Camera angle adjusting mechanism

Abstract

The invention relates to the technical field of cameras, in particular to a camera angle adjusting mechanism which comprises a camera, a connecting frame, a balancing weight, an adjusting assembly and an agricultural unmanned aerial vehicle, the connecting frame is fixedly installed at the bottom of the agricultural unmanned aerial vehicle, the adjusting assembly is installed on the connecting frame, and the balancing weight is slidably installed on the adjusting assembly. The camera is rotationally installed at the bottom of the adjusting assembly. The shooting angle of the camera is changed through kinetic energy brought by inclined flight of the agricultural unmanned aerial vehicle, gravity inertia of the balancing weight and movement of the balancing weight, the rotation angle is changed along with the flight direction of the agricultural unmanned aerial vehicle, and angle adjustment by manually operating the camera is not needed; it is ensured that the camera monitors and calculates the operation area in the flight process of the agricultural unmanned aerial vehicle, the view blind area of the camera is reduced, the flight path of the unmanned aerial vehicle is planned, and the efficiency of pesticide spraying work is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of cameras, and in particular to a camera angle adjustment mechanism. Background Art

[0002] A camera, also known as a computer camera, computer eye, electronic eye, etc., is a video input device. A camera generally has basic functions such as video recording, transmission and static image capture. After the lens collects the image, the photosensitive component circuit and control component in the camera process the image and convert it into a digital signal that can be recognized by the computer. Then, it is input into the computer through a parallel port or USB connection, and the software restores the image. The application range of the camera is very wide. Reversing assistance, monitoring and surveillance, drone high-altitude operations, face recognition, etc. all require cameras. However, the camera often needs to change the shooting angle of the camera during use to adapt to the needs of different scenes. By adjusting the angle of the camera, the visual blind spot can be reduced, the image quality can be better, and visual distortion caused by angle problems can be avoided. For example, the camera used on the agricultural drone needs to change the shooting angle to monitor and calculate the operation area while the agricultural drone is spraying pesticides at high altitude, ensuring that the crops are irrigated with pesticides while planning the flight path of the drone. If the camera is shot at a fixed angle, there may be a blind spot in the field of vision, resulting in the camera being unable to fully shoot the operation area, causing the drone to increase unnecessary flight time and reduce the efficiency of pesticide spraying.

[0003] In order to avoid the limitations of agricultural drone shooting images, which leads to the reduction of the efficiency of agricultural drone spraying pesticides, the invention patent with application number CN202322532174.X provides a drone camera angle adjustment mechanism. The invention is to set a mounting frame on the drone, the mounting frame is U-shaped, and the horizontal part of the mounting frame is provided with a mounting groove, and an adjustment component is detachably provided on the outer wall of the vertical part of the mounting frame. The adjustment component includes a steering gear arranged on the side wall of the vertical part of one side of the mounting frame, and a rocker arm is arranged at the end of the rotating shaft of the steering gear, and a rotating seat is provided on the side wall of the vertical part on the other side of the mounting frame, and a rotating part of the rotating seat is fixedly provided with a There is a fixing seat clamped between the clamping column, the rocker arm and the clamping column. The angle of the camera is adjusted by arranging an adjustment component on the mounting frame connected to the drone for mounting the camera, so as to avoid frequent adjustment of the direction of the drone itself during shooting, thereby ensuring that the captured picture is clear, and live real-time picture shooting can be realized. Moreover, the shooting effect is not affected at all in a small space, and the captured picture is clear and stable, which is more convenient to use. However, during the flight of the drone, the servo needs to be operated at the same time to adjust the camera angle, which increases the complexity of the operating system and the workload of the operators.

[0004] Therefore, in order to avoid the limitations of agricultural drone shooting images and the occurrence of blind spots in the field of vision, which leads to reduced efficiency of agricultural drone spraying pesticides, a camera angle adjustment mechanism is proposed. Summary of the invention

[0005] The purpose of the present invention is to provide a camera angle adjustment mechanism. In order to avoid the limitation of the camera shooting picture of the agricultural UAV, which causes the UAV to increase unnecessary flight time and reduce the efficiency of pesticide spraying, an adjustment component is arranged at the bottom of the agricultural UAV, and the camera is rotatably connected to the adjustment component. When the agricultural UAV changes its flight direction, the camera rotates with the flight direction of the UAV, changes the shooting angle of the camera, ensures that the camera monitors and calculates the operating area during the flight of the agricultural UAV, reduces the blind spot of the camera's field of view, plans the flight path of the UAV, and improves the efficiency of pesticide spraying.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A camera angle adjustment mechanism comprises an agricultural drone, a connecting frame, a counterweight, and an adjustment component, wherein the connecting frame is fixedly mounted on the bottom of the agricultural drone, the adjustment component is mounted on the connecting frame, the adjustment component comprises a tilting and rotating seat, an inner ball of a ball joint, an outer ball sleeve, and an adjustment rod, the middle part of the tilting and rotating seat is rotatably mounted on the connecting frame, the bottom of the tilting and rotating seat is arranged in an inclined cone shape, two push plates are symmetrically mounted on the bottom of the tilting and rotating seat, the push plates are arranged in an L shape, a rectangular cavity is provided inside the tilting and rotating seat, the rectangular cavity penetrates the two ends of the tilting and rotating seat to form a square cavity opening, the counterweight is slidably mounted in the rectangular cavity, the width of the counterweight is greater than the width of the square cavity opening, the tilting and rotating seat rotates when the counterweight slides to the two ends of the rectangular cavity, the outer ball sleeve is fixedly mounted on the connecting frame and is located below the tilting and rotating seat, the inner ball of the ball joint is rotatably mounted in the outer ball sleeve, the adjustment rod is fixedly mounted on the inner ball of the ball joint, and passes through the upper and lower ends of the inner ball of the ball joint, the upper end of the adjustment rod is located between the two push plates, and the lower end is used for rotationally connecting with the camera.

