Angle adjusting device and tailing pond patrol unmanned aerial vehicle

Abstract

The invention provides an angle adjusting device and a tailing pond patrol unmanned aerial vehicle. The angle adjusting device comprises an image acquisition device, an angle adjusting device and a control device, wherein an adjusting piece is arranged on the image acquisition device; the supporting seat is used for being connected with the unmanned aerial vehicle; the first driving part is arranged on the supporting seat, the first driving part is connected with the adjusting part, the first driving part can drive the image acquisition device to rotate around a first axis through the adjusting part, and the extending direction of the first axis is the vertical direction; the adjusting ring is located below the supporting seat, the adjusting ring can move relative to the supporting seat in the vertical direction, the adjusting ring is connected with the adjusting piece, and when the adjusting ring moves in the vertical direction, the image collecting device can be driven to rotate around a second axis; and the second driving part can drive the adjusting ring to move in the vertical direction. The angle adjusting device has the advantages that the angle of the image acquisition device can be adjusted conveniently, and the image acquisition device can be protected conveniently.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to an angle adjustment device and a tailings pond inspection UAV. Background Art

[0002] In the related art, it is not convenient to adjust the image acquisition device at multiple angles when using the drone for inspecting the tailings pond. If the image acquisition device of the drone cannot flexibly adjust the angle, its shooting range and viewing angle will be limited, which may result in key areas not being clearly photographed. The inconvenience of angle adjustment may require the drone to fly multiple times or adjust its position to obtain the required image, thereby increasing the inspection time and cost, and the image acquisition device is prone to scratches or bumps after use, which may cause the image acquisition device to require more maintenance and replacement, so further improvement is needed. Summary of the invention

[0003] The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, an embodiment of the present invention provides an angle adjustment device and a tailings pond inspection drone.

[0004] The angle adjustment device according to the embodiment of the present invention comprises:

[0005] An image acquisition device, wherein an adjustment member is provided on the image acquisition device;

[0006] A support base, the support base is used to connect to the drone;

[0007] A first driving part, wherein the first driving part is disposed on the supporting seat, the first driving part is connected to the adjusting member, and the first driving part can drive the image acquisition device to rotate around a first axis through the adjusting member, and the extending direction of the first axis is an up-down direction;

[0008] An adjusting ring, the adjusting ring is located below the supporting seat, the adjusting ring can move relative to the supporting seat in the up-down direction, the adjusting ring is connected to the adjusting member, and the adjusting ring can drive the image acquisition device to rotate around a second axis when moving in the up-down direction, and the second axis extends in the horizontal direction;

[0009] The second driving part can drive the adjusting ring to move in the up-down direction.

[0010] Therefore, the angle adjustment device according to the embodiment of the present invention has the advantages of being convenient for adjusting the angle of the image acquisition device and being convenient for protecting the image acquisition device.

[0011] In some embodiments, the adjustment ring has an annular sliding groove, and the adjustment ball of the adjustment member can be slidably and rotatably engaged in the sliding groove, and the sliding groove limits the adjustment ball in the up and down directions.

[0012] In some embodiments, the slide groove is provided on the inner ring surface of the adjustment ring, and the opening of the slide groove faces inward;

[0013] The adjusting member comprises a fixed block, a rotating rod, a connecting rod and the adjusting ball, wherein the fixed block is arranged on the image acquisition device, the rotating rod and the connecting rod are connected to the fixed block, and the adjusting ball is arranged on the connecting rod;

[0014] The first driving part is connected to the rotating rod and can drive the rotating rod to rotate around the first axis;

[0015] The second driving part can drive the adjusting ring to move in the up-down direction so that the adjusting ring drives the image acquisition device to rotate around the second axis through the adjusting ball and the connecting rod.

