Anti-collision device for indoor flying unmanned aerial vehicle

Abstract

The invention relates to the technical field of electric power inspection, in particular to an indoor flight unmanned aerial vehicle anti-collision device which comprises an unmanned aerial vehicle body, and anti-collision driving mechanisms used for driving an unmanned aerial vehicle to fly and adjusting the flight attitude are installed at the four corners of the top end of the unmanned aerial vehicle body. The anti-collision driving mechanism comprises a supporting structure and two steering engines A arranged at the two ends of the supporting structure, an annular anti-collision assembly is installed between the driving ends of the two steering engines A, the annular anti-collision assembly comprises an annular anti-collision frame, installation grooves are formed in the two sides in the annular anti-collision frame, steering engines B are arranged in the two installation grooves, and the annular anti-collision frame is provided with an annular anti-collision assembly. High-flexibility flight in the indoor environment can be achieved, collision is greatly reduced, protection is provided for the double-shaft driving machine through the annular anti-collision frame in the maneuvering process, and the problem that the rotors are damaged due to collision is further solved.

Description

Technical Field

[0001] The invention relates to the field of power inspection, and in particular to an indoor flying unmanned aerial vehicle anti-collision device. Background Art

[0002] UAV is the abbreviation of unmanned aerial vehicle, which is a powered aircraft that does not carry operators, uses aerodynamic force to generate lift, can fly autonomously or remotely, can be used once or recovered, and carries lethal or non-lethal payloads. In general, it is divided into three categories: fixed-wing UAVs, unmanned helicopters and multi-rotor UAVs.

[0003] In order to ensure the safety of power equipment operation, it is necessary to detect signs of accidents and eliminate potential accidents before they occur. How to detect signs of accidents before they occur is a problem that power inspectors are extremely concerned about and a topic that they are exploring. Therefore, people currently use drones equipped with cameras for inspection.

[0004] At present, when drones are conducting power inspections indoors, they need to be operated by staff. With the advancement of AI technology in recent years, AI technology has also been gradually adopted for path planning. When drones move along paths to inspect power facilities, after entering the room, as the number of equipment and instruments arranged indoors increases, they are prone to collisions with indoor instruments, causing damage to the rotors on multi-rotor drones, which in turn causes the drones to fall. This makes the movement tolerance of AI paths low, poses certain safety risks, and requires a high level of skill from the operators.

[0005] There is an urgent need for an electronic UAV anti-collision device to solve the problem that the rotors on multi-rotor UAVs in the prior art are easily damaged. Summary of the invention

[0006] In order to solve the problems in the prior art, the embodiments of this specification provide an indoor flying drone anti-collision device, which can achieve high-flexibility flight in indoor environments, significantly reduce the occurrence of collisions, and during maneuvering, provide protection for the dual-axis drive machine through a ring-shaped anti-collision frame, further solving the problem of rotor damage caused by collision.

[0007] In order to solve the above technical problems, the specific technical solutions of this specification are as follows:

[0008] The embodiment of this specification provides an indoor flying drone anti-collision device, including a drone body, an anti-collision drive mechanism, a ring-shaped anti-collision component, and a dual-axis drive machine;

[0009] The anti-collision drive mechanism is installed at the four corners of the top of the drone body, including a support structure and two steering gears A respectively arranged at both ends of the support structure, the annular anti-collision component is installed between the driving ends of the two steering gears A, and the anti-collision drive mechanism cooperates with the annular anti-collision component to protect the dual-axis drive machine;

[0010] The annular anti-collision assembly includes an annular anti-collision frame, an installation groove is provided in the annular anti-collision frame, and a steering gear B is arranged in each of the installation grooves, and two driving ends of the two steering gears B are respectively installed with two linkage shafts; the dual-axis driving motor is detachably installed between the facing ends of the linkage shafts; the steering gear A and the steering gear B are movably matched with each other on the annular anti-collision frame 401, and are used to adjust the inclination angle of the dual-axis driving motor;

[0011] The dual-axis driving machine has two rotor bodies symmetrically arranged up and down, which are used to drive the UAV.

[0012] Furthermore, the dual-axis drive machine also includes a housing A and a housing B mounted on one side of the housing A;

[0013] Both ends of the shell A and the shell B are connected to corresponding linkage shafts respectively, and support plates are fixedly provided on one side of the top and the bottom of the shell A.

