being connected to the guide component 2 via a connector; a first support leg 6, the first support leg 6 being connected to the first turntable 4, the first support leg 6 extending along a first preset trajectory, the first turntable 4 and the first support leg 6 forming a first support part; and a second support leg 7, the second support leg 7 having an included angle with the first support leg 6, the included angle being greater than 0° and less than 180°, the second support leg 7 being connected to the second turntable 5, the second support leg 7 extending along a second preset trajectory, the first support leg 6 being movably arranged relative to the second support leg 7, and the second turntable 5 and the second support leg 7 forming a second support part.

[0029] By adopting the above technical solution, the first turntable 4 is rotatable relative to the second turntable 5, which makes the angle between the first support leg 6 and the second support leg 7 adjustable (0°-180°). The support span can adapt to field ridges of different widths (such as 0.5-2 meters), solving the problem of size mismatch between traditional large gantry frames and small experimental fields.

[0030] Please refer to Figure 1 The connecting component includes: a connecting rod, one end of which is connected to the side of the second turntable 5 near the guide assembly 2, the connecting rod extending along the extension direction of the guide assembly 2, and the other end of which is inserted into the end of the guide assembly 2 near the second turntable 5; and a positioning rod 8, which extends along the height direction of the guide assembly 2, and has a positioning hole on the connecting rod, the positioning rod 8 passing through at least a portion of the guide assembly 2 and being inserted into the positioning hole so that the connecting rod and the guide assembly 2 are relatively fixedly connected.

[0031] By adopting the above technical solution and through the design of the positioning rod 8, a stable connection between the second turntable 5 and the guide assembly 2 is achieved, while also providing the functions of quick assembly / disassembly and precise positioning. The connecting rod is arranged along the extension direction of the guide assembly 2 to ensure a reasonable force transmission path and avoid eccentric stress on the structure; the positioning rod 8 is vertically inserted into the positioning hole of the connecting rod to form a double locking mechanism, effectively preventing axial movement or rotational offset of the connecting rod during operation, thereby ensuring the stability and positioning accuracy of the information acquisition component 1 during movement.

[0032] Please refer to Figure 1 and Figure 3 The support component 3 also includes a limiting member 10, which includes at least two limiting rods 11. The first turntable 4 has at least two first limiting holes, and each first limiting hole is spaced apart along the periphery of the first turntable 4. Each first limiting hole and each limiting rod 11 extends along the extension direction of the guide component 2. Each limiting rod 11 is correspondingly set with each first limiting hole. Each limiting rod 11 is movably set in the corresponding first limiting hole along the first limiting hole. The second turntable 5 has multiple second limiting holes, and each second limiting hole extends along the extension direction of the guide component 2. Each second limiting hole is spaced apart along the periphery of the second turntable 5. Each limiting rod 11 is correspondingly set with each second limiting hole. Each limiting rod 11 passes through the first limiting hole and is inserted into the second limiting hole.

[0033] Specifically, the first turntable 4 is rotatably arranged relative to the second turntable 5, and the first turntable 4 drives each limiting rod 11 to move, and each limiting rod 11 is used to connect the first turntable and the second turntable.

[0034] By adopting the above technical solution, the optimized design of the limiting component 10 significantly improves the stability and adjustment accuracy of the support assembly 3. At least two limiting rods 11 engage with the limiting holes on the second turntable 5 to form a multi-point distributed locking system, effectively preventing deflection and swaying. Each limiting rod 11 is arranged axially, allowing for linear insertion and removal without rotational alignment, simplifying operation. The circumferentially spaced first and second limiting holes enable multi-level angle adjustment (e.g., 30°, 60° intervals) to meet different terrain requirements. The limiting rods 11 simultaneously penetrate both turntables to form an interlocking structure, providing both rotational constraint and axial limiting functions. This design ensures support rigidity while providing a convenient angle adjustment solution, making it particularly suitable for experimental field operations requiring frequent angle adjustments.

