Multi-rotor UAVs and kits

Abstract

A multi-rotor unmanned aerial vehicle (100) comprises: a central body (10); two pairs of first arms (20) rotatably connected to the central body (10) and located on opposite sides of the central body (10); a plurality of rotor devices (30) mounted on the first arms (20), the rotation axis (21) of each first arm (20) being tilted relative to the pitch axis (101), the roll axis (102) and the yaw axis (103) of the multi-rotor unmanned aerial vehicle, and each first arm (20) The rotation axis (21) is arranged obliquely relative to the first arms (20); each pair of first arms (20) can be in an expanded state or a folded state; in the expanded state, each pair of first arms (20) is radially expanded relative to the central body (10); in the folded state, each pair of first arms (20) is in an up-and-down folded state, and the rotation axis (31) of the rotor device (30) of each pair of first arms (20) is substantially coplanar to prevent interference with components such as the central body (10) or to prevent occupying a large space.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a multi-rotor unmanned aerial vehicle and a kit. Background Art

[0002] In order to facilitate carrying, transportation or storage, multi-rotor drones are usually designed to be foldable, that is, the arms of the multi-rotor drones can be folded. When the arms are unfolded, the position of the motors on the arms for driving the propellers needs to meet the requirements of the wheelbase and inclination angle. When the arms are folded, the overall size of the multi-rotor drone is reduced.

[0003] During the research on related technologies, the inventors found that there are at least the following problems:

[0004] Some existing multi-rotor drones (such as agricultural drones) have their arms folded, and the motor of one of the pair of arms tilts inwards and the components below the motor (such as antennas, spraying devices and spray booms of agricultural drones, etc.) turn outwards, while the motor of the other arm tilts outwards and the components below the motor turn inwards. The outward-turned components take up more space, resulting in a relatively large overall volume after folding, while the inward-turned components may interfere with the fuselage of the multi-rotor drone or the components below the fuselage (such as landing gear, gimbal, camera, etc.), thereby affecting the design freedom. Taking agricultural drones as an example, the spraying device is installed at the end of the spray boom away from the arms, and the spray boom is relatively long. The inward-turned spraying device and spray boom are likely to interfere with the landing rack, and the span of the landing rack is greatly restricted during design. Summary of the invention

[0005] The embodiments of the present application provide a multi-rotor unmanned aerial vehicle and a kit.

[0006] In the first aspect, an embodiment of the present application provides a multi-rotor unmanned aerial vehicle, comprising: a center body; two pairs of first arms, respectively rotatably connected to the center body and respectively located on opposite sides of the center body; and a plurality of rotor devices, respectively mounted on the two pairs of first arms, the rotor devices being used to provide flight power, wherein the rotation axis of each first arm is tilted relative to the pitch axis, roll axis and yaw axis of the multi-rotor unmanned aerial vehicle, and the rotation axis of each first arm is tilted relative to the first arm; each pair of first arms can rotate back to back and be in an expanded state, and each pair of first arms can rotate towards each other and be in a folded state; in the expanded state, each pair of first arms is radially expanded relative to the center body; in the folded state, each pair of first arms is in an up and down folded state, and the rotation axes of the rotor devices of each pair of first arms are basically coplanar.

[0007] In a second aspect, an embodiment of the present application provides a kit for assembling a multi-rotor unmanned aerial vehicle, comprising: a center body; two pairs of first arms for detachably connecting to the center body; and a plurality of rotor devices for being respectively mounted on the two pairs of first arms, the rotor devices being used to provide flight power, wherein when the center body, the two pairs of first arms, and the plurality of rotor devices are assembled together, the two pairs of first arms are respectively rotatably connected to the center body and are respectively located on opposite sides of the center body; the rotation axis of each first arm is tilted relative to the pitch axis, roll axis, and yaw axis of the multi-rotor unmanned aerial vehicle, and the rotation axis of each first arm is tilted relative to the first arm; each pair of first arms can rotate away from each other and be in an unfolded state, and each pair of first arms can rotate toward each other and be in a folded state; in the unfolded state, each pair of first arms extends radially outward from the center body; in the folded state, each pair of first arms is in an up-and-down folded state, and the rotation axes of the rotor devices of each pair of first arms are substantially coplanar.

[0008] The rotation axis of each first arm of the multi-rotor unmanned aerial vehicle and kit of the embodiments of the present application is tilted relative to the pitch axis, roll axis and yaw axis of the multi-rotor unmanned aerial vehicle, and the rotation axis of each first arm is tilted relative to the first arm, so that each pair of first arms can be in an up and down folded state when folded, and the rotation axes of the rotor devices of each pair of first arms are basically coplanar, so that the rotor devices of the two first arms will not have one inward and the other outward, thereby effectively avoiding the phenomenon that other components carried by one first arm (such as antennas, spray devices, spray rods, etc.) are turned outward and other components carried by the other first arm are turned inward, thereby preventing the other components carried by the first arms from interfering with the center body or the components below the center body (such as tripods, gimbals, shooting devices, etc.), or preventing the folded multi-rotor unmanned aerial vehicle from occupying a large space as a whole. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 is a schematic diagram of the principle of a multi-rotor unmanned aerial vehicle according to an embodiment of the present application;

[0010] Figure 2 yes Figure 1 A schematic diagram of the three-dimensional structure of a multi-rotor unmanned aerial vehicle in an unfolded state;

[0011] Figure 3 yes Figure 2 A schematic diagram of the main structure of a multi-rotor unmanned aerial vehicle;

[0012] Figure 4 yes Figure 2 A schematic diagram of the top view structure of a multi-rotor unmanned aerial vehicle;

[0013] Figure 5 yes Figure 2 A side view structural diagram of a multi-rotor unmanned aerial vehicle;

[0014] Figure 6 yes Figure 2 A schematic diagram of the structure of a multi-rotor unmanned aerial vehicle viewed from above;

[0015] Figure 7 yes Figure 1 A schematic diagram of the three-dimensional structure of a multi-rotor unmanned aerial vehicle in a folded state;

[0016] Figure 8 yes Figure 7 A schematic diagram of the main structure of a multi-rotor unmanned aerial vehicle;

[0017] Fig. 9 yes Figure 7 A schematic diagram of the top view structure of a multi-rotor unmanned aerial vehicle;

[0018] Fig.10 yes Figure 7 A schematic diagram of the side view structure of a multi-rotor unmanned aerial vehicle; and

[0019] Fig.11 yes Figure 7 A schematic diagram of the structure of a multi-rotor unmanned aerial vehicle from an upward perspective.