[0008] By installing the adjustment component on the connecting frame, the connecting frame is fixedly installed at the bottom of the agricultural UAV, and the camera is connected to the adjustment component. When the agricultural UAV performs high-altitude pesticide spraying operations, the camera can capture the working area at the bottom of the agricultural UAV. The connecting frame is set to a U-shape with an opening downward, and the tilting and rotating seat is located in the middle of the U-shape. When the agricultural UAV has not yet taken off, the upper end surface of the tilting and rotating seat is parallel to the bottom of the agricultural UAV, and the counterweight block is in the middle part of the tilting and rotating seat. When the agricultural UAV tilts forward to fly, under the action of the kinetic energy of the agricultural UAV and the inertia of the counterweight block itself, the counterweight block slides within the rectangular cavity and moves from the middle of the tilting and rotating seat to the end of the tilting and rotating seat. The moving direction is the same as the flight direction of the agricultural UAV. In the process of the counterweight block moving to the end of the tilting and rotating seat, the tilting and rotating seat rotates on the connecting frame, and the push plate rotates along with the tilting and rotating seat. When the push plate rotates During the process, the end of the pushing plate squeezes the upper end of the adjusting rod, and the adjusting rod drives the inner ball of the ball joint to rotate in the outer ball sleeve, and the camera at the bottom of the adjusting rod rotates in the horizontal direction to change the shooting angle, and the rotation direction is toward the flight direction of the agricultural UAV. When the agricultural UAV changes its flight direction and tilts to fly backward, the counterweight slides from one end of the tilting rotating seat to the other end, and the tilting rotating seat changes its rotation direction under the influence of the gravity of the counterweight, and the pushing plate at the other end toggles the adjusting rod to rotate, and the camera rotates at the same time, and the rotation direction is still toward the flight direction of the agricultural UAV. The camera shooting angle is changed by kinetic energy and gravity, and the rotation angle changes with the flight direction of the agricultural UAV. There is no need to manually operate the camera to adjust the angle, which ensures that the camera monitors and calculates the operating area during the flight of the agricultural UAV, reduces the camera's blind spot, plans the UAV's flight path, and improves the efficiency of pesticide spraying.

[0009] Preferably, four elastic springs are symmetrically arranged on the counterweight block, and the four elastic springs are distributed at both ends of the counterweight block. The end faces of the elastic springs are parallel to the side walls of the counterweight block, and the ends are arranged as triangular protrusions. Four slots corresponding to the elastic springs are arranged on the inner side walls of the rectangular cavity, and the slots are arranged in an M shape. When the counterweight block moves to the two ends of the rectangular cavity, the triangular ends of the elastic springs are engaged with the slots.

[0010] By arranging a slot corresponding to the elastic spring in the rectangular cavity, the slots are distributed on both sides of the square cavity. When the agricultural UAV flies to one side, the triangular raised end of the elastic spring first slides relative to the slot surface during the process of the counterweight moving to the end of the tilting rotating seat, and the elastic spring is squeezed toward the inside of the counterweight to undergo elastic deformation. The triangular raised end of the elastic spring is inserted into the M-shaped slot. The slot limits the movement of the counterweight in the rectangular cavity, thereby preventing the counterweight from shaking during the flight of the agricultural UAV and affecting the angle adjustment effect of the camera, thereby improving the stability of the adjustment mechanism.

[0011] Preferably, a cavity is opened inside the counterweight block, and two impact unlocking blocks are symmetrically and slidably installed in the cavity. The impact unlocking blocks can be slidably extended to the outside of the square cavity opening. Four reset springs are symmetrically and fixedly installed on the inner side wall of the rectangular cavity. There are two reset springs symmetrically distributed on both sides of the square cavity opening. The reset springs are compressed when the counterweight block moves to the two ends of the rectangular cavity.