[0014] Furthermore, servo motors are fixedly mounted on the facing surfaces of the two support plates, and a driving gear is fixedly mounted on one end of the motor shaft of the servo motor.

[0015] Furthermore, the two support plates are each provided with a through hole, and a transmission shaft is rotatably arranged in the two through holes. The transmission shaft extends into the housing A and a driven gear is fixedly installed at one end.

[0016] Furthermore, the driven gear is meshed with the driving gear, and the other end of the transmission shaft is fixedly mounted on the rotor body.

[0017] Further, the support structure includes a fixing seat;

[0018] The four corners of the top of the drone body are all provided with fixing grooves, and the fixing seat is detachably installed in the fixing grooves.

[0019] Furthermore, the fixing seat is connected to a support frame, and the support frame is connected to the two steering gears A through mounting seats respectively.

[0020] Furthermore, the steering gear A is detachably mounted in the mounting seat, and driving seats are constructed on both sides of the annular anti-collision frame, and the driving end of the steering gear A is fixedly connected to the driving seat.

[0021] Furthermore, the annular anti-collision frame is connected between the two mounting grooves and the two driving seats by a plurality of arc-shaped brackets.

[0022] Furthermore, the drone body also includes a camera mechanism.

[0023] The camera mechanism includes a motor, which is detachably mounted on a mounting point at the bottom of a drone body, and a bracket is fixedly mounted on the driving end of the motor, a gimbal is fixedly mounted on one end of the bracket away from the motor, and a camera is fixedly mounted on one end of the gimbal.

[0024] The indoor flying drone anti-collision device using the embodiment of the present specification includes a drone body, an anti-collision drive mechanism, an annular anti-collision component and a dual-axis drive machine; wherein the anti-collision drive mechanism is installed on the four corners of the top of the drone body, including a support structure and two servos A respectively arranged at both ends of the support structure, and the annular anti-collision component is installed between the driving ends of the two servos A, and the anti-collision drive mechanism cooperates with the annular anti-collision component to protect the dual-axis drive machine on the drone, which can greatly reduce the occurrence of collisions with the dual-axis drive machine and its rotor body; at the same time, the annular anti-collision component also includes an annular anti-collision frame, and an installation groove is opened in the annular anti-collision frame, and servos B are arranged in the installation groove, and two driving ends of the two servos B are respectively installed with two linkage shafts, and the dual-axis drive machine is detachably installed between the two linkage shafts; the servos A and the servos B cooperate with each other on the annular anti-collision frame to adjust the inclination angle of the dual-axis drive machine; at the same time, the dual-axis drive machine has two rotor bodies symmetrically arranged up and down to drive the drone. This enables the drone to fly with high flexibility in indoor environments, greatly reducing the occurrence of collisions. During maneuvers, the annular anti-collision frame provides protection for the dual-axis drive motor, further solving the problem of rotor damage caused by collisions. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 The figure shows the overall structure of an indoor flying drone anti-collision device in the embodiment of this specification;

[0027] Figure 2 The figure shows a schematic diagram of the structure of an indoor flying drone anti-collision device in an upward-looking state in an embodiment of this specification;

[0028] Figure 3The figure shows a schematic diagram of the structure of an anti-collision driving mechanism in an indoor flying drone anti-collision device in an embodiment of this specification;

[0029] Figure 4 The figure shows a schematic diagram of the structure of a ring-shaped anti-collision component in an indoor flying drone anti-collision device in an embodiment of this specification;

[0030] Figure 5 The figure shows a schematic diagram of the structure of a dual-axis driving machine in a disassembled state in an indoor flying drone anti-collision device according to an embodiment of the present specification;

[0031] Figure 6 The figure is a schematic diagram of the structure of a camera mechanism in an indoor flying drone anti-collision device in an embodiment of the present specification.