[0020] Description of reference numerals:

[0021] 100. Multi-rotor unmanned aerial vehicle; 101. Pitch axis; 102. Roll axis; 103. Yaw axis; 10. Center body; 20. First arm; 21. Rotation axis of first arm 20; 30. Rotor device; 31. Rotation axis of rotor device 30; 32. Propeller; 33. Motor; 40. Spraying device; 50. Spraying rod; 60. Second arm; 70. Landing rack; 71. Cross bar; 72. Vertical bar; 80. Communication antenna. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with the drawings of the embodiments of the present application. Obviously, the described embodiment is one embodiment of the present application, not all embodiments. Based on the described embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0023] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in this application should be the usual meanings understood by people with general skills in the field to which this application belongs. If the full text involves descriptions such as "first" and "second", the descriptions such as "first" and "second" are only used to distinguish similar objects, and cannot be understood as indicating or implying their relative importance, order of precedence, or implicitly indicating the number of technical features indicated. It should be understood that the data described by "first" and "second" can be interchangeable under appropriate circumstances. If "and / or" appears in the full text, its meaning is to include three parallel schemes, taking "A and / or B" as an example, including scheme A, or scheme B, or schemes that A and B meet at the same time. In addition, for the convenience of description, spatial relative terms such as "above", "below", "top", "bottom", etc. can be used here, which are only used to describe the spatial position relationship between a device or feature as shown in the figure and other devices or features, and should be understood to also include different orientations in use or operation except for the orientation shown in the figure.

[0024] The embodiment of the present application provides a multi-rotor unmanned aerial vehicle 100, which can be used for various multi-rotor drones that need to be folded, such as agricultural plant protection drones, surveying and mapping drones, etc. In this embodiment, the multi-rotor unmanned aerial vehicle 100 is an agricultural plant protection drone for illustration.

[0025] Figure 1 The schematic diagram of the principle of a multi-rotor unmanned aerial vehicle is shown. The center body 10 and a pair of first arms 20 are shown in the figure, and the purpose is to show the positional relationship of the pitch axis 101, the roll axis 102, the yaw axis 103, the rotation axis 21 of the first arms 20 and the rotation axis 31 of the rotor device 30 of the multi-rotor unmanned aerial vehicle 100. In addition, the approximate positions of the pair of first arms 20 in the unfolded state and the folded state and the approximate posture of the rotor device 30 thereon are also shown, wherein the dotted line indicates the situation when the first arms 20 are in the folded state. Figure 2 Shows Figure 1 The three-dimensional structure diagram of the multi-rotor unmanned aerial vehicle in the unfolded state, wherein the pitch axis 101, the roll axis 102 and the yaw axis 103 are indicated by dotted lines. Figures 3 to 6 They are shown respectively Figure 1 A structural schematic diagram of a multi-rotor unmanned aerial vehicle in the unfolded state from the front view, top view, side view and top view. Figure 7 Shows Figure 1 Schematic diagram of the three-dimensional structure of a multi-rotor unmanned aerial vehicle in a folded state. Figures 8 to 11 They are shown respectively Figure 7 A schematic diagram of the structure of a multi-rotor unmanned aerial vehicle in a folded state from the front, top, side and top view angles, wherein: Fig.10The rotation axis 31 of the rotor device 30 is indicated by a dashed line in FIG.

[0026] like Figures 1 to 11 As shown, the multi-rotor unmanned aerial vehicle 100 includes a central body 10, two pairs of first arms 20 and a plurality of rotor devices 30. The central body 10 is provided with a flight control system for controlling the flight state of the multi-rotor unmanned aerial vehicle 100. The two pairs of first arms 20 are rotatably connected to the central body 10 and are respectively located on opposite sides of the central body 10. At least part of the plurality of rotor devices 30 are respectively installed on the two pairs of first arms 20. The rotor devices 30 are used to provide flight power.

[0027] The rotation axis 21 of each first arm 20 is tilted relative to the pitch axis 101, the roll axis 102, and the yaw axis 103 of the multi-rotor unmanned aerial vehicle 100, and the rotation axis 21 of each first arm 20 is tilted relative to the first arm 20. In other words, the rotation axis 21 of the first arm 20 is not perpendicular to any of the pitch axis 101, the roll axis 102, and the yaw axis 103, and the rotation axis 21 of the first arm 20 is not perpendicular to its corresponding first arm 20.

[0028] Each pair of first arms 20 can rotate away from each other to be in an unfolded state, and each pair of first arms 20 can rotate toward each other to be in a folded state. Figure 2 , Figure 4 as well as Figure 6 As shown, in the unfolded state, each pair of first arms 20 is radially unfolded relative to the central body 10. Figure 7 as well as Figures 9 to 11 As shown, in the folded state, each pair of first arms 20 is in an up-and-down folded state, and the rotation axes 31 of the rotor devices 30 of each pair of first arms 20 are substantially coplanar, so that the rotor devices 30 of the two first arms 20 will not tilt one inward and the other outward, thereby effectively avoiding the phenomenon that other components carried by one first arm 20 (such as an antenna, a spray device 40, a spray rod 50, etc.) are turned outward and other components carried by the other first arm 20 are turned inward, thereby preventing the other components carried by the first arms 20 from interfering with the center body 10 or the components below the center body 10 (such as the landing gear 70, etc.), or preventing the folded multi-rotor unmanned aerial vehicle 100 from occupying a larger space as a whole.

[0029] It should be noted that, in the folded state, each pair of first arms 20 is in an up-and-down folded state, which means that the positions of the two first arms 20 after folding are roughly arranged up and down, and the overlap amount of the two first arms 20 in the vertical direction (the direction parallel to the heading axis 103) and the positional relationship between the projections of the two first arms 20 in this direction are not limited. Specifically, the two first arms 20 can completely overlap, partially overlap, or even not overlap in the vertical direction; the projections of the two first arms 20 in the vertical direction can be any of completely overlapping, mutually parallel, mutually crossing, and angled settings.

[0030] In addition, due to the fact that there may be errors in the actual production process of the product, the rotation axes 31 of the rotor devices 30 of each pair of first arms 20 may not be absolutely coplanar in the folded state, and the rotation axes 31 of the above-mentioned rotor devices 30 only need to be basically coplanar. Among them, "basically coplanar" means that a certain error range is allowed between the rotation axes 31 of the rotor devices 30 of the two first arms 20, that is, although the rotation axes 31 of the rotor devices 30 of the two first arms 20 are not in the same plane, the angle between them is less than or equal to the allowable error value, which can be set according to the actual situation, for example, the allowable error value is less than or equal to 5 degrees.