[0016] In some embodiments, the adjusting ball is rotatably or rollably arranged on the connecting rod;

[0017] The fixing block is arranged on the top of the image acquisition device;

[0018] The first driving part is a motor, the output shaft of the motor extends downward from the support seat, the output shaft of the motor extends in the up-down direction, the output shaft of the motor is provided with a rotating seat, the rotating rod is rotatably engaged in the rotating seat, the extending direction of the rotating rod is the first horizontal direction, and the first horizontal direction is consistent with the extending direction of the second axis;

[0019] The connecting rod includes a first rod body and a second rod body, the connecting rod is an L-shaped connecting rod, the first rod body extends along the second horizontal direction, the second rod body extends along the first horizontal direction, the first horizontal direction is perpendicular to the second horizontal direction, and the rotating rod, the first rod body, the second rod body and the adjusting ball are connected in sequence.

[0020] In some embodiments, the second driving part includes an electric telescopic rod and a plurality of limit rods, the fixed part of the electric telescopic rod is connected to the bottom of the support seat, the telescopic part of the electric telescopic rod can be extended downward and connected to the adjusting ring, the electric telescopic rod can drive the adjusting ring to move in the up and down directions, each of the limit rods extends in the up and down directions, and the plurality of limit rods are arranged at the top of the adjusting ring at circumferential intervals, the support seat has a plurality of limit holes, the tops of the plurality of limit rods extend into the plurality of limit holes one by one, and the top of each limit rod is provided with a limit part located in the limit hole, and the outer diameter of the limit part is larger than the diameter of the limit hole.

[0021] The angle adjustment device of an embodiment of the present invention includes a protective device, which includes a protective cover, a first protective shell and a second protective shell. The protective cover, the first protective shell and the second protective shell are detachably connected. The protective cover, the first protective shell and the second protective shell can be covered on the outside of the image acquisition device to protect the image acquisition device.

[0022] In some embodiments, the protective device is a cylindrical structure, and an internal thread is formed after the first protective shell and the second protective shell are connected, and the protective cover is threadedly connected to the internal bolt after the first protective shell and the second protective shell are connected.

[0023] In some embodiments, the first protective shell and the second protective shell may be arranged relative to each other in a third direction, the length directions of the first protective shell and the second protective shell are both in a fourth direction, and the third direction is perpendicular to the fourth direction;

[0024] The first protective shell is provided with a first connecting portion, and the second protective shell is provided with a second connecting portion;

[0025] The first connecting portion and the second connecting portion are arranged opposite to each other in the third direction;

[0026] A limit block and a first button rod are provided in the first connection portion, the first button rod extends along the third direction, the first button rod is connected to the limit block, the first button rod can drive the limit block to move in the third direction, the limit block is provided with limit grooves on both sides of the fourth direction, and the button end of the first button rod away from the limit block extends out of the first connection portion;

[0027] The second connecting portion is provided with two limiting members arranged opposite to each other in the fourth direction, the limiting members include a first inclined block, a first connecting block and a second inclined block which are sequentially connected in the third direction, the surfaces of the two first inclined blocks which are arranged opposite to each other in the fourth direction are first inclined surfaces, the first inclined surfaces are inclined in the third direction in a direction away from the first connecting portion toward a direction adjacent to the limiting block, the surfaces of the two second inclined blocks which are arranged opposite to each other in the fourth direction are second inclined surfaces, the second inclined surfaces are inclined upward in a direction away from the limiting block;

[0028] A second spring is provided on the two limiting members on the opposite sides of the fourth direction, and the second spring can be elastically deformed in the fourth direction;

[0029] The first button rod drives the limiting block to move in the third direction toward the direction adjacent to the second connecting portion so that the two first inclined blocks can slide into the limiting groove;

[0030] An extrusion block is provided in the second connecting part, and the extrusion block is movably provided in the second connecting part along the up and down directions. The extrusion block moves downward to abut against the two second inclined surfaces and drives the two limiting members to move away from each other in the fourth direction, so that the first inclined block of the limiting member exits the limiting groove.

