Hill agriculture detection unmanned aerial vehicle capable of stably imaging

Abstract

The utility model relates to the technical field of unmanned aerial vehicles, in particular to a hill agriculture detection unmanned aerial vehicle capable of stably imaging, which comprises an unmanned aerial vehicle body, the pan-tilt assembly comprises a first mounting frame, a first driving device, a conductive slip ring, a damping device, a second mounting frame and a second driving device; one end of the damping device is connected with the output end of the first driving device through a conductive slip ring, and the other end is connected with the second mounting frame; the imaging assembly comprises a third mounting frame and a camera; the third mounting rack is rotationally connected with the second mounting rack, and at least one end is in transmission connection with the output end of the second driving device; the camera is electrically connected with the conductive slip ring. When the unmanned aerial vehicle maneuvers and flies in a complex terrain, the influence of vibration of the vehicle body on images shot by the camera can be effectively reduced, so that the stability and definition of the images are remarkably improved; due to the light-weight structure, the unmanned aerial vehicle can keep a low load while carrying the imaging assembly, so that the endurance time is prolonged.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicles, in particular to a hilly agricultural detection unmanned aerial vehicle with stable imaging. Background Art

[0002] With the rapid development of science and technology, drone technology has become increasingly mature and widely used in many fields such as aerial photography, geological surveys, and agricultural plant protection. In the application of drones, the quality of images captured by the camera plays a vital role in the execution of the mission. However, in the existing drone technology, when the drone is maneuvering in complex terrain, the images captured by the camera often have problems such as jitter and blur and poor stability. Especially when performing rapid climbs, dives, turns and other maneuvers in complex terrain such as hills and jungles, the images captured by the camera are easily disturbed due to the rapid movement and turbulence of the body, resulting in a decrease in image quality. This not only affects the execution of drone reconnaissance, monitoring and other tasks, but may also cause data interpretation errors and even lead to mission failure. Utility Model Content

[0003] Therefore, the technical problem to be solved by the present invention is to overcome the problem of poor stability of images captured by the camera during the maneuvering of the UAV in complex terrain in the prior art.

[0004] In order to solve the above technical problems, the utility model provides a hilly agricultural detection drone with stable imaging, comprising:

[0005] The drone itself;

[0006] A gimbal assembly, comprising a first mounting frame, a first driving device, a conductive slip ring, a vibration reduction device, a second mounting frame and a second driving device; the first mounting frame is connected to the drone body; the first driving device is arranged on the first mounting frame; one end of the vibration reduction device is connected to the output end of the first driving device through the conductive slip ring, and the other end of the vibration reduction device is connected to the second mounting frame; the second driving device is arranged on the second mounting frame;

[0007] The imaging assembly comprises a third mounting frame and a camera; the third mounting frame is rotationally connected to the second mounting frame, and at least one end thereof is transmission-connected to the output end of the second driving device; the camera is arranged in the third mounting frame and is electrically connected to the conductive slip ring.

[0008] In one embodiment of the utility model, the vibration damping device includes a connecting plate, a fixing seat and a vibration damping ball; the connecting plate is connected to the output end of the first driving device; there are multiple fixing seats and they are arranged at intervals on the connecting plate; the vibration damping balls are correspondingly installed on the fixing seats, and the vibration damping balls are detachably connected to the second mounting frame through a detachable component.

[0009] In one embodiment of the utility model, a plurality of assembly grooves are provided on the second mounting frame on a side close to the vibration-damping ball, and the assembly grooves are assembled with the vibration-damping ball; the detachable components include bolts and vibration-damping washers; the bolts connect the second mounting frame, the vibration-damping ball and the fixing seat as a whole; the vibration-damping washers are coaxially sleeved on the bolts and abut against the second mounting frame.

[0010] In one embodiment of the utility model, the second mounting frame includes a top plate, a side plate and a transverse plate; the top plate is connected to the vibration reduction device; the side plate is connected to the top plate and extends in a vertical direction of the top plate; both ends of the transverse plate are connected to the side plates and are spaced relative to the top plate.

[0011] In one embodiment of the present invention, the plurality of detachable components extend from both sides in the width direction of the transverse plate along the axial direction thereof.

[0012] In one embodiment of the utility model, a first wire hole is provided on the top plate, and a second wire hole is provided on the horizontal plate.

[0013] In one embodiment of the utility model, the drone body includes a cage, a support frame and a multi-rotor device; the cage is arranged on the multi-rotor device, the support frame is connected to the cage; and the gimbal assembly is connected to the cage.

