Visual acquisition device, flying device and agricultural vehicle

Abstract

The utility model relates to camera equipment technical field especially visual collection device, flight device and agricultural carrier, which relates to a visual collection device, flight device and agricultural carrier. The visual collection device includes airborne connection portion, upper sling subassembly, swing -eliminating dish, lower sling subassembly and camera bearing portion, the upper sling subassembly includes at least three upper slings, the upper end of upper sling is connected with airborne connection portion, the swing -eliminating dish has the first surface and the second surface opposite setting along its axial direction, the lower sling subassembly includes at least three lower slings, the upper end of lower sling is connected with the second surface, the camera bearing portion is set in the lower end of lower sling subassembly and is connected with the lower end of lower sling, and the camera bearing portion is used for bearing video camera. According to the visual collection device of the utility model, the upper sling connects the first surface of swing -eliminating dish, the lower sling connects the second surface, and is all along the circumferential interval arrangement of respective surface, forms two circles of symmetrical cable system, forms the torsional constraint of resistance around the vertical axis, and weakens spin starting.

Description

Technical Field

[0001] This utility model relates to the field of camera equipment technology, and in particular to a visual acquisition device, a flight device, and an agricultural vehicle. Background Technology

[0002] This application relates to the field of drone aerial photography and visual data acquisition, and particularly to an image stabilization and anti-rotation technology for a suspended camera device designed for complex near-ground and elevation scenarios. Applications such as smart construction and smart agriculture require the acquisition of high-quality video data in environments with dense obstacles and complex terrain, such as construction sites, mines, and orchards. Vehicle-mounted methods have limited field of view and struggle to obtain elevation information; while aerial photography can improve the field of view, drones flying near the ground easily generate dust and disturb the plant canopy, affecting data quality, and also require high standards for flight path width and safety margin.

[0003] To reduce aircraft obstruction and improve imaging stability, existing solutions often extend the camera downwards: for example, by using a fixed-length rigid extension rod to lower the camera, supplemented by a four-way symmetrical elastic steel cable as a stabilizing structure to improve image stability. However, this approach has the following limitations: First, the fixed length of the extension rod makes it difficult to flexibly adjust its longitudinal elevation, making it difficult to balance flight safety and signal stability in space-constrained conditions such as narrow forest paths; second, a shorter rigid extension rod makes it difficult to reduce the disturbance of propeller airflow to the ground and canopy, thus affecting video data quality.

[0004] Furthermore, under the influence of yaw (body rotation) or crosswinds in multi-rotor UAVs, the camera load on the flexible suspension is prone to spin around the vertical axis and oscillation coupling, resulting in image jitter and image orientation drift, which adversely affects subsequent data processing and algorithm training. This type of Z-axis spin induced by the interaction between the flexible sling and air resistance is typical in actual flight and needs to be effectively suppressed at the suspension system level. Utility Model Content

[0005] The purpose of this invention is to at least solve the problem of effectively suppressing spin and linkage while maintaining the flexibility and vertical adjustability of the suspension system. This purpose is achieved through the following technical solution: The first aspect of this utility model provides a visual acquisition device, comprising: Airborne connector, used to connect to the aircraft; A sling assembly, comprising at least three slings, wherein the slings are connected to the airborne connection portion; The sway-eliminating plate is located below the upper suspension cable assembly, and the upper suspension cable is connected to the sway-eliminating plate and all the upper suspension cables are spaced apart along the circumference of the sway-eliminating plate; The lower suspension cable assembly includes at least three lower suspension cables, which are connected to the anti-sway plate and are all spaced apart along the circumference of the anti-sway plate. A camera support unit is disposed at the lower end of the lower sling assembly and connected to the lower sling, and the camera support unit is used to support the camera.

[0006] According to the visual acquisition device of this utility model, the upper suspension cable connects to the first surface of the anti-sway disc and the lower suspension cable connects to the second surface, and both are arranged at circumferential intervals along their respective surfaces to form a symmetrical cable system of two rings, which forms an anti-torsional constraint around the vertical axis and weakens the self-spinning start.