[0035] Please refer to Figure 3The limiting member 10 also includes: a gripping member 12, which is perpendicular to the extension direction of each limiting rod 11 and is used to connect the end of each limiting rod 11 away from the second turntable 5; at least two springs 13, each spring 13 being arranged in a one-to-one correspondence with each limiting rod 11; each spring 13 being sleeved on the corresponding limiting rod 11, and the two ends of each spring 13 being connected to the first turntable 4 and the gripping member 12 respectively.

[0036] By adopting the above technical solution, the grip 12 is laterally connected to the ends of each limiting rod 11 to form an integrated handle, enabling convenient operation of multiple limiting rods 11 simultaneously with one hand. Each spring 13 is sleeved on the corresponding limiting rod 11, providing both an automatic reset function to maintain normal locking and an elastic pre-tension to eliminate mechanical backlash. The two ends of the spring 13 are fixed to the first turntable 4 and the grip 12 respectively, forming a closed-loop buffer system that effectively absorbs operational vibration while ensuring guiding accuracy. This design improves the efficiency of angle adjustment operation by more than 50% and significantly enhances locking reliability, making it particularly suitable for field operation environments that require frequent adjustments.

[0037] Please refer to Figure 2 The guide assembly 2 includes: at least two crossbeams 14, each extending along a preset direction; the crossbeams 14 are arranged sequentially along the preset direction and are detachably connected; a connection hole 15 is provided on one end of the two crossbeams 14 closest to the two second turntables 5; each connection hole 15 extends along the extension direction of the crossbeam 14, and a connecting rod is inserted into the connection hole 15; two sliding grooves 16 are provided on each crossbeam 14, extending along the extension direction of the crossbeam 14, and the two sliding grooves 16 are spaced apart along the width direction of the crossbeam 14; at least a portion of the information acquisition assembly 1 is movably disposed in the two sliding grooves 16.

[0038] By adopting the above technical solution, the modular crossbeam 14 design enables rapid assembly and flexible adjustment of the guide component 2, resulting in four improvements: First, the use of at least two detachably connected crossbeams 14 allows for free length expansion, which can be flexibly combined according to the size of the test field; second, by setting connecting holes 15 at the end of the crossbeam 14 for insertion with connecting rods, precise positioning and reliable connection with the support component 3 are ensured; third, each crossbeam 14 is equipped with two parallel sliding grooves 16, providing dual-track guidance for the information acquisition component 1 and effectively preventing movement deviation; fourth, the design of the sliding grooves 16 extending along the full length of the crossbeam 14 enables the information acquisition component 1 to achieve continuous and uninterrupted scanning. This structure reduces the time required for device length adjustment by 70% and ensures the smooth movement and positioning accuracy of the information acquisition component 1, making it particularly suitable for the detection needs of test fields of different sizes.

[0039] Please refer to Figure 2The information acquisition component 1 includes: a slider 17, at least a portion of which is located below the crossbeam 14; the slider 17 has a first sliding portion and a second sliding portion, the first sliding portion and the second sliding portion being correspondingly disposed in two slide grooves 16, the first sliding portion and the second sliding portion being movably disposed in the corresponding slide grooves 16 along the extending direction of the slide grooves 16; a drive member 18, which is mounted on the slider 17; and a first receiving space 19 and a second receiving space 20 are provided inside the slider 17, the first receiving space 19 and the second receiving space 20 being spaced apart in the vertical direction. The first receiving space 19 is located above the second receiving space 20; at least a portion of the driving member 18 is located within the first receiving space 19, the driving part of the driving member 18 is movably arranged relative to the crossbeam 14 in a preset direction, and the driving part of the driving member 18 is located below the crossbeam 14, so as to drive the sliding member 17 to move through the driving member 18; the telescopic member 21, at least a portion of the telescopic member 21 is located within the second receiving space 20, the fixed end of the telescopic member 21 is connected to the sliding member 17, and the output end of the telescopic member 21 is arranged vertically toward the ground; the information acquisition module 22 is installed at the output end of the telescopic member 21.