[0014] In one embodiment of the present invention, in the axial direction of the drone body, the bottom of the support frame passes over the bottom end of the gimbal assembly.

[0015] In one embodiment of the present invention, the camera is connected to the third mounting bracket via a connecting piece wrapped with a double-layer damping structure.

[0016] In one embodiment of the utility model, a plurality of third wire holes are provided on the first mounting frame.

[0017] The above technical solution of the utility model has the following beneficial effects compared with the prior art:

[0018] Firstly, the present invention adopts a structural design of a gimbal assembly including a vibration reduction device, which can effectively reduce the impact of the vibration of the body on the image captured by the camera when the UAV is maneuvering in complex terrain such as hills and jungles, thereby significantly improving the stability and clarity of the image; it can not only improve the execution effect of tasks such as reconnaissance and monitoring, but also avoid data interpretation errors and mission failures caused by image blur; at the same time, the optimized lightweight structural design enables the UAV to maintain a lower load while carrying the imaging component, thereby extending the flight time and increasing the reliability and efficiency of mission execution.

[0019] Secondly, the present invention realizes the rotation of the imaging component in the first degree of freedom and the second degree of freedom through the first driving device and the second driving device, so that the camera can flexibly adjust the shooting angle within a certain range to meet the needs of multi-angle shooting under complex terrain; a servo motor is used as a driving device, combined with a high-precision encoder to monitor the rotation angle and speed of the motor in real time, and the main control board uses a cascade PID control algorithm to accurately adjust the motor to ensure that the camera can maintain stable shooting in various flight conditions; at the same time, the mounting position on the third mounting bracket can be flexibly adjusted and fixed according to different models of cameras, further enhancing the applicability and flexibility of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to make the content of the utility model easier to understand, the utility model is further described in detail according to the specific embodiments of the utility model in combination with the accompanying drawings, wherein

[0021] Figure 1 This is a schematic diagram of the structure of the first-person perspective of the utility model's hilly agricultural detection drone with stable imaging;

[0022] Figure 2 This is a schematic diagram of the structure of the second viewing angle of the hilly agricultural detection drone with stable imaging of the utility model;

[0023] Figure 3 This is the main view of the hilly agricultural detection drone with stable imaging of the utility model;

[0024] Figure 4 It is a structural schematic diagram of the pan / tilt assembly and the imaging assembly in the utility model;

[0025] Figure 5 It is a front view of the pan / tilt assembly and the imaging assembly in the utility model;

[0026] Figure 6 It is a side view of the pan / tilt assembly and the imaging assembly in the utility model.

[0027] Explanation of the reference numerals in the specification: 20, drone body; 21, cage; 22, support frame; 23, multi-rotor device; 30, gimbal assembly; 31, first mounting frame; 32, first drive device; 33, conductive slip ring; 34, vibration reduction device; 341, connecting plate; 342, fixing seat; 343, vibration reduction ball; 344, detachable assembly; 35, second mounting frame; 351, top plate; 352, side plate; 353, cross plate; 36, second drive device; 40, imaging assembly; 41, third mounting frame; 42, camera. DETAILED DESCRIPTION

[0028] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0029] Reference Figure 1-3 As shown, the utility model provides a hilly agricultural detection drone with stable imaging, comprising:

[0030] UAV body 20;

[0031] The gimbal assembly 30 includes a first mounting frame 31, a first driving device 32, a conductive slip ring 33, a vibration reduction device 34, a second mounting frame 35 and a second driving device 36; the first mounting frame 31 is connected to the drone body 20; the first driving device 32 is arranged on the first mounting frame 31; one end of the vibration reduction device 34 is connected to the output end of the first driving device 32 through the conductive slip ring 33, and the other end of the vibration reduction device 34 is connected to the second mounting frame 35; the second driving device 36 is arranged on the second mounting frame 35;

[0032] The imaging assembly 40 includes a third mounting frame 41 and a camera 42; the third mounting frame 41 is rotationally connected to the second mounting frame 35, and at least one end thereof is transmission-connected to the output end of the second driving device 36; the camera 42 is arranged in the third mounting frame 41 and is electrically connected to the conductive slip ring 33.