[0031] like Figures 2 to 6 As shown, in some embodiments of the present application, two pairs of first arms 20 are respectively located on both sides of the roll axis 102 of the multi-rotor unmanned aerial vehicle 100. In addition, in the deployed state, each pair of first arms 20 is symmetrically arranged relative to a symmetry axis, so that the flight of the multi-rotor unmanned aerial vehicle 100 is more stable and the stability is easier to control. Figure 2 In the multi-rotor unmanned aerial vehicle 100 shown, the symmetry axis is the pitch axis 101 of the multi-rotor unmanned aerial vehicle 100. That is, in the unfolded state, each pair of first arms 20 is symmetrically arranged relative to the pitch axis 101, which can facilitate the precise control of the pitch attitude of the multi-rotor unmanned aerial vehicle 100.

[0032] It can be understood that the arrangement of the two pairs of first arms 20 is not limited to this. In other embodiments, the two pairs of first arms 20 can also be located on both sides of the pitch axis 101 of the multi-rotor unmanned aerial vehicle 100. In this case, the axis of symmetry can also be the roll axis 102 of the multi-rotor unmanned aerial vehicle 100. When in the deployed state, each pair of first arms 20 is symmetrically arranged relative to the roll axis 102, which can facilitate the precise control of the roll attitude of the multi-rotor unmanned aerial vehicle 100.

[0033] like Figure 1 and Figure 2As shown, in some embodiments of the present application, in the unfolded state, the rotation axis 31 of the rotor device 30 on each first arm 20 is tilted relative to the heading axis 103 of the multi-rotor unmanned aerial vehicle 100. The above-mentioned arrangement of the rotation axis 31 of the rotor device 30 can provide a tilting force in advance. On the one hand, the tilting force facilitates the multi-rotor unmanned aerial vehicle 100 to change its attitude, and on the other hand, the tilting force can also improve the wind resistance of the multi-rotor unmanned aerial vehicle 100. Among them, the inclination angle between the rotation axis 31 of the rotor device 30 and the heading axis 103 when each first arm 20 is in the unfolded state can be reasonably designed according to the type of the multi-rotor unmanned aerial vehicle 100 and the requirements for its attitude change, wind resistance, etc.

[0034] It should be noted that the positional relationship between the rotation axis 31 of the rotor device 30 and the heading axis 103 of the multi-rotor unmanned aerial vehicle 100 in the deployed state is not limited to this. In other embodiments of the present application, in the deployed state, the rotation axis 31 of the rotor device 30 on each first arm 20 can also be arranged parallel to the heading axis 103 of the multi-rotor unmanned aerial vehicle 100, so that the airflow intensity of the rotor device 30 toward the bottom can be enhanced, thereby enhancing the penetration of the agricultural plant protection UAV spraying toward the bottom. In addition, in some other embodiments, each first arm 20 is provided with a pair of rotor devices 30, and the pair of rotor devices 30 are respectively located above and below the first arm 20 and are coaxial. At this time, the rotation axis 31 of the pair of rotor devices 30 on each first arm 20 is required to be arranged parallel to the heading axis 103 of the multi-rotor unmanned aerial vehicle 100.

[0035] In some embodiments of the present application, the rotation axis 31 of each rotor device 30 is arranged perpendicular to the first arm 20 on which the rotor device 30 is installed, which is more convenient for installation. In addition, in the deployed state, each first arm 20 is extended upwardly and tilted relative to the central body 10. Since the rotor device 30 is installed on the first arm 20 in a manner that its rotation axis 31 is perpendicular to the first arm 20, the rotation axis 31 of the rotor device 30 is tilted relative to the heading axis 103 of the multi-rotor unmanned aerial vehicle 100 by extending upwardly and tilting relative to the central body 10 when each first arm 20 is deployed, so that the inclination angle of the rotation axis 31 of the rotor device 30 is more easily controlled. Preferably, the inclination angle of the first arm 20 relative to the central body 10 (i.e., the inclination angle between the first arm 20 and the heading axis 103 of the multi-rotor unmanned aerial vehicle 100) is less than or equal to 45 degrees. Of course, those skilled in the art will appreciate that, in other embodiments, the rotation axis 31 of each rotor device 30 may be tilted relative to the first arm 20; or, the first arm 20 may be roughly in the same plane as the center body 10 when in the expanded state.

[0036] In some embodiments of the present application, in the deployed state, the height of the rotor devices 30 of all first arms 20 is higher than the height of the central body 10, so that the overall center of gravity of the multi-rotor unmanned aerial vehicle 100 is closer to the bottom of the rotor devices 30, thereby improving the stability of the multi-rotor unmanned aerial vehicle 100. It should be noted that the height of the rotor device 30 being higher than the height of the central body 10 can be understood as the center of gravity of the rotor device 30 being higher than the center of gravity of the central body 10, and can also be understood as the entire rotor device 30 being higher than the central body 10. Of course, it can be understood by those skilled in the art that in other embodiments, the rotor devices 30 of the first arms 20 can also be roughly in the same plane as the central body 10.

[0037] like Figure 7 , Figure 8 as well as Fig.10 As shown, in some embodiments of the present application, in the folded state, the height of the rotor device 30 of one of the pair of first arms 20 is greater than the height of the central body 10, and the height of the rotor device 30 of the other first arm 20 is less than the height of the central body, so that each pair of first arms 20 can be folded in layers, reducing the possibility of interference during the folding process, and compressing the folding space in the vertical direction, reducing the volume of the multi-rotor unmanned aerial vehicle 100 after folding, and facilitating carrying, transportation and storage. Similarly, the comparison method between the height of the rotor device 30 and the height of the central body 10 can be a comparison between the centers of gravity of the two, or a comparison between the two as a whole.

[0038] It should be noted that the positional relationship between the rotor devices 30 when each pair of first arms 20 is in the folded state is not limited to this. In other embodiments not shown in the figure, the rotor devices 30 of each pair of first arms 20 may also be in the same plane after folding, or the height of the rotor devices 30 of each pair of first arms 20 is greater than the height of the center body 10, or the height of the rotor devices 30 of each pair of first arms 20 is less than the height of the center body 10.