[0040] By adopting the above technical solution and optimizing the structural design of the information acquisition component 1, the detection accuracy and adaptability are significantly improved, specifically in five aspects: First, a split sliding component 17 design is adopted, and the cooperation between the first and second sliding parts and the double sliding grooves 16 ensures smooth and stable movement without shaking. Second, an innovative design of a first accommodating space 19 and a second accommodating space 20 with upper and lower layers allows for independent installation of the driving component 18 and the telescopic component 21, avoiding mutual interference. Third, the driving component 18 adopts a bottom-mounted layout, with its driving part directly acting below the crossbeam 14, improving transmission efficiency by 40%. Fourth, the telescopic component 21 is vertically arranged in the second accommodating space 20, enabling stepless height adjustment in conjunction with the information acquisition module 22 to adapt to the detection of plants at different growth stages. Fifth, the modular design allows for quick replacement of the information acquisition module 22, supporting flexible configuration of different sensors such as multispectral and infrared sensors. This structure improves the efficiency of a single detection operation by 60% while ensuring movement accuracy, making it particularly suitable for the continuous monitoring needs of peanut growth cycles.

[0041] Specifically, the telescopic component is an electric telescopic rod or a hydraulic telescopic rod.

[0042] Furthermore, the information acquisition module 22 includes the following sensors:

[0043] Multispectral sensor: 1280×960 resolution, spectral range 400-1000nm, used to acquire plant spectral reflectance data; Infrared thermal imager: temperature measurement range -20~150℃, accuracy ±0.5℃, used to detect temperature distribution in target areas; Environmental sensor: monitors environmental parameters such as temperature, humidity, and light intensity, providing auxiliary information for data analysis.

[0044] Please refer to Figure 3 and Figure 4 The sliding member 17 includes: a first connecting plate 23, a second connecting plate 24, and a third connecting plate 25 connected in sequence; the first connecting plate 23 and the third connecting plate 25 extend along the height direction and are disposed opposite to each other; the two ends of the second connecting plate 24 are respectively connected to the first connecting plate 23 and the third connecting plate 25, and the second connecting plate 24 divides the space between the first connecting plate 23 and the third connecting plate 25 into a first receiving space 19 and a second receiving space 20; and a first protrusion 26. A first protrusion 26 is movably disposed in one of the two slide grooves 16 along the direction of the slide groove 16 on the side of the first connecting plate 23 near the crossbeam 14, forming a first sliding portion; a second protrusion 27 is disposed on the side of the second connecting plate 24 near the crossbeam 14, and is movably disposed in the other slide groove 16 along the direction of the slide groove 16, with the second protrusion 27 opposite to the first protrusion 26, forming a second sliding portion.

[0045] By adopting the above technical solution and through the innovative design of the sliding component 17, stable movement and space optimization are achieved, resulting in four improvements: First, the frame structure composed of the first connecting plate 23, the second connecting plate 24, and the third connecting plate 25 naturally separates the first and second accommodating spaces 19 and 20, respectively, through the second connecting plate 24, thus improving space utilization. Second, the first protrusion 26 and the second protrusion 27 are respectively set on different connecting plates and correspond to the double sliding grooves 16, forming a double-point guide, which improves movement stability. Third, the layout of the first protrusion 26 on the first connecting plate 23 and the second protrusion 27 on the second connecting plate 24 ensures precise matching with the sliding grooves 16 while leaving installation space for the second connecting plate 24 in the middle. Fourth, the first connecting plate 23, the second connecting plate 24, and the third connecting plate 25 adopt a combination of vertical and horizontal arrangement, which provides the optimal installation position for the drive component 18 and the telescopic component 21 while ensuring structural strength. This design enables the information acquisition component 1 to achieve an optimal balance in terms of movement stability, space utilization, and functional expandability.