[0007] In addition, the visual acquisition device according to this utility model may also have the following additional technical features: In some embodiments of this utility model, the number of upper slings and lower slings are the same and they are arranged in a one-to-one correspondence, and each upper sling and its corresponding lower sling are arranged coaxially.

[0008] In some embodiments of this utility model, the anti-sway plate has a first surface and a second surface arranged opposite to each other along its axial direction, the upper suspension cable is connected to the first surface, and multiple upper suspension cables are spaced apart along the first surface at equal angular intervals, the lower suspension cable is connected to the second surface, and multiple lower suspension cables are spaced apart along the second surface at equal angular intervals.

[0009] In some embodiments of this utility model, the second surface is provided with a groove at the corresponding position of the lower sling, and the upper end of the lower sling can slide in the groove and be locked by a locking member to adjust the length of the lower sling assembly.

[0010] In some embodiments of this utility model, the first side is provided with a first buckle structure for connecting with the upper sling, and the second side is provided with a second buckle structure for connecting with the lower sling, with the first buckle structure and the second buckle structure being provided in a one-to-one correspondence.

[0011] In some embodiments of this utility model, the camera support includes a main body structure and a camera gimbal, the main body structure is detachably connected to the lower sling, and the camera gimbal is mounted on the main body structure.

[0012] In some embodiments of this utility model, there are multiple camera gimbals, which are spaced apart circumferentially along the main body structure, and each camera gimbal is used to connect to a camera.

[0013] In some embodiments of this utility model, the airborne connection part is provided with a quick-release mechanism, which is one of a plug-in lock, a rotary lock chuck, or a threaded quick-release component, and is used to connect the aircraft.

[0014] The second aspect of this utility model provides a flight device, including an aircraft and the aforementioned visual acquisition device connected to the aircraft.

[0015] The third aspect of this utility model provides an agricultural vehicle, including a vehicle body and the aforementioned flight device, wherein the vehicle body is provided with a parking bay, and the flight device can be housed in the parking bay. Attached Figure Description

[0016] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 A schematic diagram of the structure of a flight device according to an embodiment of the present invention is shown. Figure 2 A first-view view of the flight device according to an embodiment of the present invention is shown schematically; Figure 3 A second-view perspective view of the flight device according to an embodiment of the present invention is shown schematically; Figure 4 A schematic diagram of the structure of the anti-sway plate according to an embodiment of the present invention is shown.

[0017] The attached figures are labeled as follows: 1000. Flight equipment; 100. Visual acquisition device; 10. Airborne connection part; 20. Upper suspension cable assembly; 30. Anti-sway plate; 31. First side; 32. Second side; 40. Lower suspension cable assembly; 50. Camera carrier.

[0018] 200. Aircraft. Detailed Implementation

[0019] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0020] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0021] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0022] For ease of description, spatial relative terms may be used in the text to describe the relationship of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "over," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure is flipped, an element described as "below other elements or features" or "below other elements or features" would subsequently be oriented "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations.

[0023] like Figures 1 to 4 As shown, according to an embodiment of the present invention, a visual acquisition device 100 for an aircraft 200 is proposed. The device includes, from top to bottom, an airborne connection part 10, an upper suspension cable assembly 20, a sway-eliminating plate 30, a lower suspension cable assembly 40, and a camera support part 50, forming a suspension structure connected in series in the vertical direction, used to support and stabilize the camera during flight.

[0024] The airborne connection part 10 is used for fixed connection with the aircraft 200. The airborne connection part 10 can be a mounting plate, a fixing rod, or a connecting seat, and is provided with multiple connection positions for detachable or fixed connection with the upper end of the upper sling assembly 20. The airborne connection part 10 is preferably located under the fuselage or under the belly of the aircraft 200, so that the visual acquisition device 100 is suspended under the aircraft 200.