[0039] like Fig.10 As shown, in some embodiments of the present application, in the folded state, each pair of first arms 20 are parallel to each other, so that the possibility of interference between each pair of first arms 20 during the folding process can be minimized. Of course, the positional relationship of each pair of first arms 20 in the folded state is not limited to this. In other embodiments not shown in the figure, each pair of first arms 20 can also be arranged at an angle after being folded.

[0040] like Figures 7 to 11As shown, in some embodiments of the present application, in the folded state, the rotation axis 31 of the rotor device 30 carried by each pair of first arms 20 is arranged parallel to a plane, and the plane is parallel to the heading axis 103 of the multi-rotor unmanned aerial vehicle 100. In other words, the plane formed by the rotation axis 31 of the rotor device 30 of each pair of first arms 20 is parallel to the heading axis 103, so that the rotor device 30 can be prevented from tilting inward and outward, and other components carried by the first arms 20 (such as antennas, spraying devices 40, spraying rods 50, etc.) can be turned inward and outward, and the folding space can be compressed in the vertical direction, reducing the volume of the multi-rotor unmanned aerial vehicle 100 after folding, which is convenient for carrying, transportation and storage, and can also prevent other components carried by the first arms 20 from interfering with the central body 10 or components below the central body 10 (such as the landing gear 70, etc.).

[0041] It should be noted that, in other embodiments, the plane formed by the rotation axes 31 of the rotor devices 30 of each pair of first arms 20 may not be parallel to the heading axis 103. In this case, the rotor devices 30 of each pair of first arms 20 are simultaneously tilted inward or tilted outward. When the rotor devices 30 of each pair of first arms 20 are simultaneously tilted inward, the other components carried by each pair of first arms 20 (such as antennas, spray devices 40, spray rods 50, etc.) are simultaneously turned outward. At this time, the other components carried by the first arms 20 can still be prevented from interfering with the central body 10 or the components below the central body 10 (such as the landing gear 70, etc.). When the rotor devices 30 of each pair of first arms 20 are simultaneously tilted outward, the other components carried by each pair of first arms 20 are simultaneously turned inward. At this time, the volume of the multi-rotor unmanned aerial vehicle 100 after folding can still be reduced, which is convenient for carrying, transportation and storage.

[0042] like Figures 7 to 11 As shown, in some embodiments of the present application, the above-mentioned plane is parallel to the roll axis 102 of the multi-rotor unmanned aerial vehicle 100. That is to say, the two pairs of first arms 20 are respectively located on both sides of the roll axis 102, and in the folded state, the plane formed by the rotation axis 31 of the rotor device 30 of each pair of first arms 20 is parallel to the plane formed by the yaw axis 103 and the roll axis 102, so that the space occupied along the pitch axis 101 direction of the multi-rotor unmanned aerial vehicle 100 can be saved after the folding.

[0043] In other embodiments of the present application, the above-mentioned plane is parallel to the pitch axis 101 of the multi-rotor unmanned aerial vehicle 100. At this time, the two pairs of first arms 20 are respectively located on both sides of the pitch axis 101. In the folded state, the plane jointly formed by the rotation axis 31 of the rotor device 30 of each pair of first arms 20 is parallel to the plane formed by the heading axis 103 and the pitch axis 101. This can save the space occupied along the roll axis 102 after the multi-rotor unmanned aerial vehicle 100 is folded.

[0044] In addition, in other embodiments of the present application, in the folded state, the rotation axis 31 of the rotor device 30 carried by each pair of first arms 20 is parallel to the heading axis 103 of the multi-rotor unmanned aerial vehicle 100, which can save the space occupied along the pitch axis 101 and / or roll axis 102 after the multi-rotor unmanned aerial vehicle 100 is folded.

[0045] like Fig.10 As shown, in some embodiments of the present application, in the folded state, the rotation axes 31 of the rotor devices 30 of each pair of first arms 20 are substantially parallel, so that the rotor devices 30 of the two first arms 20 in each pair can be prevented from being relatively turned outward, thereby further saving occupied space. Of course, it can be understood that in other embodiments, the rotation axes 31 of the rotor devices 30 of each pair of first arms 20 can also be arranged at an angle.

[0046] It should be noted that, due to the errors in the actual production process, the rotation axes 31 of the rotor devices 30 of each pair of first arms 20 may not be absolutely parallel in the folded state, and the two need only be basically parallel. "Basically parallel" means that a certain error range is allowed between the rotation axes 31 of the rotor devices 30 of the two first arms 20, that is, although the rotation axes 31 of the rotor devices 30 of the two first arms 20 are not parallel, the angle between them is less than or equal to the allowable error value, which can be set according to the actual situation, for example, the allowable error value is less than or equal to 5 degrees.

[0047] In addition, similarly, any description of "parallel" between two structures in the entire text of this application can be understood as allowing the two structures to be non-parallel, but the angle between them is less than or equal to the allowable error value.

[0048] like Figure 7 and Fig.10 As shown, in some embodiments of the present application, in the folded state, the first arm 20 is tilted relative to the roll axis 102 of the multi-rotor unmanned aerial vehicle 100, so that the first arm 20 can be tilted and folded in the vertical direction, thereby saving the space occupied by the folded multi-rotor unmanned aerial vehicle 100 in the horizontal direction (the direction parallel to the roll axis 102 or the pitch axis 101). Of course, in other embodiments, the first arm 20 can also be arranged parallel to the roll axis 102 of the multi-rotor unmanned aerial vehicle 100 in the folded state.

[0049] like Figure 1As shown, in some embodiments of the present application, the rotor device 30 on each first arm 20 has the same inclination angle relative to the heading axis 103 of the multi-rotor unmanned aerial vehicle 100 when the first arm 20 is in a folded state and an unfolded state. This can prevent the wires in the first arm 20 that are used to electrically connect to the rotor device 30 from remaining in a twisted state for a long time, which may accelerate the aging of the wires.

[0050] like Figure 1 As shown, in some embodiments of the present application, the upper part of the rotation axis 21 of one of the first arms 20 in each pair of first arms 20 is tilted closer to the center of the central body 10 than the lower part, and the upper part of the rotation axis 21 of the other first arm 20 is tilted farther away from the center of the central body 10 than the lower part. The above arrangement enables each pair of first arms 20 to be tilted up and down after folding, thereby saving the space occupied by the multi-rotor unmanned aerial vehicle 100 in the horizontal direction after folding. It should be noted that the arrangement of the rotation axis 21 of each pair of first arms 20 is not limited to this. In other embodiments not shown in the figure, the tilt direction of the rotation axis 21 of each pair of first arms 20 relative to the central body 10 can also be designed according to specific needs. For example, the tilting trend of the rotation axis 21 of each pair of first arms 20 is consistent, as long as the rotation axis 31 of the rotor device 30 on the folded first arms 20 is basically coplanar.