[0032]

Description of reference numerals

[0033] 1. The drone body;

[0034] 2. Camera mechanism;

[0035] 201. Electric motor;

[0036] 202, bracket;

[0037] 203, PTZ;

[0038] 204. Camera;

[0039] 3. Anti-collision drive mechanism;

[0040] 301, servo A;

[0041] 302, fixed seat;

[0042] 303, support frame;

[0043] 304, mounting seat;

[0044] 4. Annular anti-collision component;

[0045] 401, circular anti-collision frame;

[0046] 402, servo B;

[0047] 403, linkage shaft;

[0048] 404, driving seat;

[0049] 5. Double-shaft drive machine;

[0050] 501, housing A;

[0051] 502, shell B;

[0052] 503, support plate;

[0053] 504, servo motor;

[0054] 505, driving gear;

[0055] 506, driven gear;

[0056] 507. Rotor body. DETAILED DESCRIPTION

[0057] The following will be combined with the drawings in the embodiments of this specification to clearly and completely describe the technical solutions in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this specification.

[0058] It should be noted that the terms "first", "second", etc. in the description and claims of this specification and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of this specification described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a device, product or equipment comprising a series of units is not necessarily limited to those units clearly listed, but may include other units that are not clearly listed or inherent to these products or equipment.

[0059] Moreover, for ease of description, some embodiments of this specification may use spatially relative terms such as "above", "below", "top", "below", etc. to describe the relationship between one element or component and another or other elements or components as shown in the drawings of the embodiments. It should be understood that in addition to the orientations described in the drawings, the spatially relative terms are also intended to include different orientations of the device in use or operation. For example, if the device in the drawings is turned over, the elements or components described as "below" or "beneath" other elements or components will then be positioned as "above" or "on" the other elements or components.

[0060] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0061] In order to solve the problems existing in the prior art, the embodiments of this specification provide an indoor flying drone anti-collision device. Figure 1 and Figure 2 The figure shows the overall structure of an indoor flying drone anti-collision device in the embodiment of this specification. The basic structure of the indoor flying drone anti-collision device is described in this figure, and more or fewer units or components may be included based on conventional or non-creative labor. The units or modules listed in the embodiment are only units or components divided according to function. When the actual system or device product is executed, the units and components can be adjusted.

[0062] According to the embodiments of this specification, Figure 1-Figure 5 As shown, the indoor flying UAV anti-collision device includes a UAV body 1, an anti-collision driving mechanism 3, a ring-shaped anti-collision component 4 and a dual-axis driving machine 5;

[0063] The anti-collision drive mechanism 3 is installed at the four corners of the top of the drone body 1, including a support structure and two steering gears A301 respectively arranged at both ends of the support structure, and the annular anti-collision component 4 is installed between the driving ends of the two steering gears A301. The anti-collision drive mechanism 3 cooperates with the annular anti-collision component 4 to protect the dual-axis drive motor 5;

[0064] The annular anti-collision assembly 4 includes an annular anti-collision frame 401, and an installation groove is provided in the annular anti-collision frame 401. A steering gear B402 is arranged in each of the installation grooves. Two linkage shafts 403 are respectively installed at the driving ends of the two steering gears B402; the dual-axis driving machine 5 is detachably installed between the facing ends of the linkage shafts 403;

[0065] The steering gear A301 and the steering gear B402 are movably matched with each other on the annular anti-collision frame 401 to adjust the tilt angle of the dual-axis driving machine 5;

[0066] The dual-axis driving machine 5 has two rotor bodies 507 symmetrically arranged up and down, which are used to drive the UAV.

[0067] The indoor flying UAV anti-collision device using the embodiment of the present specification includes a UAV body 1, an anti-collision driving mechanism 3, an annular anti-collision component 4 and a dual-axis driving machine 5; wherein the anti-collision driving mechanism 3 is installed at the four corners of the top of the UAV body 1, including a supporting structure and two steering gears A301 respectively arranged at both ends of the supporting structure, and the annular anti-collision component 4 is installed between the driving ends of the two steering gears A301, and the anti-collision driving mechanism 3 cooperates with the annular anti-collision component 4 to protect the dual-axis driving machine 5 on the UAV, and can greatly Reduce the occurrence of collisions; at the same time, the annular anti-collision component 4 also includes an annular anti-collision frame 401, and an installation groove is opened in the annular anti-collision frame 401, and a servo B402 is arranged in the installation groove, and two driving ends of the two servos B402 are respectively installed with two linkage shafts 403, and a dual-axis drive machine 5 is detachably installed between the two linkage shafts 403; the servo A301 and the servo B402 are mutually active and coordinated on the annular anti-collision frame 401, and the inclination angle of the dual-axis drive machine can be adjusted; at the same time, the dual-axis drive machine 5 is symmetrically arranged with two rotor bodies 507 for driving the UAV. Thereby, the UAV can fly with high flexibility in an indoor environment, greatly reducing the occurrence of collisions, and in the process of maneuvering, the annular anti-collision frame 401 provides protection for the dual-axis drive machine, further solving the problem of damage to the rotor caused by collision.