[0025] The sling assembly 20 includes at least three slings, the upper ends of which are connected to the connection points of the onboard connection part 10, and the lower ends of which are connected to the first surface 31 of the anti-sway disc 30. The slings are spaced apart circumferentially along the first surface 31, preferably at equal angles to achieve symmetrical force distribution. The slings can be flexible ropes, belts, or cables, and the materials can be high-strength fibers, metal wire ropes, or composite materials. Sheaths or end connecting components can be selected as needed to improve wear resistance and ease of assembly and disassembly.

[0026] The anti-sway disc 30 is a circular disc positioned below the upper sling assembly 20. The anti-sway disc 30 has a first surface 31 and a second surface 32 arranged opposite each other along its axial direction. The first surface 31 is used to connect to the lower end of the upper sling, and the second surface 32 is used to connect to the upper end of the lower sling. The first surface 31 and the second surface 32 are respectively provided with circumferentially distributed connection points. These connection points correspond to each other or are arranged in a regular array on the plane projection, forming a multi-point symmetrical tension structure with upper and lower slings at the anti-sway disc 30. The anti-sway disc 30 can be made of metal, engineering plastic, or composite materials, and preferably has sufficient in-plane stiffness and extreme inertia to provide structural suppression of spin around the vertical axis caused by the coupling between the flexible sling and the airflow during flight.

[0027] It is understandable that the outer edge of the anti-sway plate 30 may be chamfered or rounded to reduce friction between the cable components. Weight reduction holes, inspection holes, or holes for mounting accessories may be provided on the plate as needed, but are not limited thereto.

[0028] The lower sling assembly 40 includes at least three lower slings. The upper ends of the lower slings are connected to the second surface 32 of the anti-sway disk 30, and the lower ends are connected to the camera carrier 50. The lower slings are spaced apart circumferentially along the second surface 32, preferably in a one-to-one correspondence with the upper slings on the first surface 31, to facilitate tension distribution and attitude control. The lower slings may be made of the same or different material as the upper slings, and their lengths can be preset according to mission requirements, creating an adjustable vertical distance between the camera carrier 50 and the aircraft 200 to reduce the impact of aircraft disturbance and propeller airflow on imaging.

[0029] The camera carrier 50 is located at the lower end of the lower sling assembly 40 and is connected to the lower ends of each lower sling. The camera carrier 50 can be a support frame, mounting plate, or annular frame, with a mounting interface for mounting the camera. The mounting interface can be a standard threaded hole array, dovetail groove, or quick-release mount, etc., to achieve reliable camera fixation and quick replacement. The outer edge of the camera carrier 50 can be equipped with protective ribs, guards, or buffers as needed to protect the carrier and camera during take-off, landing, or ground contact.

[0030] During assembly, the airborne connecting part 10 is first fixed to the mounting position of the aircraft 200, ensuring that its central axis is substantially aligned with the vertical axis of the aircraft 200. Then, the upper end of the upper sling is connected to the airborne connecting part 10, and the lower end is sequentially connected to multiple connection points on the first surface 31 of the anti-sway disc 30. Next, the upper end of the lower sling is connected to the corresponding connection point on the second surface 32 of the anti-sway disc 30, and the lower end is connected to the circumferential connection point of the camera bearing part 50. Through this layered, circumferentially multi-point symmetrical installation method, the anti-sway disc 30 is positioned between the two layers of slings, forming a torsional constraint structure. This effectively suppresses the spin and oscillation coupling of the suspended load relative to the vertical axis under the action of yaw or crosswinds of the aircraft 200, improving the stability of the camera's image capture direction and image quality. In actual use, the number, material and length of the upper and lower slings can be selected according to the mission scenario, the structural form of the camera bearing unit 50 can be selected, and the tension of each sling and the overall vertical attitude can be checked and adjusted before takeoff to ensure that the device works stably and reliably during flight.