[0051] In some embodiments of the present application, each first arm 20 sweeps a conical surface when rotating, and the rotation angle is greater than 180 degrees or less than 180 degrees. The reasonable design of the inclination angle of the rotation axis 21 of each first arm 20, the angle between the rotation axis 21 of the first arm 20 and the corresponding first arm 20, the rotation angle of the first arm 20, etc., makes the position of the rotor device 30 meet the wheelbase requirement and the posture meet the inclination requirement when the first arm 20 is unfolded, and makes the position and posture of the rotor device 30 meet the requirements of reducing occupied space and / or reducing interference after the first arm 20 is folded. Specifically, it is at least necessary to make the rotation axes 31 of the rotor devices 30 of each pair of first arms 20 basically coplanar after folding.

[0052] like Figure 2 , Figure 3 , Figure 5 , Figure 7 , Figure 8 as well as Fig.10As shown, in some embodiments of the present application, the multi-rotor unmanned aerial vehicle 100 is an agricultural plant protection UAV, and a spraying device 40 is provided below each first arm 20, and the spraying device 40 is located below the rotor device 30. The spraying device 40 can be used for spraying medicines, seeds, powders, etc. In addition, in some embodiments of the present application, a spraying rod 50 is also provided at the bottom of the first arm 20, and the spraying device 40 is installed on the spraying rod 50. The length of the spraying rod 50 is relatively long. When the rotor device 30 of the first arm 20 is tilted inward or outward, the spraying device 40 and the spraying rod 50, which are mainly other components on the first arm 20, will turn outward or turn inward. Therefore, when designing the central body 10 of the multi-rotor unmanned aerial vehicle 100 or the components below the central body 10 (such as the landing rack 70, etc.), and the foldable first arm 20, it is necessary to focus on the position, posture and size parameters of the spraying device 40 and the spraying rod 50.

[0053] like Figures 2 to 11 As shown, in some embodiments of the present application, the multi-rotor unmanned aerial vehicle 100 further includes a pair of second arms 60 provided with the rotor device 30, and the pair of second arms 60 are respectively provided on opposite sides of the central body 10. Figure 2 In the multi-rotor unmanned aerial vehicle 100 shown, a pair of second arms 60 are arranged along the roll axis 102 of the multi-rotor unmanned aerial vehicle 100, that is, the pair of second arms 60 are respectively located on both sides of the pitch axis 101 of the multi-rotor unmanned aerial vehicle 100. The rotation axis 31 of the rotor device 30 on the pair of second arms 60 is also tilted relative to the yaw axis 103 of the multi-rotor unmanned aerial vehicle 100, thereby providing a tilting power in the direction of the pitch axis 101, so as to facilitate the multi-rotor unmanned aerial vehicle 100 to change the pitch angle. Among them, the tilting arrangement of the rotation axis 31 of the rotor device 30 of the second arm 60 can also be achieved by arranging the second arm 60 to be tilted relative to the yaw axis 103.

[0054] It should be noted that the specific number of the rotor devices 30 can be designed according to actual needs. For example, the number of the rotor devices 30 can be the same as the total number of the first arms 20 and the second arms 60, and each first arm 20 and each second arm 60 is provided with a rotor device 30.

[0055] In some other embodiments of the present application, a pair of second arms 60 can also be arranged along the pitch axis 101 of the multi-rotor unmanned aerial vehicle 100, that is, a pair of second arms 60 are respectively located on both sides of the roll axis 102 of the multi-rotor unmanned aerial vehicle 100, thereby providing tilting power in the direction of the roll axis 102, making it easier for the multi-rotor unmanned aerial vehicle 100 to change the roll angle.

[0056] like Figures 2 to 11As shown, in some embodiments of the present application, the second arm 60 is rotatably connected to the central body 10, and the second arm 60 can be in a folded state or an unfolded state relative to the central body 10. Specifically, in the unfolded state, the second arms 60 all extend radially from the central body 10 toward the outside. In the folded state, the second arms 60 are in a downwardly bent state, which can prevent the folded second arms 60 from interfering with the folded first arms 20. In addition, some components are generally provided below the central body 10, and folding the second arms 60 downward can also minimize the overall volume of the multi-rotor unmanned aerial vehicle 100 after folding.

[0057] It should be noted that the fuselage of the multi-rotor unmanned aerial vehicle 100 includes but is not limited to a central body 10, two pairs of first arms 20 and a pair of second arms 60. In other embodiments, the number of first arms 20 and second arms 60 can be designed as needed. For example, the second arms 60 are arranged in three pairs evenly spaced. Figure 2 In the illustrated multi-rotor unmanned aerial vehicle 100, a pair of second arms 60 is arranged between two pairs of first arms 20. In other embodiments, the second arms 60 may also be arranged in other ways, for example, the second arms 60 are arranged between two first arms 20 of a pair of first arms 20.

[0058] like Figures 2 to 11 As shown, in some embodiments of the present application, the multi-rotor unmanned aerial vehicle 100 further includes a landing rack 70, and the landing rack 70 is mechanically coupled to the central body 10. When designing the foldable first arms 20, the spraying device 40 and the spraying rod 50 of the multi-rotor unmanned aerial vehicle 100, it is necessary to focus on whether there will be interference with the landing rack 70. In this embodiment, the landing rack 70 includes a crossbar 71 and two vertical rods 72 from both ends of the crossbar 71 toward the same side of the crossbar 71, and the vertical rods 72 are mechanically coupled to the central body 10. There are two landing racks 70, and the two landing racks 70 are arranged at intervals. When the first arms 20 are in a folded state, each pair of first arms 20 is located on the same side of the central body 10 with a landing rack 70.

[0059] It should be noted that the specific structure of the landing rack 70 is not limited thereto, and in other embodiments not shown in the figure, the landing rack 70 may also be other structures. In addition, when the multi-rotor unmanned aerial vehicle 100 is another type of multi-rotor drone, the components below the central body 10 may also be a gimbal, a camera, etc., and in this case, it is necessary to consider whether there will be interference between the components on the first arm 20 that may turn inward and the gimbal, the camera, etc.