[0068] Specifically, the four corners of the top of the drone body 1 are all equipped with anti-collision drive mechanisms 3 for driving the drone to fly and adjust the flight attitude. The anti-collision drive mechanism 3 includes a support structure and two steering gears A301 arranged at both ends of the support structure. An annular anti-collision component 4 is installed between the driving ends of the two steering gears A301. The annular anti-collision component 4 includes an annular anti-collision frame 401. Both sides of the annular anti-collision frame 401 are provided with mounting grooves, and steering gears B402 are arranged in the two mounting grooves. The driving ends of the two steering gears B402 are both equipped with linkage shafts 403, and a dual-axis drive motor 5 is detachably installed between the opposite ends of the two linkage shafts 403. In this specification, a drone body 1 equipped with a camera mechanism 2 performs power inspection according to an AI path. During the power inspection, the drone flies through a number of anti-collision drive mechanisms 3. When flying indoors, a dual-axis drive motor 5 equipped with two servos B402 can be driven by a servo A301 to deflect. Thus, through the deflection of the dual-axis drive motor 5, high-flexibility flight in an indoor environment is achieved. Flexible maneuvers can be performed in three-dimensional space, which can greatly reduce the occurrence of collisions. In addition, during the maneuvering process, the dual-axis drive motor 5 is protected by an annular anti-collision frame 401, further solving the problem of rotor damage caused by collision.

[0069] In the embodiment of this specification, in order to install the dual-axis drive machine 5 on the drone body 1, as shown in FIG. Figure 5As shown, the dual-axis driving machine 5 further includes a housing A501 and a housing B502 which is snap-fitted and installed on one side of the housing A501;

[0070] Both ends of the shell A501 and the shell B502 are respectively connected to the corresponding linkage shaft 403, and a support plate 503 is fixedly provided on one side of the top and the bottom of the shell A501.

[0071] A servo motor 504 is fixedly mounted on the facing surfaces of the two support plates 503 , and a driving gear 505 is fixedly mounted on one end of the motor shaft of the servo motor 504 .

[0072] The two support plates 503 are each provided with a through hole, and a transmission shaft is rotatably disposed in the two through holes. The transmission shaft extends into the housing A501 and a driven gear 506 is fixedly mounted on one end.

[0073] The driven gear 506 is meshed with the driving gear 505, and the other end of the transmission shaft is fixedly mounted with the rotor body 507. The two rotor bodies 507 are arranged symmetrically up and down.

[0074] Specifically, the dual-axis drive machine 5 includes a shell A501 and a shell B502 that is snap-fitted and installed on one side of the shell A501. The two ends of the shell A501 and the shell B502 are respectively connected to the corresponding linkage shaft 403. Support plates 503 are fixedly installed on one side of the top and bottom of the shell A501. The facing surfaces of the two support plates 503 are fixedly installed with servo motors 504, and one end of the motor shaft of the servo motor 504 is fixedly installed with a driving gear 505. Through holes are opened on the top and bottom of the shell A501, and transmission shafts are rotatably installed in the two through holes. The transmission shaft extends to one end of the shell A501. A driven gear 506 is fixedly installed, and the driven gear 506 is meshed with the driving gear 505, and a rotor body 507 is fixedly installed on the other end of the transmission shaft. The two rotor bodies 507 are symmetrically arranged up and down. When flying indoors, in order to change the flexibility, the two driving gears 505 can be driven to rotate by two servo motors 504 respectively, so that the driven gear 506 is driven to rotate through the driving gear 505, and then the two rotor bodies 507 are driven to rotate. The two rotor bodies 507 arranged symmetrically up and down provide additional lift for the indoor flight of the drone, and provide support for the high flexibility of indoor flight inspections.