[0031] In some embodiments, the number of upper and lower suspension cables is the same, preferably four or six. Correspondingly, the first surface 31 and the second surface 32 of the anti-sway plate 30 are respectively provided with an equal number of circumferential connecting positions, forming a one-to-one coaxial arrangement along the axial direction at the center of the plate. The lower end of each upper suspension cable is connected to a connecting position on the first surface 31, and the upper end of the corresponding lower suspension cable is connected to a connecting position on the second surface 32 that is on the same axial line as the connecting position at the center of the plate, so that the lines of action of the two corresponding suspension cables basically overlap in space and are coplanar with the axis of the plate, that is, each upper suspension cable and its corresponding lower suspension cable are coaxially arranged.

[0032] To facilitate the aforementioned coaxial relationship, the connection points of the first surface 31 and the second surface 32 preferably employ a concentric annular array of holes. A plurality of first connecting holes on the first surface 31 are distributed at equal angular intervals along the circumferential direction, while a plurality of second connecting holes on the second surface 32 are positioned opposite to them in the axial direction of the disk body, and coincide with the center of the disk body in planar projection. Each pair of oppositely positioned connection points is positioned by a positioning shoulder, guide bushing, or limiting ring, thereby ensuring that the connection center lines of the corresponding upper and lower slings are coaxial. During assembly, the lower ends of the upper slings are sequentially connected to the first connecting points, and the upper ends of the lower slings are sequentially connected to their corresponding second connecting points, so that each pair of upper and lower slings is tensioned along the same radial line, forming several tension channels evenly distributed around the center of the disk body.

[0033] By using the above-mentioned equal number and coaxial arrangement, the upper and lower suspension cables can form a multi-point symmetrical tension structure at the anti-sway disk 30, which can evenly distribute the tension around the disk. When the aircraft 200 yaws or is disturbed by lateral airflow, the symmetrical constraints from each channel generate mutually canceling torques and constraints on the torsional disturbance around the vertical axis. Combined with the in-plane inertia and aerodynamic damping of the circular anti-sway disk 30, the spin and oscillation coupling of the suspended load is effectively suppressed, improving the stability of the camera's image acquisition direction and the image quality during flight.

[0034] Furthermore, the first surface 31 is machined with a plurality of equally spaced first connecting positions along its circumference. The center of each first connecting position makes an equal angle with respect to the center of the disk body, denoted as 360° / n, where n is the number of upper slings and n≥3. The lower end of each upper sling is connected to the corresponding first connecting position, thereby the upper slings are spaced apart along the first surface 31 at equal angular intervals. Correspondingly, the second surface 32 is machined with a plurality of equally spaced second connecting positions along its circumference. The center of each second connecting position makes an equal angle with respect to the center of the disk body, denoted as 360° / m, where m is the number of lower slings and m≥3. The upper end of each lower sling is connected to the corresponding second connecting position, thereby the lower slings are spaced apart along the second surface 32 at equal angular intervals.

[0035] In some embodiments, the second surface 32 of the anti-sway plate 30 is provided with grooves at corresponding positions of each lower sling. Each groove is a strip-shaped groove extending circumferentially or radially, with rounded corners on both sides of the groove opening to reduce cable wear. The upper end of each lower sling passes through and slides along its corresponding groove. After passing through the groove, the upper end of the lower sling forms a fold-back section at the second surface 32 or rotates through a guide hole, so that when the locking is released, the upper end of the lower sling can slide back and forth relative to the groove, thereby changing the effective suspension length of the lower sling. To achieve reliable fixation after adjustment, a locking element is provided at each groove. The locking element cooperates with the upper end of the lower sling to lock it in the selected position after the length adjustment is completed. Through the above structural arrangement, the effective length of the lower sling assembly 40 can be continuously or gradedly adjusted without replacing the cable, thereby flexibly setting the vertical dimension of the device and the tension distribution of each sling according to the task scenario.