[0033] Specifically, the utility model provides a drone including a drone body 20, a gimbal assembly 30 and an imaging assembly 40, which is used to assist in the detection of hilly operations; wherein, the drone reduces the impact of shaking of the camera 42 during the flight of the drone by setting a gimbal assembly 30 carrying the imaging assembly 40 at the bottom of the drone body 20, thereby ensuring that the camera 42 can remain stable in complex terrain, capture high-quality, clear images, and improve operation accuracy. In addition, the gimbal assembly 30 is designed to reduce weight as much as possible, reduce the load of the drone, thereby extending the flight time and increasing the reliability and efficiency of task execution. The utility model provides a hilly agricultural detection drone with stable imaging, which has good safety and shooting stability, can adapt to various detection tasks in hills and complex terrains, and effectively improve work efficiency and data collection accuracy.

[0034] In a specific embodiment, the drone body 20 is a detection radar drone, which is a six-rotor drone and is provided with multiple legs; the first mounting frame 31 is fixed to the lower bottom surface of the drone body 20 by a fastening structure to prevent the gimbal assembly 30 from falling off; specifically, the first mounting frame 31 is constructed as a frame structure, which provides structural stability and firmness while accommodating the first drive device 32; the upper end extension of the first mounting frame 31 is tightly connected to the bottom plate of the drone body 20, and is fixed by high-strength bolts and anti-loosening nuts, providing strong supporting force to prevent loosening or falling off during flight; the material of the first mounting frame 31 is selected from lightweight and high-strength alloy to reduce the impact on the overall weight of the drone, while ensuring its durability and seismic resistance.

[0035] The second mounting bracket 35 is connected to the first mounting bracket 31 through the vibration reduction device 34; wherein, the second mounting bracket 35 is rotationally connected to the imaging assembly 40 through a dual-axis structure, ensuring the stability of the camera 42 when it rotates under the drive of the second driving device 36, and at the same time, the camera 42 is firmly connected to the third mounting bracket 41 to prevent the camera 42 from shaking due to inertia during flight; in a specific implementation, a plurality of mounting positions are provided on the third mounting bracket 41, which can be flexibly adjusted and fixed according to different models of industrial cameras 42, and ensure the stability of the camera 42 after installation; the vibration reduction device 34 between the second mounting bracket 35 and the first mounting bracket 31 is used to provide reliable connection strength and vibration reduction effect, which can withstand various forces generated during the flight of the drone and reduce the impact on the shooting stability of the camera 42.

[0036] The first drive device 32 and the second drive device 36 both use servo motors. The drive device controlled by closed loop has good performance in terms of accuracy, speed, stability, etc. Its mechanical connection method includes using bolts and other structures to install the first drive device 32 and the second drive device 36 on the first mounting frame 31 and the second mounting frame 35 respectively, and connecting the output end of the drive device with the corresponding rotating shaft in the gimbal assembly 30 through a transmission structure such as a connecting rod and a coupling; its electrical control connection method includes connecting the drive device to the main control board of the drone through a cable, and the main control board sends a control signal through a cascade PID control algorithm, and adjusts the angle of the gimbal assembly 30 by controlling the output power of the drive device to adjust the shooting angle of the camera 42 and ensure the stability of the camera 42. Among them, the rotating shaft of the second driving device 36 is connected to the third mounting frame 41 arranged in the second mounting frame 35, and the attitude control of the camera is realized by receiving the flight control cascade PID signal through the main shaft; in the specific implementation, the third mounting frame 41 is rotatably connected to the second mounting frame 35 through a ball bearing, which reduces the friction during rotation and improves the response speed and control accuracy of the camera attitude adjustment; the center of gravity of the camera 42 is located at the bottom, which makes the whole device tend to maintain a vertical state. This design ensures that the drone provides stable and clear image output when performing tasks; in order to further improve the stability of the camera 42, the driving device is equipped with a high-precision encoder to monitor the rotation angle and speed of the motor in real time, and feed the data back to the main control board, so as to realize precise control; the main control board processes the flight control sensor data and encoder feedback, and uses the PID algorithm to adjust the motor to ensure that the camera 42 always remains stable under various flight conditions; the wiring of the driving device is managed by the internal reserved wiring groove to avoid exposed cables affecting the appearance and aerodynamic performance of the aircraft.