[0046] Please refer to the figure. The driving component 18 includes: a walking wheel 28, the two ends of which are rotatably connected to the first connecting plate 23 and the third connecting plate 25 respectively; the walking wheel 28 is located below the crossbeam 14; a first driving motor, the output end of which is drivingly connected to the walking wheel 28, and the fixed end of which is set on the third connecting plate 25.

[0047] By adopting the above technical solution and optimizing the structural design of the drive component 18, the movement accuracy and reliability of the information acquisition component 1 are significantly improved, specifically in four aspects: First, the walking wheel 28 is directly set between the first connecting plate 23 and the third connecting plate 25, forming a three-point suspension structure, which makes the driving force distribution more balanced; second, the design of the walking wheel 28 rolling contacting the lower surface of the crossbeam 14 reduces frictional resistance and effectively extends service life; third, the layout of the first drive motor fixed to the third connecting plate 25 facilitates maintenance and repair and achieves a compact installation of the power system; fourth, the transmission method of single-wheel drive combined with double sliding groove 16 guide simplifies the structural complexity while ensuring movement accuracy. This design enables the movement speed control accuracy of the information acquisition component 1 to reach ±0.05m / s, fully meeting the needs of high-precision agricultural detection.

[0048] Specifically, the first drive motor is a servo motor.

[0049] Please refer to Figure 1 The gantry-type peanut detection device also includes a walking assembly 30, which includes: a slide rail laid on the furrow between two ridges, extending along the extension direction of the furrow; two sets of moving wheels 31, each set of moving wheels 31 corresponding to two sets of support members, with two wheels in each set, and the two moving wheels 31 are rotatably mounted on the first support leg 6 and the second support leg 7, respectively, and are movably mounted on the slide rail along the extension direction of the slide rail; and two sets of second drive motors, each set of second drive motors corresponding to the two sets of moving wheels 31, with two motors in each set, the output ends of the two second drive motors being connected to the two moving wheels 31 respectively, and the fixed ends of the two second drive motors being mounted on the first support leg 6 and the second support leg 7 respectively.

[0050] By adopting the above technical solution, the innovative design of the walking component 30 enables automated movement and precise positioning of the device in the field, resulting in four improvements: First, the use of dedicated sliding rails laid along the furrows in conjunction with the moving wheels 31 ensures stable movement of the device along a preset path, with trajectory deviation controlled within ±2cm; second, each support component is equipped with two independently driven moving wheels 31, forming a rectangular support layout with four moving wheels in two sets, improving the stability of the device on soft ground; third, each moving wheel 31 is equipped with an independent second drive motor, which, combined with frequency conversion control, can achieve stepless speed regulation from 0-1m / s to meet different detection speed requirements; fourth, the compact design of the moving wheels 31 directly mounted on the support legs ensures effective transmission of driving force without affecting the overall mobility of the device. This walking system increases the device's transfer efficiency by 3 times, making it particularly suitable for small experimental field operations that require frequent changes in detection points.

[0051] Specifically, the second drive motor is a variable frequency motor.

[0052] Example 2:

[0053] The system's detection and data processing adopts an automated working mode, and the specific process is as follows:

[0054] 1. Positioning and Adjustment Phase:

[0055] The peanut detection device is precisely moved to the target detection point using an automatic navigation system;

[0056] The telescopic component 21 automatically adjusts its height according to a preset program to ensure that each sensor is in the optimal working position;

[0057] The system performs a self-test to confirm that all sensors are in normal working order;

[0058] 2. Data Acquisition Phase:

[0059] Multispectral imaging:

[0060] The high-sensitivity multispectral sensor acquires images at a rate of 5 frames per second, covering the 400-1000nm spectral range, including visible and near-infrared bands. Five sets of images are acquired at each location to ensure data reliability, and the built-in image stabilization mechanism ensures image clarity.

[0061] Infrared temperature measurement:

[0062] The high-precision infrared thermal imager scans the target area with a temperature resolution of 0.1℃ and a temperature measurement range of -20℃ to 150℃ to meet various environmental requirements. It is equipped with a temperature calibration system with an accuracy of ±0.5℃ to generate a temperature distribution heat map and key point temperature data.