[0036] Specifically, threaded mounting holes can be provided on both sides of the slide groove. The locking components include a pressure plate spanning the slide groove and a clamping screw. When the screw is loosened, the upper end of the lower sling can slide freely in the slide groove. When the screw is tightened, the pressure plate presses the upper end of the lower sling against the bottom of the groove to achieve locking.

[0037] Specifically, a flip-out eccentric cam can be hinged to one side of the slide. When the cam is flipped open, the lower sling can slide. When the cam is pressed down, the lower sling is clamped to the bottom of the slide or the liner through eccentric tension, so as to achieve quick locking and releasing with one hand.

[0038] In some embodiments, the first side 31 of the sway plate 30 is provided with a first buckle structure for connecting with the upper sling, and the second side 32 is provided with a second buckle structure for connecting with the lower sling, and the first buckle structure and the second buckle structure are provided in a one-to-one correspondence.

[0039] Specifically, to facilitate the formation of a coaxial and symmetrical force-bearing channel between the upper and lower slings at the disc body, a number of first buckle seats are arranged circumferentially on the first surface 31, and a number of second buckle seats with corresponding angles and positions are arranged circumferentially on the second surface 32. Each first buckle seat and its corresponding second buckle seat are coaxially arranged on the radial line connecting the center of the disc body, and an assembly reference is formed by a positioning post, countersunk hole, or built-in metal bushing penetrating the disc body, thereby ensuring that the center lines of the corresponding upper and lower buckles coincide and avoiding uneven circumferential force caused by assembly deviation.

[0040] The first locking structure includes a locking seat fixedly connected to the disc body, an elastic plate disposed on one side of the locking opening, a guide ramp for guiding the cable end, and an inner stop edge. In a static state, the first locking opening is closed by the elastic plate, one end of which is hinged to the locking seat or integrally formed, while the other end has an outer pressing part. When the end connector of the hoisting cable (e.g., a rope loop with a sheath, a wire rope end with a protective ring, or a quick-release clip) is pressed in along the guide ramp, the plate springs open under force and returns to its original position after the connector is fully inserted, so that the connector is locked in the locking opening by the stop edge and the plate together. To improve reliability, a secondary safety locking element (e.g., a sliding safety plate or a flip-type secondary lock) is provided on the plate, which is pushed in or flipped down after the locking is completed to prevent the plate from accidentally springing out. The second locking structure is similar to the first locking structure and will not be described in detail here.

[0041] In some embodiments, the camera mount 50 includes a body structure and a camera gimbal. The body structure is located at the lower end of the sling assembly 40 and is detachably connected to each sling. The camera gimbal is mounted on the body structure to support and stabilize the camera.

[0042] Specifically, the main structure can be any of a ring frame, a regular polygonal frame, or a disc-shaped mounting plate, with several connecting ears or mounting seats arranged circumferentially along its outer edge. The lower end of each lower sling is detachably connected to the corresponding connecting ear via a quick-connect fitting. The quick-connect fitting can be any of a pin-type connection, a rotary lock chuck, a snap-lock, or a threaded quick-connect fitting, or a combination thereof. To improve reliability under long-term vibration conditions, a wear-resistant bushing or metal liner is preferably provided between the connecting ear and the quick-connect fitting, and a safety rope or anti-reverse pin is provided at the connection point as a secondary safety measure.