[0075] In the embodiment of this specification, in order to install the annular anti-collision frame 401 on the drone body 1, as shown in FIG. Figure 3 As shown, the support structure includes a fixing seat 302;

[0076] The four corners of the top of the drone body 1 are all provided with fixing grooves, and the fixing seat 302 is detachably installed in the fixing grooves.

[0077] The fixing seat 302 is connected to a support frame 303 , and the support frame 303 is connected to the two steering gears A301 through mounting seats 304 .

[0078] The steering gear A301 is detachably mounted in the mounting seat 304 , and driving seats 404 are constructed on both sides of the annular anti-collision frame 401 , and the driving end of the steering gear A301 is fixedly connected to the driving seat 404 .

[0079] Specifically, the supporting structure includes a fixing seat 302, and the four corners of the top of the UAV body 1 are all provided with fixing grooves, and the fixing seat 302 can be detachably installed in the fixing groove, support frames 303 are constructed on both sides of the top of the fixing seat 302, and a mounting seat 304 is constructed on the top of the support frame 303, the servo A301 is detachably installed in the mounting seat 304, and drive seats 404 are constructed on both sides of the annular anti-collision frame 401, and the driving end of the servo A301 is fixedly connected to the drive seat 404, and the fixing seat 302 is plugged into the fixing groove on the UAV body 1, so that during the power inspection operation, it is convenient to disassemble and maintain the designated anti-collision drive mechanism 3 as needed, and it is convenient to replace parts, which is highly practical.

[0080] In the embodiment of this specification, in order to protect the rotor body 507, as Figure 4 As shown, the annular anti-collision frame 401 is connected between the two mounting grooves and the two driving seats 404 by a plurality of arc-shaped brackets.

[0081] Specifically, a plurality of hollow cavities A are opened in a circular array on the annular anti-collision frame 401 between the two mounting grooves and the two driving seats 404, and a hollow cavity B is opened on the linkage shaft 403. The hollow cavities A distributed on the annular anti-collision frame 401 can play a pressure buffering effect when the drone collides with indoor equipment, thereby avoiding the problem of equipment damage caused by bumps, and the hollow cavity B arranged on the linkage shaft 403 can be deformed when impacted and reset after the impact force disappears, thereby avoiding the problem of the linkage shaft 403 being unable to recover due to bumps, and further improves the buffering effect when impacted.

[0082] In the embodiment of this specification, in order to carry out power inspection and shooting, such as Figure 6As shown, the drone body 1 also includes a camera mechanism 2, which includes a motor 201. The motor 201 is detachably mounted on the mounting point at the bottom of the drone body 1, and a bracket 202 is fixedly mounted on the driving end of the motor 201. A gimbal 203 is fixedly mounted on one end of the bracket 202 away from the motor 201, and a camera 204 is fixedly mounted on one end of the gimbal 203.

[0083] Specifically, the camera mechanism 2 includes a motor 201, which is detachably mounted on a mounting point at the bottom of the drone body 1, and a bracket 202 is fixedly mounted on the driving end of the motor 201, a gimbal 203 is fixedly mounted on one end of the bracket 202 away from the motor 201, and a camera 204 is fixedly mounted on one end of the gimbal 203. The motor 201 drives the bracket 202 with the gimbal 203 to rotate, thereby helping the camera 204 to perform power inspection shooting. During the shooting process, the gimbal 203 can help the camera 204 maintain shooting stability, thereby improving the shooting effect.

[0084] In the embodiment of this specification, a drone body equipped with a camera mechanism performs power inspection according to an AI path. During the power inspection, the drone flies through a number of anti-collision drive mechanisms. When flying indoors, the servo A can drive a dual-axis drive motor equipped with two servos B to deflect, thereby achieving high-flexibility flight in indoor environments through the deflection of the dual-axis drive motor. Flexible maneuvers can be performed in three-dimensional space, which can greatly reduce the occurrence of collisions. In the process of maneuvering, the dual-axis drive motor is protected by a circular anti-collision frame, further solving the problem of rotor damage caused by collisions. When flying indoors, in order to change the flexibility, two servo motors can be used to drive the two driving gears to rotate respectively, thereby driving the driven gears to rotate through the driving gears, and then driving the two rotor bodies to rotate. The two rotor bodies arranged symmetrically up and down provide additional lift for the indoor flight of the drone, providing support for the high flexibility of indoor flight inspections.