[0012] The impact unlocking block is symmetrically slidably installed inside the counterweight block, and when the counterweight block moves to the end of the tilting and rotating seat and the elastic spring piece is engaged with the slot, the impact unlocking block on the side facing the moving direction of the counterweight block slides out of the cavity opening from the cavity, and then slides out of the tilting and rotating seat from the square cavity opening, and the impact unlocking block on the other side is still in the cavity. When the impact unlocking block slides out of the tilting and rotating seat, the reset spring is compressed and energy is stored. When the agricultural drone needs to turn for flight, it tilts. Under the influence of kinetic energy and weight inertia, the counterweight block tends to move to the other end of the tilting and rotating seat. At this time, the impact unlocking block slides back into the counterweight block from the outside of the square cavity opening, and the impact unlocking block applies an impact force to the side wall of the counterweight block, causing the elastic spring piece to undergo elastic deformation and disengage from the slot. The reset spring applies a thrust to the counterweight block so that when the agricultural drone tilts and turns, the counterweight block can move from one end of the tilting and rotating seat to the other end. The movement of the counterweight block causes the camera to rotate, thereby improving the camera angle adjustment responsiveness.

[0013] Preferably, the cavity passes through both ends of the counterweight block to form a sliding opening, the outer end face of the impact unlocking block is located outside the counterweight block and is in contact with the side wall of the counterweight block, the width of the sliding opening is equal to the width of the impact unlocking block, and the height is greater than the impact unlocking block, the outer end face of the impact unlocking block is the same width and height as the square cavity opening, the inner end face width of the impact unlocking block is greater than the width of the sliding opening, and two inclined slides are symmetrically installed on the inclined rotating seat, the inclined slides are located below the square cavity opening, and an inclined slope is set at the connection between the inclined slide and the square cavity opening, and the bottom end of the inclined slope is set as a plane for supporting the outer end face of the impact unlocking block.

[0014] By setting the width of the inner end face of the impact unlocking block to be larger than the width of the sliding opening, the impact unlocking block can only slide within the limit of the square cavity opening. After the impact unlocking block slides a certain distance, the inner end face will get stuck in the sliding opening to limit the movement of the impact unlocking block. Since the outer end face of the impact unlocking block is the same width and height as the square cavity opening and the body height of the impact unlocking block is smaller than the sliding opening, after the outer end face of the impact unlocking block slides out of the square cavity opening, the impact unlocking block will fall in the horizontal direction, and the outer end face of the impact unlocking block slides from the inclined surface of the inclined slide board to the plane of the inclined slide board. When the agricultural drone tilts and turns, the friction between the impact unlocking block and the inclined slide board increases due to the existence of the inclined slope. The agricultural drone needs to tilt a certain angle before the impact unlocking block will slide back to the rectangular cavity from the inclined slide board to unlock the counterweight block, thereby avoiding the movement of the impact unlocking block due to a slight angle offset of the agricultural drone, thereby further improving the stability of the adjustment mechanism.

[0015] Preferably, four matching grooves are symmetrically arranged at the bottom of the connecting frame, and the four matching grooves are located on both sides of the camera. A deflection block is slidably installed in the matching groove, and a horizontal spring is fixedly installed on the side wall of the deflection block. The other end of the horizontal spring is fixedly connected to the side wall of the matching groove. The deflection block can apply thrust to the end of the camera, and a buffer assembly is arranged inside the tilting and rotating seat, and the buffer assembly is used to prevent slight slip of the counterweight block in the horizontal direction.

[0016] By arranging a deflection block at the bottom of the connecting frame, when the agricultural UAV flies horizontally in a single direction, the deflection block is located inside the matching groove. When the agricultural UAV tilts to the left or right, the deflection block slides out of the matching groove under the action of gravity inertia and applies thrust to the end of the camera, so that the camera rotates in the direction in which the agricultural UAV tilts. When the agricultural UAV resumes horizontal flight, the deflection block returns to the matching groove under the tension of the horizontal spring. The camera can adjust its angle as the agricultural UAV tilts left and right, further improving the detection and calculation range of the camera, reducing the blind spot of the camera's field of view, and improving the efficiency of pesticide spraying.

[0017] Preferably, the buffer assembly includes a support plate, a support spring, and a buffer groove. Two buffer grooves are symmetrically opened below the rectangular cavity. The two buffer grooves are respectively located below the two ends of the counterweight block. The support plate is rotatably installed inside the buffer groove. One end of the support spring is connected to the support plate, and the other end is connected to the buffer groove wall. The support plate tilts upward under the thrust of the support spring, and the side wall of the support plate is in contact with the bottom end of the side wall of the counterweight block.

[0018] By arranging a buffer component at the bottom of the rectangular cavity, when the agricultural UAV has not yet tilted its flight, the two support plates will clamp the position of the counterweight block in the middle of the tilting and rotating seat under the thrust of the support spring. When the agricultural UAV tilts its flight, since the weight inertia of the counterweight block is greater than the thrust of the support spring, the counterweight block moves toward one end of the tilting and rotating seat, the support spring is compressed, and the support plate rotates in the buffer groove. The limiting effect of the support plate on the counterweight block can prevent the counterweight block from moving after being vibrated when the agricultural UAV is hovering in the air, avoid the tilting and rotating seat from rotating incorrectly, and further improve the stability of the adjustment mechanism.