[0043] It is understandable that the number of camera pan / tilt heads is multiple, preferably three or four, but can also be set to two to six depending on the task requirements. The camera pan / tilt heads are spaced apart circumferentially along the main body structure, preferably distributed at equal angles, meaning the angle between the center line connecting adjacent pan / tilt heads and the center of the main body structure is approximately equal, to form circumferential symmetrical force distribution and field of view coverage. For ease of installation and adjustment, the main body structure has an independent mounting position for each pan / tilt head. Each mounting position includes a set of standardized hole arrays and / or T-slots and dovetail quick-release mounts. The pan / tilt head base is connected to the mounting position via screws or quick-release sliders, and can be adjusted slightly radially or tangentially along the slots. Rubber vibration damping pads or vibration damping columns are preferably installed between the mounting position and the pan / tilt head base to attenuate high-frequency vibration transmission. Each camera pan / tilt head is used to connect one camera. The camera and pan / tilt head are connected using a quick-release plate provided by the pan / tilt head manufacturer or a standard quick-release plate to achieve rapid assembly / disassembly and positioning replication.

[0044] In a preferred embodiment, the airborne connection 10 is provided with a quick-release mechanism for detachably securing the visual acquisition device 100 to the aircraft 200. The quick-release mechanism can be one of a plug-in latch, a twist-lock chuck, or a threaded quick-release component.

[0045] Specifically, the mounting base is equipped with a hollow or solid load-bearing stud, and the onboard connection part 10 is equipped with a matching quick-release nut or cap. During assembly, the onboard connection part 10 is fitted with the stud under the guidance of the positioning element, and the cap is tightened to the specified torque to form axial clamping.

[0046] In one specific embodiment, the visual acquisition device 100 includes, from top to bottom, a fixed rod, an upper suspension cable assembly 20, a sway-eliminating disc 30, a lower suspension cable assembly 40, a gimbal bracket, and a bracket base, forming a suspension structure connected in series in the vertical direction. It is used to install under the body of the aerial photography drone 200 and stably support multiple cameras during flight.

[0047] The fixing rod is located at the top of the device and is used to reliably connect to the mounting position of the aerial photography drone 200, so that the entire device is fixed to the bottom of the drone 200. The outer periphery of the fixing rod is provided with multiple buckle structures that match the upper suspension cables. The upper suspension cable assembly 20 includes four upper suspension cables arranged at equal angles along the periphery. The upper end of each upper suspension cable is detachably fixed to the fixing rod through the buckle structure of the fixing rod to form a symmetrical upper cable system.

[0048] The anti-sway disc 30 is disposed below the upper sling assembly 20, preferably a circular disc, and has a buckle structure corresponding to the upper slings on its upper surface. The lower ends of each upper sling are fixed to the upper surface of the anti-sway disc 30 through the buckles, so that the anti-sway disc 30 is located between the upper and lower slings. Through multi-point connections in an upper and lower layer and circumferential symmetry, the anti-sway disc 30 provides structural suppression of spin around the vertical axis caused by the interaction between the flexible slings and air resistance during flight, thereby reducing the spin and oscillation coupling of the suspended load.

[0049] The lower sling assembly 40 includes four lower slings arranged at equal angular intervals along the circumference. The upper ends of each sling are fixed to the anti-sway plate 30 via a snap-fit ​​structure on the lower surface of the anti-sway plate 30, and the lower ends are connected to the gimbal bracket located at the bottom of the device. The gimbal bracket adopts a ring-shaped or polygonal frame structure, integrating four camera gimbal mounting positions at equal angular intervals along its circumference. Each camera gimbal mounting position is used to connect one camera. In addition to its load-bearing function, the gimbal bracket preferably has protective ribs or edges on its outer edge to form a circumferential barrier to the camera in the event of a collision during flight, reducing the risk of direct collision between the camera and external objects. The gimbal bracket and the lower slings are detachably fixed via bracket snap-fits, facilitating quick assembly, disassembly, and maintenance.

[0050] A support base is located below the gimbal bracket, and the base is fixedly connected to the gimbal bracket to provide cushioning and protection during landing after flight or during ground handling. The support base may include cushioning elements such as elastic rings, elastic pads, or spring-loaded limit feet to absorb impact at the moment of ground contact, reduce the peak acceleration transmitted to the gimbal and camera, and improve the device's drop resistance.