[0037] The first driving device 32 provides the camera 42 with a first degree of freedom of rotation, which is indirectly achieved by controlling the second mounting frame 35 to rotate freely within 360° through the vibration reduction device 34. The second driving device 36 provides the camera 42 with a second degree of freedom of rotation within a certain range, which is achieved by providing sufficient torque and control capability for the third mounting frame 41. A conductive slip ring 33 is also provided between the first driving device 32 and the vibration reduction device 34. The conductive slip ring 33 is axially installed on the vibration reduction device 34. The outer shell of the conductive slip ring 33 is made of high-strength and wear-resistant material, and the internal contact ring and brush are gold-plated to ensure the stability and low friction of signal transmission. The signal and power lines of the conductive slip ring 33 are led out through a dedicated wiring groove to avoid cable entanglement and wear, thereby improving the overall reliability and service life of the device.

[0038] The power lines and signal lines of the first drive device 32 and the second drive device 36 are wrapped with wear-resistant and high-temperature resistant protective sleeves to increase the durability and safety of the cables. The plug of the cable connected to the drive device is designed as an anti-loosening interface to ensure that it will not loosen due to vibration during flight. A dedicated drive device interface is reserved on the main control board to facilitate the quick connection and replacement of the cable. In a specific implementation, the second drive device 36 is installed with high-strength bolts and anti-loosening washers to ensure stability during flight. The fixing method is to firmly install the drive device at the reserved installation hole position on the second mounting frame 35 by bolts. The installation hole position is precisely designed and processed to ensure the firmness and centering of the second drive device 36 after installation. In order to further improve stability, a shock-absorbing gasket is added between the base of the second drive device 36 and the second mounting frame 35 to absorb the vibration generated during flight and reduce the impact on the drive device and the gimbal assembly 30; an auxiliary support structure is also provided at the connection between the drive device and the second mounting frame 35 to enhance the overall rigidity and stability.

[0039] Reference Figure 4-6 As shown, the vibration damping device 34 includes a connecting plate 341, a fixing seat 342 and a vibration damping ball 343; the connecting plate 341 is connected to the output end of the first driving device 32; there are a plurality of fixing seats 342 and they are arranged on the connecting plate 341 at intervals; the vibration damping ball 343 is correspondingly mounted on the fixing seat 342, and the vibration damping ball 343 is detachably connected to the second mounting frame 35 through a detachable component 344. A plurality of assembly grooves are provided on the side of the second mounting frame 35 close to the vibration damping ball 343, and the assembly grooves are assembled and matched with the vibration damping ball 343; the detachable component 344 includes a bolt and a vibration damping gasket; the bolt connects the second mounting frame 35, the vibration damping ball 343 and the fixing seat 342 as a whole; the vibration damping gasket is coaxially sleeved on the bolt and abuts against the second mounting frame 35.

[0040] In a specific embodiment, a vibration reduction device 34 including a connecting plate 341, a fixing seat 342 and a vibration reduction ball 343 is provided between the first mounting frame 31 and the second mounting frame 35 to reduce vibration of the gimbal assembly 30 and reduce the influence of the vibration of the fuselage on the shooting of the camera 42; wherein the vibration reduction ball 343 is made of a highly elastic rubber material and has an excellent vibration reduction effect; in a specific implementation, a vibration reduction ball 343 fixing seat 342 is respectively provided at the four corners of the connecting plate 341, and each vibration reduction ball 343 is fixed by bolts and vibration reduction washers. The damping ball 343 is fixed between the connecting plate 341 and the second mounting frame 35; the damping ball can specifically be selected with a Shore hardness of 25HA, which has excellent fatigue resistance and long life characteristics, and the upper mounting hole of the damping ball is 9mm, and the lower mounting hole is 8mm. The aperture design takes into account both the firmness of the installation and the reliability of the connection; the structural design of the fixing seat 342 takes into account the convenience of replacement and maintenance of the damping ball 343. At the same time, a special anti-slip gasket is also arranged between the damping ball and the fixing seat 342 to prevent the damping ball from being displaced during long-term use.

[0041] Reference Figure 5 As shown, the second mounting frame 35 includes a top plate 351, a side plate 352 and a transverse plate 353; the top plate 351 is connected to the vibration reduction device 34; the side plate 352 is connected to the top plate 351 and extends in the vertical direction of the top plate 351; both ends of the transverse plate 353 are connected to the side plates 352 and are spaced relative to the top plate 351. Specifically, the top plate 351 is used to connect with the vibration reduction device 34, and the two side plates 352 realize the biaxial connection of the imaging assembly 40 from both sides; the transverse plate 353 is a fine-tuning plate for the tension of the two side plates 352, that is, by adjusting the tension of the fastening screws between the transverse plate 353 and the side plates 352 from both sides, the relative deformation of the side plates 352 is realized, and then the fine adjustment is realized.