[0031] In some embodiments, the third direction and the fourth direction are both perpendicular to the up-down direction;

[0032] The first connecting portion and the second connecting portion are located in a direction away from the protective cover in the fourth direction;

[0033] A fixing plate is provided on the first button rod, a stopper slidably connected to the first button rod is provided in the first connecting portion, a first spring is provided between the stopper and the fixing plate, and the first spring is sleeved on the first button rod;

[0034] The second spring is arranged on the opposite side of the two first inclined blocks in the fourth direction;

[0035] The extrusion block is provided with connecting plates on both sides of the fourth direction, a third spring is provided below the connecting plates, a second button is provided on the top of the extrusion block, and the top of the second button extends upwardly from the second connecting portion.

[0036] The present invention also proposes a tailings pond inspection drone, comprising a drone body, wherein the bottom of the drone body is provided with the above-mentioned angle adjustment device. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1is a schematic diagram of a drone according to an embodiment of the present invention.

[0038] Figure 2 is a perspective view of a drone according to an embodiment of the present invention.

[0039] Figure 3 is a schematic diagram of an angle adjustment device according to an embodiment of the present invention.

[0040] Figure 4 is an exploded view of an angle adjustment device according to an embodiment of the present invention.

[0041] Figure 5 is a schematic diagram of a protection device according to an embodiment of the present invention.

[0042] Figure 6 is a schematic diagram of a first connection portion and a second connection portion according to an embodiment of the present invention.

[0043] Figure numerals: 1, drone body; 2, blades; 3, support seat; 4, transmission module; 5, angle adjustment device; 51, support seat; 52, electric telescopic rod; 53, adjustment ring; 54, limit rod; 55, motor; 56, output shaft; 57, rotating seat; 58, rotating rod; 59, connecting rod; 510, adjustment ball; 511, fixing block; 6, image acquisition device; 7, protection device; 71, first protective shell; 72, second Protective shell; 73, protective cover; 74, first connecting part; 741, limit block; 742, first button rod; 743, stop block; 744, first spring; 745, fixed plate; 746, button end; 75, second connecting part; 751, first inclined block; 752, first connecting block; 753, second inclined block; 754, second spring; 755, extrusion block; 756, connecting plate; 757, third spring; 758, second button. DETAILED DESCRIPTION

[0044] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0045] The angle adjustment device 5 according to an embodiment of the present invention is described below with reference to the accompanying drawings. Figures 1 to 6 As shown, the angle adjustment device 5 according to the embodiment of the present invention includes an image acquisition device 6, a support base 51, a first driving part, an adjustment ring 53 and a second driving part.

[0046] An adjusting member is provided on the image acquisition device 6, and the image acquisition device 6 is a device for capturing and recording images. For example, the image acquisition device 6 is a camera.

[0047] The support seat 51 is used to connect with the drone. The first driving unit is arranged on the support seat 51, and the first driving unit is connected to the adjusting member. The first driving unit can drive the image acquisition device 6 to rotate around the first axis through the adjusting member, and the extension direction of the first axis is the up-down direction. Thus, the first driving unit can drive the image acquisition device 6 to move in the circumferential direction, so that the image acquisition device 6 can adjust the angle.

[0048] The adjusting ring 53 is located below the supporting seat 51. The adjusting ring 53 can move relative to the supporting seat 51 in the up-down direction. The adjusting ring 53 is connected to the adjusting member. When the adjusting ring 53 moves in the up-down direction, it can drive the image acquisition device 6 to rotate around the second axis, and the second axis extends in the horizontal direction. The second driving part can drive the adjusting ring 53 to move in the up-down direction. Therefore, the second driving part can cooperate with the adjusting ring 53 to drive the image acquisition device 6 to rotate around the second axis, thereby changing the horizontal angle of the image acquisition device 6.

[0049] like Figures 1 to 4 As shown, the adjusting member includes a fixing block 511 , a rotating rod 58 , a connecting rod 59 and an adjusting ball 510 .