[0085] It should also be understood that in the embodiments of this specification, the term "and / or" is only a description of the association relationship of the associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0086] It should also be noted that the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a device or apparatus including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such device or apparatus. In the absence of further restrictions, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the device or apparatus including the element.

[0087] Specific embodiments are used in this specification to illustrate the principles and implementation methods of this specification. The description of the above embodiments is only used to help understand the methods and core ideas of this specification. At the same time, for those skilled in the art, according to the ideas of this specification, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on this specification.

Claims

1. An indoor flying drone anti-collision device, characterized in that: It comprises an unmanned aerial vehicle main body (1), an anti-collision driving mechanism (3), an annular anti-collision component (4) and a dual-axis driving machine (5); The anti-collision drive mechanism (3) is installed at the four corners of the top of the drone body (1), and comprises a support structure and two steering gears A (301) respectively arranged at two ends of the support structure, the annular anti-collision component (4) is installed between the driving ends of the two steering gears A (301), and the anti-collision drive mechanism (3) cooperates with the annular anti-collision component (4) to protect the dual-axis drive motor (5); The annular anti-collision assembly (4) comprises an annular anti-collision frame (401), wherein an installation groove is provided in the annular anti-collision frame (401), wherein steering gears B (402) are arranged in the installation grooves, and two linkage shafts (403) are respectively installed at the driving ends of the two steering gears B (402); the dual-axis driving machine (5) is detachably installed between the facing ends of the linkage shafts (403); the steering gear A (301) and the steering gear B (402) are movably matched with each other on the annular anti-collision frame 401, so as to adjust the inclination angle of the dual-axis driving machine (5); The dual-axis driving machine (5) has two rotor bodies (507) symmetrically arranged up and down, which are used to drive the UAV.

2. The indoor flying drone anti-collision device according to claim 1 is characterized in that: The dual-axis driving machine (5) further comprises a housing A (501) and a housing B (502) mounted on one side of the housing A (501); The two ends of the shell A (501) and the shell B (502) are respectively connected to the corresponding linkage shafts (403), and support plates (503) are fixedly provided on one side of the top and bottom of the shell A (501).

3. The indoor flying drone anti-collision device according to claim 2 is characterized in that: A servo motor (504) is fixedly mounted on the facing surfaces of the two support plates (503), and a driving gear (505) is fixedly mounted on one end of the motor shaft of the servo motor (504).

4. The indoor flying drone anti-collision device according to claim 3, characterized in that: The two support plates (503) are each provided with a through hole, and a transmission shaft is rotatably arranged in the two through holes. The transmission shaft extends into the housing A (501) and has a driven gear (506) fixedly installed at one end.

5. The indoor flying drone anti-collision device according to claim 4, characterized in that: The driven gear (506) is meshed with the driving gear (505), and the other end of the transmission shaft is fixedly mounted on the rotor body (507).

6. The indoor flying drone anti-collision device according to claim 1, characterized in that: The support structure includes a fixing seat (302); The four corners of the top of the drone body (1) are all provided with fixing grooves, and the fixing seat (302) is detachably installed in the fixing groove.

7. The indoor flying drone anti-collision device according to claim 6, characterized in that: The fixing seat (302) is connected to a support frame (303), and the support frame (303) is connected to the two steering gears A (301) through mounting seats (304) respectively.

8. The indoor flying drone anti-collision device according to claim 7, characterized in that: The steering gear A (301) is detachably mounted in the mounting seat (304), and driving seats (404) are constructed on both sides of the annular anti-collision frame (401), and the driving end of the steering gear A (301) is fixedly connected to the driving seat (404).

9. The indoor flying drone anti-collision device according to claim 8, characterized in that: The annular anti-collision frame (401) is connected between the two installation grooves and the two driving seats (404) by a plurality of arc-shaped brackets.

10. The indoor flying drone anti-collision device according to claim 1, characterized in that: The drone body (1) also includes a camera mechanism (2). The camera mechanism (2) comprises a motor (201), the motor (201) being detachably mounted on a mounting point at the bottom of the drone body (1), and a bracket (202) being fixedly mounted on a driving end of the motor (201), a gimbal (203) being fixedly mounted on one end of the bracket (202) away from the motor (201), and a camera (204) being fixedly mounted on one end of the gimbal (203).

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