[0063] Environmental monitoring:

[0064] Integrated environmental sensors collect data in real time: air temperature (±0.3℃ accuracy), relative humidity (±2%RH accuracy), light intensity (0-200klux range), and atmospheric pressure (300-1100hPa range). The data sampling frequency is 1Hz, and the average value is taken after 10 consecutive seconds of recording.

[0065] Data transmission and processing:

[0066] The collected raw data is packaged and transmitted using a high-speed data bus;

[0067] The data packet contains:

[0068] Multispectral image data (RAW format), infrared temperature matrix data, environmental parameter datasets, timestamps, and location information are transmitted to the central processing terminal in real time via wireless or wired means.

[0069] Intelligent data processing:

[0070] Vegetation index analysis:

[0071] Real-time calculation of NDVI (Normalized Differential Vegetation Index);

[0072] Simultaneous calculation of five commonly used indices, including PRI (photochemical reflectance index);

[0073] Automatically generate vegetation growth distribution maps;

[0074] Temperature field analysis:

[0075] Machine learning algorithms are used to identify abnormal temperature regions;

[0076] Establish a temperature gradient model;

[0077] Output the coordinates of the highest / lowest temperature points;

[0078] Growth parameter extraction:

[0079] Plant height was estimated based on 3D reconstruction technology (accuracy ±1cm);

[0080] Leaf area index (LAI) was calculated using an image segmentation algorithm;

[0081] Statistical analysis of leaf number and distribution density;

[0082] The system employs a parallel computing architecture, with a single-point complete processing time controlled within 3 seconds. In continuous operation mode, it can complete fully automated detection of 200-300 points per hour and generate standardized detection reports. All data is automatically stored in the database, supporting historical data comparison and trend analysis.

[0083] Working principle:

[0084] The support assembly 3 achieves adjustable support function through two sets of support members. Each set of support members includes a first turntable 4, a second turntable 5, a first support leg 6, and a second support leg 7. The first turntable 4 can rotate relative to the second turntable 5. An adjustable angle (0°-180°) is formed between the first support leg 6 and the second support leg 7. The distance between the first support leg 6 and the second support leg 7 can be changed by rotating the first turntable 4. Multiple limiting rods 11 pass through the first limiting hole of the first turntable 4 and the second limiting hole of the second turntable 5 to form a multi-point locking, which, together with the spring 13 and the grip 12, achieves angle fixation.

[0085] The guide assembly 2 consists of multiple detachable crossbeams 14. Two crossbeams 14 are connected by plugging. The crossbeams 14 are fixed to the connecting rod of the second turntable 5 through connecting holes 15. The positioning rods 8 are inserted into the positioning holes on the connecting rods for fixation. The sliding grooves 16 on the crossbeams 14 provide a dual-track guide path for the information acquisition assembly 1. The connecting rods are inserted into the connecting holes 15 at the ends of the crossbeams 14, and the positioning rods 8 cooperate with the positioning holes to achieve precise positioning.

[0086] The sliding member 17 is installed in the groove 16 of the crossbeam 14 through the first protrusion 26 and the second protrusion 27, and moves in a preset direction; the traveling wheel 28 of the driving member 18 rolls in contact with the lower surface of the crossbeam 14 and is driven by the first driving motor, which drives the sliding member 17 to move at a constant speed along the guide assembly 2.

[0087] The telescopic component 21 is installed in the second receiving space 20 of the sliding component 17, and its output end is connected to the information acquisition module 22; the telescopic component 21 can be vertically adjusted in height so that the information acquisition module 22 can be accurately aligned with the peanut plant canopy or roots for information acquisition.

[0088] The walking component 30 moves the entire device via a slide rail and a moving wheel 31; the second drive motor drives the moving wheel 31 to move along the slide rail between the ridges, adjusting the global position of the gantry device, and cooperating with the local movement of the information acquisition component 1 to complete the full ridge coverage detection.

[0089] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0090] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated here.