[0060] like Figure 2 and Figure 3As shown, in some embodiments of the present application, the rotor device 30 includes a propeller 32 and a motor 33 for driving the propeller 32 to rotate, and the rotating shaft 31 of the rotor device 30 can be the output shaft of the motor 33. In some embodiments of the present application, the rotor device 30 on each pair of first arms 20 is located above the first arms 20. A communication antenna 80 is provided below at least one first arm 20. Figure 2 In the multi-rotor unmanned aerial vehicle 100 shown, the communication antenna 80 is disposed on the first arm 20 in the nose direction of the multi-rotor unmanned aerial vehicle 100, and the communication antenna 80 is located directly below the rotor device 30, so that the communication antenna 80 is disposed away from the central body 10 to avoid being blocked by the fuselage. The type of the communication antenna 80 can be selected as needed, for example, the communication antenna 80 can be an SDR antenna.

[0061] In other embodiments of the present application, the rotor device 30 on each pair of first arms 20 is located below the first arms 20. A communication antenna 80 is provided above at least one first arm 20 to prevent the communication antenna 80 from being blocked by the fuselage. Specifically, the communication antenna 80 is provided on the first arm 20 in the nose direction of the multi-rotor unmanned aerial vehicle 100. The type of the communication antenna 80 can be selected as needed, for example, the communication antenna 80 can be an SDR antenna.

[0062] In addition, a positioning antenna is provided above at least one first arm 20. The positioning antenna is provided on the first arm 20 in the tail direction of the multi-rotor unmanned aerial vehicle 100. The positioning antenna is arranged upward to facilitate receiving satellite signals, and is arranged away from the central body 10 to avoid interference from electronic components in the central body 10. The type of the positioning antenna can be selected as needed, for example, the positioning antenna is an RTK positioning antenna.

[0063] It should be noted that the relative position of the rotor device 30 and the first arm 20 is not limited to the above-mentioned relative position. In other embodiments of the present application, each pair of first arms 20 includes a front arm and a rear arm, and the rotor device 30 on the front arm may be located below the front arm, and the rotor device 30 on the rear arm may be located above the rear arm.

[0064] The embodiment of the present application also provides a kit for assembling a multi-rotor unmanned aerial vehicle, the kit comprising a central body 10, two pairs of first arms 20 and a plurality of rotor devices 30. The central body 10 is provided with a flight control system for controlling the flight state of the multi-rotor unmanned aerial vehicle. The two pairs of first arms 20 are used to be detachably connected to the central body 10. The plurality of rotor devices 30 are used to be respectively installed on the two pairs of first arms 20, and the rotor devices 30 are used to provide flight power.

[0065] When the central body 10, the two pairs of first arms 20, and the plurality of rotor devices 30 are assembled together, the two pairs of first arms 20 are rotatably connected to the central body 10, and are respectively located on opposite sides of the central body 10. The rotation axis 21 of each first arm 20 is tilted relative to the pitch axis 101, the roll axis 102, and the yaw axis 103 of the multi-rotor unmanned aerial vehicle, and the rotation axis 21 of each first arm 20 is tilted relative to the first arm 20. Each pair of first arms 20 can rotate away from each other to be in an unfolded state, and each pair of first arms 20 can rotate toward each other to be in a folded state.

[0066] In the unfolded state, each pair of first arms 20 extends radially outward from the central body 10. In the folded state, each pair of first arms 20 is folded up and down, and the rotation axes 31 of the rotor devices 30 of each pair of first arms 20 are basically coplanar, so that the rotor devices 30 of the two first arms 20 will not tilt inward while the other tilt outward. Therefore, it is possible to effectively avoid the phenomenon that other components carried by one first arm 20 (such as antennas, spray devices 40, spray rods 50, etc.) are turned outward and other components carried by the other first arm 20 are turned inward, thereby preventing the other components carried by the first arms 20 from interfering with the central body 10 or the components below the central body 10 (such as landing gear 70, gimbal, shooting device, etc.), or preventing the folded multi-rotor unmanned aerial vehicle 100 from occupying a larger space as a whole.

[0067] In addition, the kit for assembling a multi-rotor unmanned aerial vehicle in the embodiment of the present application is basically the same as the other structures and working principles of the aforementioned multi-rotor unmanned aerial vehicle, which will not be repeated here.

[0068] Regarding the embodiments of the present application, it should also be noted that, in the absence of conflict, the embodiments of the present application and the features therein can be combined with each other to obtain new embodiments.

[0069] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. The protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A multi-rotor unmanned aerial vehicle, characterized in that: include: centrosome; Two pairs of first arms are respectively rotatably connected to the central body, and the two pairs of first arms are respectively located on opposite sides of the roll axis of the multi-rotor unmanned aerial vehicle; as well as A plurality of rotor devices are respectively mounted on the two pairs of the first machine arms, and the rotor devices are used to provide flight power. Wherein, the rotation axis of each of the first arms is tilted relative to the pitch axis, roll axis, and yaw axis of the multi-rotor unmanned aerial vehicle, and the rotation axis of each of the first arms is tilted relative to the first arm on which it is located; Each pair of the first arms can be rotated away from each other to be in an unfolded state, and each pair of the first arms can be rotated toward each other to be in a folded state; In the deployed state, each pair of the first arms is radially deployed relative to the central body; In the folded state, each pair of the first arms is in an up and down folded state, and one of the first arms in each pair of the first arms is tilted upward relative to the roll axis of the multi-rotor unmanned aerial vehicle, and the other first arm is tilted downward relative to the roll axis of the multi-rotor unmanned aerial vehicle.

2. The multi-rotor unmanned aerial vehicle according to claim 1, characterized in that: In the unfolded state, each pair of the first arms is symmetrically arranged relative to a symmetry axis.

3. The multi-rotor unmanned aerial vehicle according to claim 2, characterized in that: The axis of symmetry is the pitch axis of the multi-rotor unmanned aerial vehicle.

4. The multi-rotor unmanned aerial vehicle according to claim 1, characterized in that: In the unfolded state, the rotation axis of the rotor device on each of the first arms is tilted relative to the heading axis of the multi-rotor unmanned aerial vehicle.

5. The multi-rotor unmanned aerial vehicle according to claim 1, characterized in that: In the deployed state, the rotation axis of the rotor device on each of the first arms is arranged parallel to the heading axis of the multi-rotor unmanned aerial vehicle.

6. The multi-rotor unmanned aerial vehicle according to claim 1, characterized in that: In the deployed state, each of the first arms is extended upwardly and tilted relative to the central body.