[0051] This specific implementation has two modes, including: Mode 1: Low-altitude perspective mode (near-ground data acquisition) In one embodiment, the visual acquisition device 100 is used for visual data acquisition in complex near-ground environments (such as orchards, nurseries, and construction site perimeters). Its operation includes: S1 Mission Preparation: Based on the canopy thickness and obstacle distribution in the target area, set the vertical dimensions of the device, and coordinate the lengths of the upper and lower slings to position the camera gimbal at the predetermined near-ground acquisition height.

[0052] S2 Takeoff and Positioning: The aircraft 200 maintains flight above the canopy or obstacles, using the onboard positioning unit and ground reference to achieve flight path tracking. The camera gimbal is suspended below the target altitude along with the device to achieve stable image acquisition of near-ground targets.

[0053] S3 Acquisition and Stabilization: During flight, the anti-sway disk 30 is located between the upper and lower suspenders and forms an anti-torsional constraint together with the multi-point tensioning arranged at equal angles, thereby suppressing the coupling of spin and sway around the vertical axis caused by the action of flexible suspenders and air resistance, and the gimbal completes attitude stabilization and view tracking.

[0054] S4 mission complete: After returning to base, reset the sling lengths in reverse order, complete equipment checks and data export.

[0055] The beneficial effects are that by having the aircraft 200 fly at high altitudes and the camera take a close-up view of the ground, the aircraft avoids directly passing through dense canopies or narrow passages, reducing the risk of disturbance to the ground / plants caused by the airflow from the leaves. At the same time, under the structural constraints of the anti-sway disc 30 and the image stabilization effect of the gimbal, a clearer and more stable near-ground image is obtained.

[0056] Mode 2: High-altitude perspective mode (elevation acquisition) In another implementation, two operational schemes are provided for data acquisition requiring a large area and high viewpoint: Option A (Standard Ascent): S1 Mission Preparation: Maintain the normal vertical length of the device and ensure the camera gimbal is in the standard under-mounted position.

[0057] S2 Ascend and Position: Directly control the aircraft to ascend to the target altitude, enabling the camera gimbal to reach the predetermined viewpoint height and execute flight path operations.

[0058] S3 Acquisition and Stabilization: Performs panoramic or wide-area scanning from a high-altitude perspective. The anti-sway disk 30 and symmetrical cable structure continuously provide anti-torsional constraints, while the gimbal performs attitude stabilization and pointing control.

[0059] Option B (Crosswind Enhancement and Sway Suppression): S1 Crosswind Judgment: When the crosswind is strong in the working environment, shorten the vertical length to reduce the impact of wind-induced swaying.

[0060] S2 Shortening: By using the 30-degree buckle of the anti-sway plate, each lower sling is pulled from bottom to top to an appropriate length and locked, thus shortening the overall vertical length of the device, thereby reducing the crosswind action arm and aerodynamic swing amplitude.

[0061] S3 Ascend and Position: Control the aircraft to ascend to the target altitude by 200 meters, and optimize attitude and speed according to wind direction and flight path.

[0062] S4 Acquisition and Stabilization: Relying on the shortened sling system and the in-plane inertia / aerodynamic damping of the anti-swivel disk 30, the oscillation induced by the spin around the vertical axis and the crosswind is further suppressed to achieve stable imaging.

[0063] This embodiment also provides a flight device 1000, including an aircraft 200 and a visual acquisition device 100 mounted on the aircraft 200. The aircraft 200 can be a multi-rotor unmanned aerial vehicle. The airborne connection part 10 of the visual acquisition device 100 is located at a mounting base position under the fuselage of the aircraft 200, and is detachably connected to the mounting base via a quick-release mechanism, so that the visual acquisition device 100 is suspended below the aircraft 200.