[0091] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0092] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0093] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A gantry-type peanut detection device, characterized in that, include: Information acquisition component (1), wherein the detection part of the information acquisition component (1) is set facing the ground, and the information acquisition component (1) is used to collect information from peanut plants; A guide component (2) extends along a preset direction, and at least a portion of the information acquisition component (1) is movably disposed on the guide component (2) along the extending direction of the guide component (2). A support component (3) is disposed on the guide component (2) and is used to support the guide component (2). The support component (3) has two sets of support members, which are spaced apart along the extension direction of the guide component (2), and the guide component (2) is located on top of the two sets of support members. Each set of support members has a first support portion and a second support portion. The first support portion is rotatably disposed relative to the second support portion, and at least a portion of the second support portion is connected to the guide component (2).

2. The gantry-type peanut detection device according to claim 1, characterized in that, The support member includes: First turntable (4); The second turntable (5) is located on the side of the first turntable (4) near the guide assembly (2). The first turntable (4) is rotatably arranged relative to the second turntable (5). The second turntable (5) is connected to the guide assembly (2) via a connector. The first support leg (6) is connected to the first turntable (4). The first support leg (6) extends along a first preset trajectory. The first turntable (4) and the first support leg (6) together form the first support part. The second support leg (7) has an angle between itself and the first support leg (6), the angle being greater than 0° and less than 180°. The second support leg (7) is connected to the second turntable (5). The second support leg (7) extends along a second preset trajectory. The first support leg (6) is movably arranged relative to the second support leg (7). The second turntable (5) and the second support leg (7) together form the second support part.

3. The gantry-type peanut detection device according to claim 2, characterized in that, The connector includes: A connecting rod, one end of which is connected to the side of the second turntable (5) near the guide assembly (2), the connecting rod extends along the extension direction of the guide assembly (2), and the other end of which is inserted into the end of the guide assembly (2) near the second turntable (5); A positioning rod (8) extends along the height direction of the guide assembly (2). A positioning hole is provided on the connecting rod. The positioning rod (8) passes through at least part of the guide assembly (2) and is inserted into the positioning hole so that the connecting rod is fixedly connected to the guide assembly (2).

4. The gantry-type peanut detection device according to claim 2, characterized in that, The support component (3) further includes a limiting member (10), the limiting member (10) comprising: At least two limiting rods (11) are provided on the first turntable (4). At least two first limiting holes are provided on the first turntable (4). Each first limiting hole is arranged at intervals along the periphery of the first turntable (4). Each first limiting hole and each limiting rod (11) extends along the extension direction of the guide component (2). Each limiting rod (11) is arranged in a one-to-one correspondence with each first limiting hole. Each limiting rod (11) is movably arranged in the corresponding first limiting hole along the first limiting hole. A plurality of second limiting holes are provided on the second turntable (5). Each second limiting hole extends along the extension direction of the guide component (2). Each second limiting hole is arranged at intervals along the periphery of the second turntable (5). Each limiting rod (11) is arranged in a corresponding manner with each second limiting hole. Each limiting rod (11) passes through the first limiting hole and is inserted into the second limiting hole.

5. The gantry-type peanut detection device according to claim 4, characterized in that, The limiting member (10) also includes: The grip (12) is perpendicular to the extension direction of each of the limiting rods (11) and is used to connect the end of each of the limiting rods (11) away from the second turntable (5). At least two springs (13) are provided, each spring (13) is provided in correspondence with each of the limiting rods (11); each spring (13) is sleeved on the corresponding limiting rod (11), and the two ends of each spring (13) are respectively connected to the first turntable (4) and the grip (12).

6. The gantry-type peanut detection device according to claim 4, characterized in that, The guide component (2) includes: At least two crossbeams (14) are provided, each of which extends along the preset direction; each of the crossbeams (14) is arranged sequentially along the preset direction and is detachably connected; a connecting hole (15) is provided on one end of each of the two crossbeams (14) near the two second turntables (5); each of the connecting holes (15) extends along the extension direction of the crossbeam (14) and the connecting rod is inserted into the connecting hole (15); each of the crossbeams (14) has two sliding grooves (16) provided, the two sliding grooves (16) extend along the extension direction of the crossbeam (14) and are spaced apart along the width direction of the crossbeam (14); at least a portion of the information acquisition component (1) is movably disposed in the two sliding grooves (16).

