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This invention discloses a drone-based ball-hitting device and trajectory planning method. The device is equipped with an onboard computer, and all drone control commands are calculated by the trajectory planning method on the onboard computer. The trajectory planning method includes two-stage initial polynomial trajectory generation and polynomial-based trajectory optimization. This invention solves the problem of trajectory planning for drones in ball-hitting competitive games, which cannot effectively cope with extreme ball-hitting situations. It features flexible ball-hitting states and ball-hitting trajectories that satisfy dynamic constraints, enabling the drone to handle a wide range of extreme ball-hitting situations under the premise of a specified ball-hitting target point. This invention assumes a continuously differentiable predictable trajectory of the flying ball; the predicted trajectory of the ball can also be a discrete trajectory, and the higher-order state of the flying ball trajectory is obtained through interpolation methods.