[0019] Preferably, a pressure plate is fixedly mounted on the end surface of the return spring, the bottom surface and side walls of the pressure plate are both in contact with the inner wall of the rectangular cavity, and the counterweight block is in contact with the side walls of the pressure plate when sliding to the two ends of the rectangular cavity.

[0020] By installing a pressure plate on the end face of the reset spring, the axis of the reset spring is made parallel to the end face of the connecting frame. When the counterweight slides to one end of the tilting rotating seat, the side wall of the counterweight first contacts the pressure plate, and then compresses the reset spring, so that the force is evenly distributed when the reset spring is deformed. At the same time, the reset spring is prevented from being offset from the axis, which may affect the direction of the thrust applied by the reset spring, thereby ensuring that the reset spring applies a stable thrust to the counterweight.

[0021] Preferably, the tilting and rotating seat is symmetrically provided with sliding grooves, the counterweight block is symmetrically provided with two rectangular sliders, the rectangular sliders are slidably matched with the sliding grooves, the tilting and rotating seat is symmetrically provided with two through holes, the through holes are connected with the sliding grooves, and lubricating substances can be injected into the through holes.

[0022] By setting a sliding groove and a rectangular slider, the rectangular groove plays a positioning and guiding role for the counterweight block. The height of the rectangular slider is slightly smaller than the sliding groove. Injecting lubricating oil or grease into the through hole can reduce the friction between the counterweight block and the rectangular cavity, increase the sliding speed of the counterweight block, and further improve the responsiveness of the adjustment component.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. Through the kinetic energy brought by the tilted flight of the agricultural drone and the gravity inertia of the counterweight itself, the movement of the counterweight changes the camera shooting angle, and the rotation angle changes with the flight direction of the agricultural drone. There is no need to manually operate the camera to adjust the angle, ensuring that the camera monitors and calculates the operating area during the flight of the agricultural drone, reducing the camera's blind spot, planning the drone's flight path, and improving the efficiency of pesticide spraying.

[0025] 2. By setting an elastic spring on the counterweight, a slot corresponding to the elastic spring is set in the rectangular cavity. The slot limits the movement of the counterweight in the rectangular cavity, thereby preventing the counterweight from shaking during the flight of the agricultural drone and affecting the angle adjustment effect of the camera, thereby improving the stability of the adjustment mechanism.

[0026] 3. By setting a buffer component under the counterweight, the two support plates will clamp the counterweight in the middle of the tilting and rotating seat under the thrust of the support spring, which can prevent the counterweight from moving after being vibrated when the agricultural drone is hovering in the air, avoid the wrong rotation of the tilting and rotating seat, and further improve the stability of the adjustment mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall appearance of the present invention;

[0028] Figure 2 It is a schematic diagram of the appearance of the adjustment component of the present invention;

[0029] Figure 3 A cut-away side view of an adjustment assembly of the present invention;

[0030] Figure 4 This is a schematic diagram of the installation of the counterweight block of the present invention;

[0031] Figure 5 This is a schematic diagram of the installation of the impact unlocking block of the present invention;

[0032] Figure 6 It is a schematic diagram of the movement of the counterweight block of the present invention;

[0033] Figure 7 A schematic diagram of the movement of the impact unlocking block of the present invention;

[0034] Figure 8 It is a working schematic diagram of the deflection block of the present invention.

[0035] In the figure: 1. agricultural drone; 2. connecting frame; 21. matching groove; 22. deflection block; 23. horizontal spring; 3. counterweight block; 31. elastic spring; 32. cavity; 33. sliding opening; 34. rectangular slider; 4. adjustment assembly; 41. tilting and rotating seat; 411. pushing plate; 412. rectangular cavity; 413. square cavity opening; 414. slot; 415. sliding groove; 416. through hole; 42. inner ball of ball joint; 43. outer ball sleeve; 44. adjustment rod; 5. pressure plate; 6. impact unlocking block; 7. reset spring; 8. tilting slide plate; 9. buffer assembly; 91. support plate; 92. support spring; 93. buffer groove. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "inside", "two ends", "towards", "side wall", "symmetrical", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0038] See also Figures 1 to 8 The present invention provides a camera angle adjustment mechanism, and the technical solution is as follows:

[0039] A connecting frame 2 is arranged below the agricultural UAV 1, and the connecting frame 2 is arranged in a U-shape with an opening downward. An adjusting component 4 is installed in the middle of the connecting frame 2, and the adjusting component 4 includes a tilting rotating seat 41, an inner ball 42 of a ball joint, an outer ball sleeve 43, and an adjusting rod 44. The middle part of the tilting rotating seat 41 is rotatably installed on the connecting frame 2, and the bottom of the tilting rotating seat 41 is arranged in an inclined cone shape. Two pushing plates 411 are symmetrically installed at the bottom of the tilting rotating seat 41, and the pushing plates 411 are arranged in an L-shape. A rectangular cavity 412 is opened inside the tilting rotating seat 41, and the rectangular cavity 412 penetrates the two ends of the tilting rotating seat 41 to form a square cavity 413. The counterweight block 3 is slidably installed in the rectangular cavity 412, and the width of the counterweight block 3 is greater than the width of the square cavity 413 to avoid the counterweight The block 3 slides out from the rectangular cavity 412. When the counterweight block 3 slides to the two ends of the rectangular cavity 412, the tilting and rotating seat 41 rotates. The outer ball sleeve 43 is fixedly installed on the connecting frame 2 and is located below the tilting and rotating seat 41. The inner ball 42 of the ball joint is rotatably installed in the outer ball sleeve 43. The adjusting rod 44 is fixedly installed on the inner ball 42 of the ball joint and passes through the upper and lower ends of the inner ball 42 of the ball joint. The upper end of the adjusting rod 44 is located between the two pushing plates 411, and the lower end is rotatably connected to the camera. When the agricultural drone 1 performs high-altitude spraying of pesticides, the camera can capture the working area at the bottom of the agricultural drone 1. When the agricultural drone 1 has not taken off, the upper end surface of the tilting and rotating seat 41 is parallel to the bottom of the agricultural drone 1. The counterweight block 3 is in the middle part of the tilting and rotating seat 41. When the agricultural drone 1 tilts forward, under the action of the kinetic energy of the agricultural drone 1 and the inertia of the counterweight 3 itself, the counterweight 3 slides within the rectangular cavity 412, and moves from the middle of the tilting and rotating seat 41 to the end of the tilting and rotating seat 41. The moving direction is the same as the flight direction of the agricultural drone 1. During the movement of the counterweight 3 to the end of the tilting and rotating seat 41, the tilting and rotating seat 41 rotates on the connecting frame 2, and the push plate 411 rotates along with the tilting and rotating seat 41. During the rotation of the push plate 411, the end of the push plate 411 squeezes the upper end of the adjusting rod 44, and the adjusting rod 44 drives the inner ball 42 of the ball joint to rotate in the outer ball sleeve 43. The camera at the bottom of the adjusting rod 44 rotates in the horizontal direction, thereby changing the shooting angle and the rotation direction. Towards the flight direction of the agricultural drone 1, when the agricultural drone 1 changes its flight direction and tilts to fly backward, the counterweight 3 slides from one end of the tilting rotating seat 41 to the other end, and the tilting rotating seat 41 changes its rotation direction under the influence of the gravity of the counterweight 3, and the push plate 411 at the other end toggles the adjustment rod 44 to rotate, and the camera rotates at the same time, and the rotation direction is still toward the flight direction of the agricultural drone 1, using kinetic energy and gravity to change the camera shooting angle, and the rotation angle changes with the flight direction of the agricultural drone 1, without the need for manual operation of the camera to adjust the angle, ensuring that the camera monitors and calculates the operating area during the flight of the agricultural drone 1, reducing the camera's field of view blind spot, planning the drone's flight path, and improving the efficiency of pesticide spraying;The counterweight 3 is symmetrically provided with four elastic springs 31, which are distributed at both ends of the counterweight 3. The end faces of the elastic springs 31 are parallel to the side walls of the counterweight 3, and the ends are arranged as triangular protrusions. Four card slots 414 corresponding to the elastic springs 31 are arranged on the inner wall of the rectangular cavity 412, and the card slots 414 are arranged in an M shape. When the counterweight 3 moves to both ends of the rectangular cavity 412, the triangular ends of the elastic springs 31 are slidably engaged with the card slots 414, which are distributed on both sides of the square cavity opening 413. When the agricultural drone 1 moves toward When flying to one side, during the process of the counterweight 3 moving to the end of the tilting rotating seat 41, the triangular protruding end of the elastic spring 31 first slides relative to the surface of the slot 414, and the elastic spring 31 is squeezed toward the inside of the counterweight 3 to elastically deform, and the triangular protruding end of the elastic spring 31 is inserted into the M-shaped slot 414. The slot 414 limits the movement of the counterweight 3 in the rectangular cavity 412, preventing the counterweight 3 from shaking during the flight of the agricultural drone 1 and affecting the angle adjustment effect of the camera, thereby improving the stability of the adjustment mechanism. ;