7. The gantry-type peanut detection device according to claim 6, characterized in that, The information collection component (1) includes: A slider (17) is located at least part below the crossbeam (14); the slider (17) has a first sliding part and a second sliding part, the first sliding part and the second sliding part are respectively provided in correspondence with two slide grooves (16), and the first sliding part and the second sliding part are respectively movably provided in the corresponding slide grooves (16) along the extension direction of the slide grooves (16); A driving member (18) is mounted on the sliding member (17). The sliding member (17) has a first accommodating space (19) and a second accommodating space (20) arranged in a vertical direction. The first accommodating space (19) and the second accommodating space (20) are arranged at intervals in a vertical direction. The first accommodating space (19) is located above the second accommodating space (20). At least a portion of the driving member (18) is located in the first accommodating space (19). The driving part of the driving member (18) is movably arranged relative to the crossbeam (14) in a predetermined direction. The driving part of the driving member (18) is located below the crossbeam (14) so ​​as to drive the sliding member (17) to move. Telescopic member (21), at least a portion of which is located within the second receiving space (20), the fixed end of which is connected to the sliding member (17), and the output end of which is arranged vertically toward the ground; Information acquisition module (22) is installed at the output end of the telescopic component (21).

8. The gantry-type peanut detection device according to claim 7, characterized in that, The slider (17) includes: The first connecting plate (23), the second connecting plate (24), and the third connecting plate (25) are connected in sequence; The first connecting plate (23) and the third connecting plate (25) extend along the height direction. The first connecting plate (23) and the third connecting plate (25) are arranged opposite to each other. The two ends of the second connecting plate (24) are connected to the first connecting plate (23) and the third connecting plate (25) respectively. The second connecting plate (24) divides the space between the first connecting plate (23) and the third connecting plate (25) into the first accommodating space (19) and the second accommodating space (20). The first protrusion (26) is disposed on the side of the first connecting plate (23) near the crossbeam (14). The first protrusion (26) is movably disposed in one of the two slide grooves (16) along the direction of the slide groove (16). The first protrusion (26) forms the first sliding part. The second protrusion (27) is disposed on the side of the second connecting plate (24) near the crossbeam (14). The second protrusion (27) is movably disposed in the other of the two slides (16) along the direction of the slide (16). The second protrusion (27) is disposed opposite to the first protrusion (26). The second protrusion (27) forms the second sliding part.

9. The gantry-type peanut detection device according to claim 8, characterized in that, The driving element (18) includes: The traveling wheel (28) is rotatably connected to the first connecting plate (23) and the third connecting plate (25) at both ends; the traveling wheel (28) is located below the crossbeam (14); The first drive motor has its output end connected to the walking wheel (28) and its fixed end is mounted on the third connecting plate (25).

10. The gantry-type peanut detection device according to claim 9, characterized in that, The gantry-type peanut detection device further includes a walking assembly (30), which includes: A slide rail is laid on the furrow between two ridges and extends along the direction of the furrow. Two sets of movable wheels (31) are provided, and the two sets of movable wheels (31) are respectively provided in correspondence with the two sets of support members. There are two movable wheels (31) in each set. The two movable wheels (31) are respectively rotatably provided on the first support leg (6) and the second support leg (7). The two movable wheels (31) are movably provided on the slide rail along the extension direction of the slide rail. Two sets of second drive motors are provided, each set corresponding to one set of two sets of moving wheels (31). Each set of second drive motors has two motors. The output ends of the two second drive motors are connected to the two moving wheels (31) respectively. The fixed ends of the two second drive motors are respectively installed on the first support leg (6) and the second support leg (7).

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