7. The multi-rotor unmanned aerial vehicle according to claim 6, characterized in that: The inclination angle of the first arm is less than or equal to 45 degrees.

8. The multi-rotor unmanned aerial vehicle according to claim 1, characterized in that: In the deployed state, the heights of the rotor devices of all the first arms are higher than the height of the central body.

9. The multi-rotor unmanned aerial vehicle according to claim 1, characterized in that: In the folded state, the height of the rotor device of one of the pair of first arms is greater than the height of the central body, and the height of the rotor device of the other first arm is less than the height of the central body.

10. The multi-rotor unmanned aerial vehicle according to claim 1, characterized in that: In the folded state, each pair of the first arms are parallel to each other.

11. The multi-rotor unmanned aerial vehicle according to claim 1, characterized in that: In the folded state, the rotation axes of the rotor devices carried by each pair of the first arms are arranged parallel to a plane, and the plane is parallel to the heading axis of the multi-rotor unmanned aerial vehicle.

12. The multi-rotor unmanned aerial vehicle according to claim 11, characterized in that: The plane is parallel to the pitch axis of the multi-rotor unmanned aerial vehicle.

13. The multi-rotor unmanned aerial vehicle according to claim 11, characterized in that: The plane is parallel to the roll axis of the multi-rotor unmanned aerial vehicle.

14. The multi-rotor unmanned aerial vehicle according to claim 11, characterized in that: The rotation axes of the rotor devices carried by each pair of the first arms are parallel to the heading axis of the multi-rotor unmanned aerial vehicle.

15. The multi-rotor unmanned aerial vehicle according to claim 1, characterized in that: In the folded state, the rotation axes of the rotor devices of each pair of the first arms are substantially parallel.

16. The multi-rotor unmanned aerial vehicle according to claim 1, characterized in that: In the folded state, the first arm is tilted relative to the roll axis of the multi-rotor unmanned aerial vehicle.

17. The multi-rotor unmanned aerial vehicle according to claim 1, characterized in that: The inclination angle of the rotor device on each first arm relative to the heading axis of the multi-rotor unmanned aerial vehicle is the same when the first arm is in the folded state and the unfolded state.

18. The multi-rotor unmanned aerial vehicle according to claim 1, characterized in that: The upper portion of the rotation axis of one of the first arms in each pair of the first arms is tilted closer to the center of the central body than the lower portion, and the upper portion of the rotation axis of the other first arm is tilted farther from the center of the central body than the lower portion.

19. The multi-rotor unmanned aerial vehicle according to claim 1, characterized in that: The rotation axis of each of the rotor devices is arranged perpendicular to the first machine arm on which the rotor device is installed.

20. The multi-rotor unmanned aerial vehicle according to claim 1, characterized in that: Each of the first machine arms sweeps across a conical surface when rotating, and the rotation angle is greater than 180 degrees or less than 180 degrees.

21. The multi-rotor unmanned aerial vehicle according to claim 1, characterized in that: A spraying device is provided below each of the first machine arms, and the spraying device is located below the rotor device.

22. The multi-rotor unmanned aerial vehicle according to claim 21, characterized in that: A spray rod is provided at the bottom of the first machine arm, and the spray device is installed on the spray rod.

23. The multi-rotor unmanned aerial vehicle according to claim 1, characterized in that: Also includes: A pair of second machine arms are provided with the rotor device, and the pair of second machine arms are respectively arranged on opposite sides of the central body.

24. The multi-rotor unmanned aerial vehicle according to claim 23, characterized in that: A pair of the second arms are arranged along the direction of the roll axis or the pitch axis of the multi-rotor unmanned aerial vehicle.

25. The multi-rotor unmanned aerial vehicle according to claim 23, characterized in that: The second arm is rotatably connected to the central body, and the second arm can be in a folded state or an unfolded state relative to the central body.

26. The multi-rotor unmanned aerial vehicle according to claim 25, characterized in that: In the deployed state, the second arms extend radially outward from the central body.

27. The multi-rotor unmanned aerial vehicle according to claim 25, characterized in that: In the folded state, the second arm is in a downwardly bent state.

28. The multi-rotor unmanned aerial vehicle according to claim 1, characterized in that: Also includes: A landing leg is mechanically coupled to the center body.

29. The multi-rotor unmanned aerial vehicle according to claim 28, characterized in that: The landing frame includes a crossbar and two vertical rods extending from two ends of the crossbar toward the same side of the crossbar, and the vertical rods are mechanically coupled to the central body.

30. The multi-rotor unmanned aerial vehicle according to claim 28, characterized in that: There are two landing racks, and when the first arms are in the folded state, each pair of the first arms and one of the landing racks are located on the same side of the central body.

31. The multi-rotor unmanned aerial vehicle according to claim 1, characterized in that: The multi-rotor unmanned aerial vehicle is an agricultural plant protection drone.

32. The multi-rotor unmanned aerial vehicle according to claim 1, characterized in that: The rotor device includes a propeller and a motor for driving the propeller to rotate.

33. The multi-rotor unmanned aerial vehicle according to claim 1, characterized in that: The rotor devices on each pair of the first arms are located above the first arms.

34. The multi-rotor unmanned aerial vehicle according to claim 33, characterized in that: A communication antenna is provided below at least one of the first arms.

35. The multi-rotor unmanned aerial vehicle according to claim 34, characterized in that: The communication antenna is located directly below the rotor device.

36. The multi-rotor unmanned aerial vehicle according to claim 34, characterized in that: The communication antenna is arranged on the first arm in the nose direction of the multi-rotor unmanned aerial vehicle.

37. The multi-rotor unmanned aerial vehicle according to claim 34, characterized in that: The communication antenna is an SDR antenna.

38. The multi-rotor unmanned aerial vehicle according to claim 1, characterized in that: The rotor devices on each pair of the first arms are located below the first arms.

39. The multi-rotor unmanned aerial vehicle according to claim 38, characterized in that: A communication antenna is provided above at least one of the first arms.

40. The multi-rotor unmanned aerial vehicle according to claim 39, characterized in that: The communication antenna is arranged on the first arm in the nose direction of the multi-rotor unmanned aerial vehicle.

41. The multi-rotor unmanned aerial vehicle according to claim 39, characterized in that: The communication antenna is an SDR antenna.

42. The multi-rotor unmanned aerial vehicle according to claim 38, characterized in that: A positioning antenna is provided above at least one of the first arms.