[0050] The fixing block 511 is disposed on the image acquisition device 6, and the fixing block 511 is disposed on the top of the image acquisition device 6. The rotating rod 58 and the connecting rod 59 are connected to the fixing block 511, and the adjusting ball 510 is disposed on the connecting rod 59.

[0051] The first driving part is connected to the rotating rod 58 and can drive the rotating rod 58 to rotate around the first axis. Specifically, the first driving part is a motor 55, the output shaft 56 of the motor 55 extends downward from the support seat 51, the output shaft 56 of the motor 55 extends in the up-down direction, the output shaft 56 of the motor 55 is provided with a rotating seat 57, the rotating rod 58 is rotatably fitted in (the rotating hole of) the rotating seat 57, and the extending direction of the rotating rod 58 is the first horizontal direction, which is consistent with the extending direction of the second axis. Therefore, when the output shaft 56 of the motor 55 drives the rotating seat 57 to rotate, the rotating rod 58 can be driven to rotate, thereby driving the image acquisition device 6 to rotate in the horizontal direction. And the rotating rod 58 can rotate around the second axis relative to the rotating seat 57.

[0052] like Figures 1 to 4As shown, the adjusting ring 53 has an annular slide groove, which is provided on the inner ring surface of the adjusting ring 53, and the opening of the slide groove faces the inside. The adjusting ball 510 of the adjusting member can be slidably and rotatably fitted in the slide groove, and the slide groove limits the adjusting ball 510 in the up and down directions. Specifically, the connecting rod 59 includes a first rod body and a second rod body, and the connecting rod 59 is an L-shaped connecting rod. The first rod body extends along the second horizontal direction, and the second rod body extends along the first horizontal direction. The first horizontal direction is perpendicular to the second horizontal direction. The rotating rod 58, the first rod body, the second rod body and the adjusting ball 510 are connected in sequence. That is, the first rod body is perpendicular to the rotating rod 58 and the second rod body, and the extending directions of the rotating rod 58 and the second rod body are consistent. Therefore, when the output shaft 56 of the motor 55 drives the image acquisition device 6 to rotate, the adjusting ball 510 can slide in the slide groove of the adjusting ring 53 along the circumferential direction. For example, the adjusting ring 53 and the slide groove are annular structures.

[0053] The adjusting ball 510 is rotatably or rollably disposed on the connecting rod 59. Specifically, the adjusting ball 510 is rotatably or rollably disposed at the end of the second rod body.

[0054] The second driving part can drive the adjustment ring 53 to move in the up-down direction so that the adjustment ring 53 drives the image acquisition device 6 to rotate around the second axis through the adjustment ball 510 and the connecting rod 59. Specifically, the second driving part includes an electric telescopic rod 52 and a plurality of limiting rods 54. The fixed part of the electric telescopic rod 52 is connected to the bottom of the support seat 51. The telescopic part of the electric telescopic rod 52 can extend downward and connect to the adjustment ring 53. The electric telescopic rod 52 can drive the adjustment ring 53 to move in the up-down direction. Each limiting rod 54 extends in the up-down direction. The plurality of limiting rods 54 are arranged at intervals along the circumferential direction at the top of the adjustment ring 53. The support seat 51 has a plurality of limiting holes. The tops of the plurality of limiting rods 54 extend into the plurality of limiting holes one by one. The top of each limiting rod 54 is provided with a limiting part located in the limiting hole. The outer diameter of the limiting part is greater than the diameter of the limiting hole. Therefore, when the electric telescopic rod 52 drives the adjustment ring 53 to move in the up-down direction, the limiting rod 54 can guide and limit the adjustment ring 53.