[0040] As an embodiment of the present invention, refer to Figures 3 to 7A cavity 32 is provided inside the counterweight 3, and two impact unlocking blocks 6 are symmetrically and slidably installed in the cavity 32. The impact unlocking block 6 can slide to the outside of the square cavity opening 413. Four return springs 7 are symmetrically and fixedly installed on the inner wall of the rectangular cavity 412. Two return springs 7 are symmetrically distributed on both sides of the square cavity opening 413. When the counterweight 3 moves to the two ends of the rectangular cavity 412, the return springs 7 are compressed. When the counterweight 3 moves to the end of the tilting and rotating seat 41 and the elastic spring sheet 31 is engaged with the slot 414, the impact unlocking block 6 on the side facing the moving direction of the counterweight 3 slides out of the cavity 32 from the cavity 32, and then slides out of the tilting and rotating seat 41 from the square cavity opening 413, and the impact unlocking block 6 on the other side is still in In the cavity 32, when the impact unlocking block 6 slides out of the tilting and rotating seat 41, the return spring 7 is compressed and stores energy. When the agricultural drone 1 needs to turn to fly, it tilts. Under the influence of kinetic energy and weight inertia, the counterweight block 3 tends to move to the other end of the tilting and rotating seat 41. At this time, the impact unlocking block 6 slides back into the counterweight block 3 from the outside of the square cavity 413. The impact unlocking block 6 applies an impact force to the side wall of the counterweight block 3, causing the elastic spring leaf 31 to elastically deform and disengage from the slot 414. The return spring 7 applies a thrust to the counterweight block 3 so that when the agricultural drone 1 tilts and turns, the counterweight block 3 can move from one end of the tilting and rotating seat 41 to the other end. The movement of the counterweight block 3 causes the camera to rotate, thereby improving the camera angle adjustment response capability.The cavity 32 penetrates the two ends of the counterweight block 3 to form a sliding opening 33. The outer end face of the impact unlocking block 6 is located outside the counterweight block 3 and is fitted with the side wall of the counterweight block 3. The width of the sliding opening 33 is equal to that of the impact unlocking block 6, and the height is 2 cm higher than the impact unlocking block 6. The outer end face of the impact unlocking block 6 is equal to the width and height of the square cavity opening 413. The width of the inner end face of the impact unlocking block 6 is 1 cm greater than the width of the sliding opening 33. Two inclined slides 8 are symmetrically installed on the inclined rotating seat 41. The inclined slides 8 are located below the square cavity opening 413. An inclined slope is provided at the connection between the inclined slides 8 and the square cavity opening 413. The inclination angle is 10° relative to the rectangular cavity 412. The bottom end of the inclined slope is provided as a plane for supporting the outer end face of the impact unlocking block 6. By setting the width of the inner end face of the impact unlocking block 6 to be greater than the width of the sliding opening 33 by 1 cm, the impact unlocking block 6 can only slide within the limited position of the square cavity opening 413, and the impact unlocking After the block 6 slides a certain distance, the inner end surface will get stuck in the sliding opening 33 to limit the movement of the impact unlocking block 6. Since the outer end surface of the impact unlocking block 6 is equal to the width and height of the square cavity opening 413 and the body height of the impact unlocking block 6 is smaller than the sliding opening 33, after the outer end surface of the impact unlocking block 6 slides out of the square cavity opening 413, the impact unlocking block 6 will fall in the horizontal direction, and the outer end surface of the impact unlocking block 6 slides from the inclined surface of the inclined slide 8 to the plane of the inclined slide 8. When the agricultural drone 1 tilts and turns, the friction between the impact unlocking block 6 and the inclined slide 8 increases due to the existence of the inclined slope. The impact unlocking block 6 needs to slide back to the rectangular cavity 412 from the inclined slide 8 after the agricultural drone 1 tilts a certain angle to unlock the counterweight block 3, so as to avoid the impact unlocking block 6 from moving due to a slight angle deviation of the agricultural drone 1, and further improve the stability of the adjustment mechanism. ;

[0041] As an embodiment of the present invention, refer to Figures 2 to 8, four matching grooves 21 are symmetrically arranged at the bottom of the connecting frame 2, and the four matching grooves 21 are located on both sides of the camera. A deflection block 22 is slidably installed in the matching groove 21, and a horizontal spring 23 is fixedly installed on the side wall of the deflection block 22. The other end of the horizontal spring 23 is fixedly connected to the side wall of the matching groove 21. The deflection block 22 can apply thrust to the end of the camera. A buffer component 9 is arranged inside the tilting and rotating seat 41. The buffer component 9 is used to prevent the counterweight block 3 from slightly slipping in the horizontal direction. When the agricultural drone 1 is flying horizontally in a single direction, the deflection block 22 is located inside the matching groove 21. When the agricultural drone 1 tilts to the left or right, the deflection block 22 slides from the inside of the matching groove 21 under the action of gravity inertia. The agricultural UAV 1 is tilted in the direction in which the camera is tilted, and the deflection block 22 is returned to the inside of the matching groove 21 under the pulling force of the horizontal spring 23. The angle of the camera can be adjusted as the agricultural UAV 1 tilts left and right, further improving the detection and calculation range of the camera, reducing the blind area of ​​the camera's field of view, and improving the efficiency of pesticide spraying. The buffer assembly 9 includes a support plate 91, a support spring 92, and a buffer groove 93. Two buffer grooves 93 are symmetrically provided below the rectangular cavity 412. The two buffer grooves 93 are respectively located below the two ends of the counterweight block 3. The support plate 91 is rotatably installed inside the buffer groove 93. The support spring 92 is provided inside the buffer groove 93. One end of the support plate 91 is connected to the support plate 91, and the other end is connected to the wall of the buffer groove 93. The support plate 91 tilts upward under the thrust of the support spring 92, and the side wall of the support plate 91 fits with the bottom end of the side wall of the counterweight block 3. When the agricultural drone 1 has not tilted in flight, the two support plates 91 clamp the position of the counterweight block 3 in the middle of the tilting rotating seat 41 under the thrust of the support spring 92. After the agricultural drone 1 tilts in flight, since the weight inertia of the counterweight block 3 is greater than the thrust of the support spring 92, the counterweight block 3 moves toward one end of the tilting rotating seat 41, the support spring 92 is compressed, and the support plate 91 rotates in the buffer groove 93. The limiting effect of the support plate 91 on the counterweight block 3 can prevent the agricultural drone 1 from tilting. When the human-machine 1 is hovering in the air, the counterweight 3 moves after being vibrated, which prevents the tilting and rotating seat 41 from rotating incorrectly, and further improves the stability of the adjustment mechanism; a pressure plate 5 is fixedly installed on the end face of the return spring 7, and the bottom surface and side wall of the pressure plate 5 are both in contact with the inner wall of the rectangular cavity 412. The installation of the pressure plate 5 makes the axis of the return spring 7 parallel to the end face of the connecting frame 2. When the counterweight 3 slides to one end of the tilting and rotating seat 41, the side wall of the counterweight 3 first contacts the pressure plate 5, and then compresses the return spring 7, so that the return spring 7 is evenly stressed when deformed, and at the same time avoids the return spring 7 from being offset from the axis, which affects the direction of the thrust applied by the return spring 7, and ensures that the return spring 7 applies a stable thrust to the counterweight 3;The tilting and rotating seat 41 has symmetrically provided sliding grooves 415 inside, and two rectangular sliders 34 are symmetrically installed on the counterweight 3, and the rectangular sliders 34 slide in cooperation with the sliding grooves 415. The tilting and rotating seat 41 has two symmetrical through holes 416, and the through holes 416 are connected with the sliding grooves 415. Lubricating substances can be injected into the through holes 416, and the rectangular groove plays a positioning and guiding role for the counterweight 3. The height of the rectangular sliders 34 is slightly smaller than the sliding grooves 415. Injecting lubricating oil or grease into the through holes 416 can reduce the friction between the counterweight 3 and the rectangular cavity 412, increase the sliding speed of the counterweight 3, and further improve the response ability of the adjustment component 4. ;