[0064] This embodiment also provides an agricultural vehicle, including a vehicle body and a parking bay mounted on the vehicle body. The vehicle body can be an unmanned agricultural platform, an agricultural machinery tractor, or a modified transport vehicle. The parking bay can be arranged on the top or rear platform of the vehicle body and includes a bay body, an opening and closing mechanism, a load-bearing and guiding mechanism, a locking and limiting mechanism, a vibration-damping base, a charging and data interface, and an environmental protection unit. The bay body forms a closed or semi-closed receiving cavity, the internal dimensions of which are adapted to the outer envelope of the flight device 1000. The opening and closing mechanism can be a top-hinged hatch or a side-opening door, with elastic sealing strips around the hatch for rain and dust protection. The hatch can be driven by an electric push rod, a winch, or a gas spring, and the opening angle is not limited. The load-bearing and guiding mechanism can be a retractable landing tray or a sliding drawer platform. Before the operation, the pallet extends from the parking bay to form a flat take-off and landing platform. After the operation, the flight device 1000 lands on the pallet and is fixed by the locking and limiting mechanism. The pallet is then retracted into the cabin, and the hatch is closed to complete the containment.

[0065] The above description is merely a preferred embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A visual acquisition device, characterized in that, include: Airborne connector (10) for connecting to aircraft (200); The sling assembly (20) includes at least three slings connected to the airborne connection (10); The sway-eliminating plate (30) is located below the upper suspension cable assembly (20), and the upper suspension cable is connected to the sway-eliminating plate (30) and all the upper suspension cables are spaced apart along the circumference of the sway-eliminating plate (30). The lower suspension cable assembly (40) includes at least three lower suspension cables, which are connected to the anti-sway plate (30) and are all arranged at intervals along the circumference of the anti-sway plate (30); A camera carrier (50) is disposed at the lower end of the lower sling assembly (40) and connected to the lower sling. The camera carrier (50) is used to carry the camera.

2. The visual acquisition device according to claim 1, characterized in that, The number of upper and lower slings is the same and they are arranged in a one-to-one correspondence. Each upper sling is coaxially arranged with its corresponding lower sling.

3. The visual acquisition device according to claim 2, characterized in that, The anti-sway plate (30) has a first surface (31) and a second surface (32) arranged opposite to each other along its axial direction. The upper suspension cable is connected to the first surface (31), and multiple upper suspension cables are spaced apart along the first surface (31) at equal angular intervals. The lower suspension cable is connected to the second surface (32), and multiple lower suspension cables are spaced apart along the second surface (32) at equal angular intervals.

4. The visual acquisition device according to claim 3, characterized in that, The second surface (32) is provided with a groove at the corresponding position of the lower sling. The upper end of the lower sling can slide in the groove and be locked by a locking member to adjust the length of the lower sling assembly (40).

5. The visual acquisition device according to claim 3, characterized in that, The first side (31) is provided with a first buckle structure for connecting with the upper sling, and the second side (32) is provided with a second buckle structure for connecting with the lower sling. The first buckle structure and the second buckle structure are provided in a one-to-one correspondence.

6. The visual acquisition device according to claim 1, characterized in that, The camera carrier (50) includes a main body structure and a camera gimbal. The main body structure is detachably connected to the lower sling, and the camera gimbal is mounted on the main body structure.

7. The visual acquisition device according to claim 6, characterized in that, The number of camera pan-tilt units is multiple, and the camera pan-tilt units are arranged at intervals along the circumference of the main body structure. Each camera pan-tilt unit is used to connect to one camera.

8. The visual acquisition device according to any one of claims 1 to 7, characterized in that, The airborne connection part (10) is provided with a quick-release mechanism, which is one of a plug-in lock, a rotary lock chuck or a threaded quick-release component, and is used to connect the aircraft (200).

9. A flight device, characterized in that, include: Aircraft (200); The visual acquisition device (100) according to any one of claims 1 to 8 is connected to the aircraft (200).

10. An agricultural vehicle, characterized in that, include: The vehicle body is equipped with a parking bay. According to claim 9, the flight device (1000) is capable of being housed in the parking bay.

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