[0055] When the adjustment ring 53 moves in the up and down direction, due to the conversion of the L-shaped connecting rod 59, the adjustment ring 53 will drive the adjustment ball 510 to move up and down during the up and down movement. The adjustment ball 510 is spherical and has a consistent diameter when rotating. The rotating rod 58 does not move in the up and down direction, so that the adjustment ball 510 can rotate around the second axis (rotating rod 58), so that the adjustment member and the image acquisition device 6 can rotate around the rotating rod 58 (second axis), thereby changing the horizontal angle of the image acquisition device 6.

[0056] like Figure 5 and Figure 6As shown, in some embodiments, the angle adjustment device 5 includes a protective device 7, and the protective device 7 includes a protective cover 73, a first protective shell 71, and a second protective shell 72. The protective cover 73, the first protective shell 71, and the second protective shell 72 are detachably connected, and the protective cover 73, the first protective shell 71, and the second protective shell 72 can be covered on the outside of the image acquisition device 6 to protect the image acquisition device 6.

[0057] In some embodiments, the protective device 7 is a cylindrical structure, and the first protective shell 71 and the second protective shell 72 are connected to form an internal thread, and the protective cover 73 is threadedly connected to the internal bolt after the first protective shell 71 and the second protective shell 72 are connected. Specifically, the first protective shell 71 and the second protective shell 72 are symmetrical structures, and the first protective shell 71 and the second protective shell 72 both include semicircular end plates of arc-shaped side plates. The protective cover 73 can cover the opening formed after the first protective shell 71 and the second protective shell 72 are connected. The first protective shell 71 and the second protective shell 72 can be snap-connected or hinged.

[0058] In some embodiments, the first protective shell 71 and the second protective shell 72 may be arranged opposite to each other in the third direction, the length directions of the first protective shell 71 and the second protective shell 72 are both in the fourth direction, and the first connecting portion 74 and the second connecting portion 75 are located in the fourth direction away from the protective cover 73. The third direction is perpendicular to the fourth direction, and the third direction and the fourth direction are both perpendicular to the up-down direction.

[0059] The first protective shell 71 is provided with a first connecting portion 74, and the second protective shell 72 is provided with a second connecting portion 75. The first connecting portion 74 and the second connecting portion 75 are disposed opposite to each other in the third direction.

[0060] A limit block 741 and a first button rod 742 are provided in the first connection portion 74. The first button rod 742 extends along the third direction, is connected to the limit block 741, and can drive the limit block 741 to move in the third direction. The limit block 741 is provided with limit grooves on both sides of the fourth direction, and the button end 746 of the first button rod 742 (in the third direction) away from the limit block 741 extends out of the first connection portion 74. For example, the limit groove is a rectangular groove.

[0061] A fixing plate 745 is provided on the first button rod 742, a stopper 743 is provided in the first connection portion 74 and is slidably connected to the first button rod 742, the stopper 743 is fixed in the first connection portion 74, a first spring 744 is provided between the stopper 743 and the fixing plate 745, and the first spring 744 is sleeved on the first button rod 742. Thus, the first button rod 742 can push the limiting block 741 to move in a direction adjacent to the second connection portion 75. The first spring 744 can be elastically deformed in the third direction, and the first spring 744 facilitates pushing the fixing plate 745 and the first button rod 742 to move in a direction away from the second connection portion 75.

[0062] Two limiting members are disposed in the second connection portion 75 and are arranged opposite to each other in the fourth direction. The two limiting members are arranged at an interval, and the limiting members include a first inclined block 751, a first connection block 752 and a second inclined block 753 which are sequentially connected in the third direction.

[0063] The surfaces of the two first inclined blocks 751 opposite to each other in the fourth direction are first inclined surfaces, which are inclined in the third direction away from the first connection portion 74 toward the direction adjacent to the stop block 741. For example, the two first inclined surfaces form a V-shaped surface facing the first connection portion 74.