[0042] Working principle: When the agricultural drone 1 is hovering horizontally in the air, the two support plates 91 clamp the position of the counterweight 3 in the middle of the tilting and rotating seat 41 under the thrust of the support spring 92. When the agricultural drone 1 tilts forward and flies, the counterweight 3 slides within the rectangular cavity 412 under the action of the kinetic energy of the agricultural drone 1 and the inertia of the counterweight 3. The support spring 92 is compressed, the support plate 91 rotates, and the counterweight 3 moves from the middle of the tilting and rotating seat 41 to the end of the tilting and rotating seat 41. The tilting and rotating seat 41 rotates under the influence of the gravity of the counterweight 3. At the same time, the push plate 411 drives the adjusting rod 44 to rotate, the inner ball 42 of the ball joint rotates in the outer ball sleeve 43, and the camera rotates at an angle. When the counterweight 3 moves to the end of the tilting and rotating seat 41, the spring 92 is pressed. The elastic spring piece 31 is engaged with the slot 414, the counterweight block 3 is fixed, the side wall of the counterweight block 3 contacts the pressure plate 5 and compresses the reset spring 7, and the impact unlocking block 6 extends from the square cavity 413 and falls on the inclined slide plate 8. When the agricultural drone 1 flies to the left or right, the deflection block 22 slides out of the matching slot 21 and applies pressure to the end of the camera to rotate the camera. When the agricultural drone 1 changes direction and flies backward, the impact unlocking block 6 is affected by the gravity inertia and slides back into the cavity 32 from the inclined slide plate 8, exerting an impact force on the counterweight block 3, and the elastic spring piece 31 disengages from the slot 414. Under the thrust of the reset spring 7 and the gravity inertia of the counterweight block 3, the tilting rotating seat 41 changes the rotation direction, and the camera also changes the rotation direction. The rotation direction is the same as the flight direction of the agricultural drone 1.

[0043] A specific embodiment of the present invention is described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above described embodiment. For those skilled in the art, various changes, modifications, substitutions and variations of these embodiments without departing from the principles and ideas of the present invention should still fall within the scope of protection of the present invention.

Claims

1. A camera angle adjustment mechanism, characterized in that: The invention comprises an agricultural drone (1), a connecting frame (2), a counterweight (3), and an adjustment component (4), wherein the connecting frame (2) is fixedly mounted on the bottom of the agricultural drone (1), the adjustment component (4) is mounted on the connecting frame (2), the adjustment component (4) comprises a tilting rotating seat (41), an inner ball (42) of a ball joint, an outer ball sleeve (43), and an adjustment rod (44), the middle part of the tilting rotating seat (41) is rotatably mounted on the connecting frame (2), the bottom of the tilting rotating seat (41) is arranged in an inclined cone shape, two push plates (411) are symmetrically mounted on the bottom of the tilting rotating seat (41), the push plates (411) are arranged in an L shape, a rectangular cavity (412) is provided inside the tilting rotating seat (41), and the rectangular cavity (412) 412) penetrates through both ends of the tilting and rotating seat (41) to form a square cavity (413), the counterweight block (3) is slidably installed in the rectangular cavity (412), the width of the counterweight block (3) is greater than the width of the square cavity (413), and the tilting and rotating seat (41) rotates when the counterweight block (3) slides to both ends of the rectangular cavity (412), the outer ball sleeve (43) is fixedly installed on the connecting frame (2) and is located below the tilting and rotating seat (41), the inner ball (42) of the ball joint is rotatably installed in the outer ball sleeve (43), the adjusting rod (44) is fixedly installed on the inner ball (42) of the ball joint, and passes through the upper and lower ends of the inner ball (42) of the ball joint, the upper end of the adjusting rod (44) is located between the two pushing plates (411), and the lower end is used for rotationally connecting with the camera.