[0042] Reference Figure 4 As shown, the plurality of detachable components 344 extend along their own axial direction from both sides of the width direction of the transverse plate 353. In a specific embodiment, the top plate 351 is an annular plate, and its diameter is greater than the width of the transverse plate 353, thereby providing sufficient space for the installation and adjustment of the vibration reduction component.

[0043] Reference Figure 4 As shown, the top plate 351 is provided with a first wire hole, and the horizontal plate 353 is provided with a second wire hole. The first mounting frame 31 is provided with a plurality of third wire holes. The first wire hole and the second wire hole provide wiring holes for the cable of the camera 42, which can be connected to the control board through the conductive slip ring 33, simplifying the wiring distribution and avoiding failures caused by line entanglement; in addition, the first wire hole, the second wire hole and the third wire hole are all designed with protection to avoid cable wear or interference with each other.

[0044] Reference Figure 1-2 As shown, the drone body 20 includes a cage 21, a support frame 22 and a multi-rotor device 23; the cage 21 is arranged on the multi-rotor device 23, and the support frame 22 is connected to the cage 21; the gimbal assembly 30 is connected to the cage 21.

[0045] In a specific embodiment, the drone body 20 is a six-rotor drone, whose main part includes six spiral rotors that generate lift, a cage 21 that supports the rotors, a support frame 22 that supports the cage 21, and a control panel arranged in the cage 21; each spiral rotor is equipped with a brushless motor, blades and a connecting structure; in order to reduce the weight of the aircraft, the cage 21 and the support frame 22 are mainly made of lightweight materials such as carbon fiber; multiple blades can control the lift and torque generated by the blades by controlling and coordinating the rotation speed of each blade, thereby controlling the attitude and stability of the aircraft without changing the pitch angle of the blades; the blades are fixed to the motor through the upper end of the brushless motor, ensuring the smooth flight of the aircraft when performing tasks.

[0046] Reference Figure 3 As shown, in the axial direction of the drone body 20, the bottom of the support frame 22 passes over the bottom end of the gimbal assembly 30. Specifically, the support frame 22 passing over the bottom end of the gimbal assembly 30 provides support when the drone stops, preventing the gimbal assembly 30 and the imaging assembly 40 from directly touching the bottom and causing damage.

[0047] In a specific implementation, the camera 42 is connected to the third mounting bracket 41 via a connecting piece wrapped with a double-layer damping structure.

[0048] Specifically, the third mounting frame 41 fixes the camera 42 from both sides through the connecting piece; the third mounting frame 41 adopts an L-shaped structure design, so that it can firmly clamp both sides of the camera; the material selection of the third mounting frame 41 is also a lightweight and high-strength material, such as aluminum alloy or carbon fiber, which not only ensures the strength of the structure, but also does not increase excessive weight burden;

[0049] The connector adopts a locking nut, which is arranged at the end of the third mounting bracket 41. By tightening the nut, the camera is fixed and does not loosen, and adjustment space is reserved to adapt to camera equipment of different specifications; the locking nut adopts a self-locking design to ensure that it will not loosen due to vibration or external force during long-term use, providing additional safety protection. In addition, a double-layer rubber damping structure is provided outside the connector, which is combined with the metal connector to provide additional vibration reduction and stabilization effect, wherein the inner rubber damping structure provides high-frequency vibration reduction effect, and the outer rubber damping structure provides low-frequency vibration reduction effect.

[0050] In one embodiment of the present invention, the six-rotor UAV can realize that the imaging component is stable and does not shake randomly when operating in a hilly environment through the pan-tilt component, and the pan-tilt control algorithm is connected with the main control flight control chip to assist the UAV radar in building a map; the pan-tilt control algorithm adopts advanced attitude control technology, and adjusts the attitude of the camera in real time by integrating the flight control sensor data and the radar ranging data, ensuring that the camera can still remain stable under complex terrain conditions. The UAV radar system not only assists in building a map, but also provides real-time terrain data to help the UAV avoid obstacles and optimize the flight path; the main control flight control chip uses high-speed data processing capabilities to calculate and send control signals in real time, coordinate the actions of each rotor and pan-tilt, and ensure the efficient operation of the UAV in different mission scenarios. The images taken by the camera in this UAV also participate in auxiliary mapping. Through this design, SLAM mapping of the surrounding crop pastoral environment can be realized more quickly, and the calculation of point clouds can be assisted in mapping to achieve higher-precision environmental simulation. The camera generates accurate point cloud data by capturing high-resolution images, and combines the data from the LiDAR and inertial measurement unit (IMU) to perform simultaneous localization and mapping (SLAM) algorithm processing to quickly generate high-precision three-dimensional environmental maps. This design not only improves the speed and accuracy of mapping, but also can update the map in real time to adapt to environmental changes. In environments such as crop fields, this high-precision map can help farmers carry out refined management and improve crop yields and quality. In addition, the SLAM mapping system also integrates path planning and obstacle detection functions, providing reliable data support for autonomous drone flight.