[0064] A second spring 754 is provided on the side of the two stoppers opposite to each other in the fourth direction, and the second spring 754 can be elastically deformed in the fourth direction. Specifically, the second spring 754 is provided on the side of the two first inclined blocks 751 opposite to each other in the fourth direction. The first button rod 742 drives the stopper 741 to move in the direction adjacent to the second connecting portion 75 in the third direction, so that the two first inclined surfaces of the two first inclined blocks 751 can slide relative to the stopper 741 until the planes of the two first inclined blocks 751 enter the limiting grooves on both sides of the stopper 741 in the fourth direction. The second spring 754 can drive the two first inclined blocks 751 to move relative to each other in the fourth direction, so that the two first inclined blocks 751 can slide into the limiting grooves, thereby connecting the first connecting portion 74 and the second connecting portion 75.

[0065] The surfaces of the two second inclined blocks 753 that are arranged opposite to each other in the fourth direction are second inclined surfaces, and the second inclined surfaces (in the fourth direction) are arranged to be inclined upward in a direction away from the limiting block 741. An extrusion block 755 is arranged in the second connecting portion 75, and the extrusion block 755 is movably arranged in the second connecting portion 75 along the up-down direction. The extrusion block 755 moves downward to abut against the two second inclined surfaces and drives the two limiting members to move away from each other in the fourth direction, so that the first inclined block 751 of the limiting member exits the limiting groove. Specifically, the extrusion block 755 is provided with connecting plates 756 on both sides of the fourth direction, and a third spring 757 is provided below the connecting plate 756, and the bottom of the third spring 757 elastically supports the connecting plate 756. A second button 758 is provided on the top of the extrusion block 755, and the top of the second button 758 extends upward from the second connecting portion 75. Therefore, when the second button 758 is pressed downward, the squeezing block 755 can squeeze the two second inclined surfaces of the second inclined block 753 so that the two limiting members move back to back, thereby allowing the two first inclined blocks 751 to exit the limiting grooves.

[0066] The present invention further proposes a tailings pond inspection drone. The tailings pond inspection drone according to an embodiment of the present invention includes a drone body 1 .

[0067] The bottom of the drone body 1 is provided with an angle adjustment device 5 according to an embodiment of the present invention. Specifically, the drone body 1 is provided with blades 2 and a support frame 3, and the bottom of the drone body 1 is provided with a transmission module 4 and an angle adjustment device 5 according to an embodiment of the present invention which are connected in sequence. The transmission module 4 is used to transmit information.

[0068] When the angle adjustment device 5 of the tailings pond inspection drone according to the embodiment of the present invention needs to adjust the angle of the image acquisition device 6, the motor 55 drives the output shaft 56 to rotate, thereby driving the rotating seat 57 below to rotate. When the rotating seat 57 rotates, the rotating rod 58 connected to the side rotation is driven to rotate together, so that the horizontal angle of the image acquisition device 6 can be changed. Then, the adjustment ring 53 is pushed up and down by the electric telescopic rod 52, and the adjustment ball 510 slides in the slide groove opened on the inner side of the adjustment ring 53. When the adjustment ring 53 moves up and down, the adjustment ball 510 is driven to move up and down in the slide groove, thereby driving the rotating rod 58, the fixed block 511 and the image acquisition device 6 to rotate around the rotating seat 57 through the L-shaped connecting rod 59, so that the image acquisition device 6 can be driven to achieve adjustment of different angles, so that image acquisition can be better performed.

[0069] After the drone is finished working, the first protective shell 71 and the second protective shell 72 are rotated to be covered on the outside of the image acquisition device 6, and then the button end 46 is pressed to drive the first button rod 742, the fixing plate 745 and the limit block 741 to slide inside the first connection part 74, so that the limit block 741 enters the second connection part 75, and the limit block 741 squeezes the first inclined block 751, thereby driving the first inclined block 751, the first connection block 752 and the second inclined block 753 to slide sideways. When passing through the limiting groove on the side of the limiting block 741, the second spring 754 will push the first inclined block 751 to reset, so that the first inclined block 751 is stuck in the limiting groove, thereby limiting the first protective shell 71 and the second protective shell 72, and then the protective cover 73 is rotated to rotate into the side of the first protective shell 71 and the second protective shell 72, so that the image acquisition device 6 can be protected to avoid collision or scratches, thereby better protecting the image acquisition device 6.