2. A camera angle adjustment mechanism according to claim 1, characterized in that: Four elastic springs (31) are symmetrically arranged on the counterweight (3), and the four elastic springs (31) are distributed at both ends of the counterweight (3). The end faces of the elastic springs (31) are parallel to the side walls of the counterweight (3), and the ends are arranged as triangular protrusions. Four clamping grooves (414) corresponding to the elastic springs (31) are arranged on the inner side walls of the rectangular cavity (412), and the clamping grooves (414) are arranged in an M shape. When the counterweight (3) moves to the two ends of the rectangular cavity (412), the triangular ends of the elastic springs (31) are clamped with the clamping grooves (414).

3. A camera angle adjustment mechanism according to claim 2, characterized in that: A cavity (32) is provided inside the counterweight block (3), and two impact unlocking blocks (6) are symmetrically slidably installed in the cavity (32). The impact unlocking blocks (6) can be slidably extended to the outside of the square cavity opening (413). Four return springs (7) are symmetrically fixedly installed on the inner side wall of the rectangular cavity (412), and two return springs (7) are symmetrically distributed on both sides of the square cavity opening (413). When the counterweight block (3) moves to the two ends of the rectangular cavity (412), the return springs (7) are compressed.

4. A camera angle adjustment mechanism according to claim 3, characterized in that: The cavity (32) penetrates the two ends of the counterweight block (3) to form a sliding opening (33); the outer end face of the impact unlocking block (6) is located outside the counterweight block (3) and is in contact with the side wall of the counterweight block (3); the width of the sliding opening (33) is equal to the width of the impact unlocking block (6), and the height is greater than the impact unlocking block (6); the outer end face of the impact unlocking block (6) is equal to the width and height of the square cavity opening (413); the width of the inner end face of the impact unlocking block (6) is greater than the width of the sliding opening (33); two inclined slide plates (8) are symmetrically installed on the inclined rotating seat (41); the inclined slide plates (8) are located below the square cavity opening (413); an inclined slope is provided at the connection between the inclined slide plate (8) and the square cavity opening (413); the bottom end of the inclined slope is provided as a plane for supporting the outer end face of the impact unlocking block (6).

5. A camera angle adjustment mechanism according to claim 1, characterized in that: The bottom of the connecting frame (2) is symmetrically provided with four matching grooves (21), the four matching grooves (21) are located on both sides of the camera, a deflection block (22) is slidably installed in the matching groove (21), a horizontal spring (23) is fixedly installed on the side wall of the deflection block (22), the other end of the horizontal spring (23) is fixedly connected to the side wall of the matching groove (21), the deflection block (22) can apply a thrust to the end of the camera, and a buffer component (9) is arranged inside the tilting rotating seat (41), and the buffer component (9) is used to prevent the counterweight block (3) from slightly slipping in the horizontal direction.

6. A camera angle adjustment mechanism according to claim 5, characterized in that: The buffer assembly (9) comprises a support plate (91), a support spring (92), and a buffer groove (93). Two buffer grooves (93) are symmetrically provided below the rectangular cavity (412). The two buffer grooves (93) are respectively located below the two ends of the counterweight (3). The support plate (91) is rotatably mounted inside the buffer groove (93). One end of the support spring (92) is connected to the support plate (91), and the other end is connected to the wall of the buffer groove (93). The support plate (91) tilts upward under the thrust of the support spring (92), and the side wall of the support plate (91) fits the bottom end of the side wall of the counterweight (3).

7. A camera angle adjustment mechanism according to claim 3, characterized in that: A pressure plate (5) is fixedly mounted on the end surface of the return spring (7), and the bottom surface and side walls of the pressure plate (5) are both in contact with the inner wall of the rectangular cavity (412). When the counterweight (3) slides to the two ends of the rectangular cavity (412), it is in contact with the side walls of the pressure plate (5).

8. A camera angle adjustment mechanism according to claim 2, characterized in that: The tilting and rotating seat (41) is symmetrically provided with a sliding groove (415), the counterweight (3) is symmetrically provided with two rectangular sliding blocks (34), the rectangular sliding blocks (34) are slidably matched with the sliding groove (415), the tilting and rotating seat (41) is symmetrically provided with two through holes (416), the through holes (416) are communicated with the sliding groove (415), and a lubricating substance can be injected into the through holes (416).

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