[0051] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the scope of protection of the invention of the utility model.

Claims

1. A hilly agricultural detection drone with stable imaging, characterized in that: include: UAV body (20); A pan / tilt assembly (30), comprising a first mounting frame (31), a first driving device (32), a conductive slip ring (33), a vibration reduction device (34), a second mounting frame (35) and a second driving device (36); the first mounting frame (31) is connected to the drone body (20); the first driving device (32) is arranged on the first mounting frame (31); one end of the vibration reduction device (34) is connected to the output end of the first driving device (32) through the conductive slip ring (33), and the other end of the vibration reduction device (34) is connected to the second mounting frame (35); the second driving device (36) is arranged on the second mounting frame (35); An imaging assembly (40) comprises a third mounting frame (41) and a camera (42); the third mounting frame (41) is rotationally connected to the second mounting frame (35), and at least one end thereof is transmission-connected to the output end of the second driving device (36); the camera (42) is arranged in the third mounting frame (41) and is electrically connected to the conductive slip ring (33).

2. The hilly agricultural detection drone with stable imaging according to claim 1, characterized in that: The vibration-damping device (34) comprises a connecting plate (341), a fixing seat (342) and a vibration-damping ball (343); the connecting plate (341) is connected to the output end of the first driving device (32); there are a plurality of fixing seats (342) arranged at intervals on the connecting plate (341); the vibration-damping ball (343) is correspondingly mounted on the fixing seat (342), and the vibration-damping ball (343) is detachably connected to the second mounting frame (35) via a detachable component (344).

3. The hilly agricultural detection drone with stable imaging according to claim 2, characterized in that: A plurality of assembly grooves are provided on the second mounting frame (35) on a side close to the vibration-damping ball (343), and the assembly grooves are assembled and matched with the vibration-damping ball (343); the detachable component (344) comprises a bolt and a vibration-damping gasket; the bolt connects the second mounting frame (35), the vibration-damping ball (343) and the fixing seat (342) together; the vibration-damping gasket is coaxially sleeved on the bolt and abuts against the second mounting frame (35).

4. The hilly agricultural detection drone with stable imaging according to claim 3, characterized in that: The second mounting frame (35) comprises a top plate (351), a side plate (352) and a transverse plate (353); the top plate (351) is connected to the vibration reduction device (34); the side plate (352) is connected to the top plate (351) and extends in a vertical direction of the top plate (351); both ends of the transverse plate (353) are connected to the side plates (352) and are spaced apart from the top plate (351).

5. The hilly agricultural detection drone with stable imaging according to claim 4, characterized in that: The plurality of detachable components extend from both sides of the transverse plate (353) in the width direction along the axial direction thereof.

6. The hilly agricultural detection drone with stable imaging according to claim 4, characterized in that: The top plate (351) is provided with a first wire hole, and the horizontal plate (353) is provided with a second wire hole.

7. The hilly agricultural detection drone with stable imaging according to claim 1, characterized in that: The drone body (20) comprises a cage (21), a support frame (22) and a multi-rotor device (23); the cage (21) is arranged on the multi-rotor device (23), and the support frame (22) is connected to the cage (21); and the pan / tilt assembly (30) is connected to the cage (21).

8. The hilly agricultural detection drone with stable imaging according to claim 7, characterized in that: In the axial direction of the drone body (20), the bottom of the support frame (22) passes over the bottom end of the gimbal assembly (30).

9. The hilly agricultural detection drone with stable imaging according to claim 1, characterized in that: The camera (42) is connected to the third mounting frame (41) via a connecting piece wrapped with a double-layer damping structure.

10. The hilly agricultural detection drone with stable imaging according to claim 1, characterized in that: The first mounting frame (31) is provided with a plurality of third wire holes.

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