[0070] When the protective device 7 needs to be removed, the second button 758 is pressed, thereby driving the extrusion block 755 and the connecting plate 756 to slide downward, and the extrusion block 755 will squeeze the second inclined block 753 below, and the second inclined block 753 will slide to both sides through the inclined surface, thereby driving the first inclined block 751 to move to both sides together, losing the limit on the limit block 741, and then the limit block 741 will be reset under the action of the first spring 744, so that the protective device 7 can be removed.

[0071] Therefore, the angle adjustment device 5 according to the embodiment of the present invention has the advantages of being convenient for adjusting the angle of the image acquisition device 6 and for protecting the image acquisition device 6. The tailings pond inspection drone according to the embodiment of the present invention has the advantages of being convenient for adjusting the angle of the image acquisition device 6 and for protecting the image acquisition device 6.

[0072] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0073] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0074] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0075] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0076] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0077] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. An angle adjustment device, characterized in that: include: An image acquisition device, wherein an adjustment member is provided on the image acquisition device; A support base, the support base is used to connect to the drone; A first driving part, wherein the first driving part is disposed on the supporting seat, the first driving part is connected to the adjusting member, and the first driving part can drive the image acquisition device to rotate around a first axis through the adjusting member, and the extending direction of the first axis is an up-down direction; An adjusting ring, the adjusting ring is located below the supporting seat, the adjusting ring can move relative to the supporting seat in the up-down direction, the adjusting ring is connected to the adjusting member, and the adjusting ring can drive the image acquisition device to rotate around a second axis when moving in the up-down direction, and the second axis extends in the horizontal direction; The second driving part can drive the adjusting ring to move in the up-down direction.

2. The angle adjustment device according to claim 1, characterized in that: The adjusting ring has an annular sliding groove, and the adjusting ball of the adjusting member can be slidably and rotatably engaged in the sliding groove, and the sliding groove limits the adjusting ball in the up and down directions.

3. The angle adjustment device according to claim 2, characterized in that: The slide groove is arranged on the inner ring surface of the adjusting ring, and the opening of the slide groove faces inward; The adjusting member comprises a fixed block, a rotating rod, a connecting rod and the adjusting ball, wherein the fixed block is arranged on the image acquisition device, the rotating rod and the connecting rod are connected to the fixed block, and the adjusting ball is arranged on the connecting rod; The first driving part is connected to the rotating rod and can drive the rotating rod to rotate around the first axis; The second driving part can drive the adjusting ring to move in the up-down direction so that the adjusting ring drives the image acquisition device to rotate around the second axis through the adjusting ball and the connecting rod.

4. The angle adjustment device according to claim 3, characterized in that: The adjusting ball is rotatably or rollably arranged on the connecting rod; The fixing block is arranged on the top of the image acquisition device; The first driving part is a motor, the output shaft of the motor extends downward from the support seat, the output shaft of the motor extends in the up-down direction, the output shaft of the motor is provided with a rotating seat, the rotating rod is rotatably engaged in the rotating seat, the extending direction of the rotating rod is the first horizontal direction, and the first horizontal direction is consistent with the extending direction of the second axis; The connecting rod includes a first rod body and a second rod body, the connecting rod is an L-shaped connecting rod, the first rod body extends along the second horizontal direction, the second rod body extends along the first horizontal direction, the first horizontal direction is perpendicular to the second horizontal direction, and the rotating rod, the first rod body, the second rod body and the adjusting ball are connected in sequence.

5. The angle adjustment device according to claim 1, characterized in that: The second driving part includes an electric telescopic rod and a plurality of limit rods, the fixing part of the electric telescopic rod is connected to the bottom of the support seat, the telescopic part of the electric telescopic rod can be extended downward and connected to the adjusting ring, the electric telescopic rod can drive the adjusting ring to move in the up and down directions, each of the limit rods extends in the up and down directions, and the plurality of limit rods are arranged at the top of the adjusting ring at intervals in the circumferential direction, the support seat has a plurality of limit holes, and the tops of the plurality of limit rods extend into the plurality of limit holes one by one, and the top of each of the limit rods is provided with a limit part located in the limit hole, and the outer diameter of the limit part is larger than the diameter of the limit hole.

6. The angle adjustment device according to any one of claims 1 to 5, characterized in that: A protective device is included, which includes a protective cover, a first protective shell and a second protective shell. The protective cover, the first protective shell and the second protective shell are detachably connected. The protective cover, the first protective shell and the second protective shell can be covered on the outside of the image acquisition device to protect the image acquisition device.

7. The angle adjustment device according to claim 6, characterized in that: The protection device is a cylindrical structure, the first protection shell and the second protection shell are connected to form an internal thread, and the protection cover is threadedly connected to the internal bolt after the first protection shell and the second protection shell are connected.

8. The angle adjustment device according to claim 7, characterized in that: The first protective shell and the second protective shell may be arranged relative to each other in a third direction, the length directions of the first protective shell and the second protective shell are both in a fourth direction, and the third direction is perpendicular to the fourth direction; The first protective shell is provided with a first connecting portion, and the second protective shell is provided with a second connecting portion; The first connecting portion and the second connecting portion are arranged opposite to each other in the third direction; A limit block and a first button rod are provided in the first connection portion, the first button rod extends along the third direction, the first button rod is connected to the limit block, the first button rod can drive the limit block to move in the third direction, the limit block is provided with limit grooves on both sides of the fourth direction, and the button end of the first button rod away from the limit block extends out of the first connection portion; The second connecting portion is provided with two limiting members arranged opposite to each other in the fourth direction, the limiting members include a first inclined block, a first connecting block and a second inclined block which are sequentially connected in the third direction, the surfaces of the two first inclined blocks which are arranged opposite to each other in the fourth direction are first inclined surfaces, the first inclined surfaces are inclined in the third direction in a direction away from the first connecting portion toward a direction adjacent to the limiting block, the surfaces of the two second inclined blocks which are arranged opposite to each other in the fourth direction are second inclined surfaces, the second inclined surfaces are inclined upward in a direction away from the limiting block; A second spring is provided on the two limiting members on the opposite sides of the fourth direction, and the second spring can be elastically deformed in the fourth direction; The first button rod drives the limiting block to move in the third direction toward the direction adjacent to the second connecting portion so that the two first inclined blocks can slide into the limiting groove; An extrusion block is provided in the second connecting part, and the extrusion block is movably provided in the second connecting part along the up and down directions. The extrusion block moves downward to abut against the two second inclined surfaces and drives the two limiting members to move away from each other in the fourth direction, so that the first inclined block of the limiting member exits the limiting groove.

9. The angle adjustment device according to claim 8, characterized in that: The third direction and the fourth direction are both perpendicular to the up-down direction; The first connecting portion and the second connecting portion are located in a direction away from the protective cover in the fourth direction; A fixing plate is provided on the first button rod, a stopper slidably connected to the first button rod is provided in the first connecting portion, a first spring is provided between the stopper and the fixing plate, and the first spring is sleeved on the first button rod; The second spring is arranged on the opposite side of the two first inclined blocks in the fourth direction; The extrusion block is provided with connecting plates on both sides of the fourth direction, a third spring is provided below the connecting plates, a second button is provided on the top of the extrusion block, and the top of the second button extends upwardly from the second connecting portion.

10. A tailings pond inspection drone, characterized in that: It comprises a drone body, and the bottom of the drone body is provided with an angle adjustment device according to any one of claims 1-9.

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