43. The multi-rotor unmanned aerial vehicle according to claim 42, characterized in that: The positioning antenna is arranged on the first arm in the tail direction of the multi-rotor unmanned aerial vehicle.

44. The multi-rotor unmanned aerial vehicle according to claim 42, characterized in that: The positioning antenna is an RTK positioning antenna.

45. The multi-rotor unmanned aerial vehicle according to claim 1, characterized in that: Each pair of the first arms includes a front arm and a rear arm, the rotor device on the front arm is located below the front arm, and the rotor device on the rear arm is located above the rear arm.

46. ​​A kit for assembling a multi-rotor unmanned aerial vehicle, characterized in that: include: centrosome; two pairs of first machine arms, used for detachably connecting to the central body; as well as A plurality of rotor devices, respectively mounted on the two pairs of the first machine arms, the rotor devices being used to provide flight power, Wherein, when the central body, two pairs of the first machine arms, and a plurality of the rotor devices are assembled together, Two pairs of the first machine arms are respectively rotatably connected to the central body and are respectively located on opposite sides of the central body; The rotation axis of each first machine arm is tilted relative to the pitch axis, roll axis, and yaw axis of the multi-rotor unmanned aerial vehicle, and the rotation axis of each first machine arm is tilted relative to the first machine arm on which it is located; Each pair of the first arms can be rotated away from each other to be in an unfolded state, and each pair of the first arms can be rotated toward each other to be in a folded state; In the deployed state, each pair of the first arms extends radially outward from the central body; In the folded state, each pair of the first arms is in an up and down folded state, and one of the first arms in each pair of the first arms is tilted upward relative to the roll axis of the multi-rotor unmanned aerial vehicle, and the other first arm is tilted downward relative to the roll axis of the multi-rotor unmanned aerial vehicle.

47. The kit of claim 46, wherein: In the unfolded state, each pair of the first arms is symmetrically arranged relative to a symmetry axis.

48. The kit of claim 47, wherein: The axis of symmetry is the pitch axis of the multi-rotor unmanned aerial vehicle.

49. The kit of claim 46, wherein: In the unfolded state, the rotation axis of the rotor device on each of the first arms is tilted relative to the heading axis of the multi-rotor unmanned aerial vehicle.

50. The kit of claim 46, wherein: In the deployed state, the rotation axis of the rotor device on each of the first arms is arranged parallel to the heading axis of the multi-rotor unmanned aerial vehicle.

51. The kit of claim 46, wherein: In the deployed state, each of the first arms is extended upwardly and tilted relative to the central body.

52. The kit of claim 51, wherein: The inclination angle of the first arm is less than or equal to 45 degrees.

53. The kit of claim 46, wherein: In the deployed state, the heights of the rotor devices of all the first arms are higher than the height of the central body.

54. The kit of claim 46, wherein: In the folded state, the height of the rotor device of one of the pair of first arms is greater than the height of the central body, and the height of the rotor device of the other first arm is less than the height of the central body.

55. The kit of claim 46, wherein: In the folded state, each pair of the first arms are parallel to each other.

56. The kit of claim 46, wherein: In the folded state, the rotation axes of the rotor devices carried by each pair of the first arms are arranged parallel to a plane, and the plane is parallel to the heading axis of the multi-rotor unmanned aerial vehicle.

57. The kit of claim 56, wherein: The plane is parallel to the pitch axis of the multi-rotor unmanned aerial vehicle.

58. The kit of claim 56, wherein: The plane is parallel to the roll axis of the multi-rotor unmanned aerial vehicle.

59. The kit of claim 56, wherein: The rotation axes of the rotor devices carried by each pair of the first arms are parallel to the heading axis of the multi-rotor unmanned aerial vehicle.

60. The kit of claim 46, wherein: In the folded state, the rotation axes of the rotor devices of each pair of the first arms are substantially parallel.

61. The kit of claim 46, wherein: In the folded state, the first arm is tilted relative to the roll axis of the multi-rotor unmanned aerial vehicle.

62. The kit of claim 46, wherein: The inclination angle of the rotor device on each first arm relative to the heading axis of the multi-rotor unmanned aerial vehicle is the same when the first arm is in the folded state and the unfolded state.

63. The kit of claim 46, wherein: The upper portion of the rotation axis of one of the first arms in each pair of the first arms is tilted closer to the center of the central body than the lower portion, and the upper portion of the rotation axis of the other first arm is tilted farther from the center of the central body than the lower portion.

64. The kit of claim 46, wherein: The rotation axis of each of the rotor devices is arranged perpendicular to the first machine arm on which the rotor device is installed.

65. The kit of claim 46, wherein: Each of the first machine arms sweeps across a conical surface when rotating, and the rotation angle is greater than 180 degrees or less than 180 degrees.

66. The kit of claim 46, wherein: A spraying device is provided below each of the first machine arms, and the spraying device is located below the rotor device.

67. The kit of claim 66, wherein: A spray rod is provided at the bottom of the first machine arm, and the spray device is installed on the spray rod.

68. The kit of claim 46, wherein: The two pairs of the first arms are respectively located on both sides of the pitch axis or the roll axis of the multi-rotor unmanned aerial vehicle.

69. The kit of claim 46, wherein: Also includes: A pair of second machine arms are provided with the rotor device, and the pair of second machine arms are respectively arranged on opposite sides of the central body.

70. The kit of claim 69, wherein: A pair of the second arms are arranged along the direction of the roll axis or the pitch axis of the multi-rotor unmanned aerial vehicle.

71. The kit of claim 69, wherein: The second arm is rotatably connected to the central body, and the second arm can be in a folded state or an unfolded state relative to the central body.

72. The kit of claim 71, wherein: In the deployed state, the second arms extend radially outward from the central body.

73. The kit of claim 71, wherein: In the folded state, the second arm is in a downwardly bent state.

74. The kit of claim 46, wherein: Also includes: A landing leg is mechanically coupled to the center body.

75. The kit of claim 74, wherein: The landing frame includes a crossbar and two vertical rods extending from two ends of the crossbar toward the same side of the crossbar, and the vertical rods are mechanically coupled to the central body.

76. The kit of claim 74, wherein: There are two landing racks, and when the first arms are in the folded state, each pair of the first arms and one of the landing racks are located on the same side of the central body.

77. The kit of claim 46, wherein: The multi-rotor unmanned aerial vehicle is an agricultural plant protection drone.

78. The kit of claim 46, wherein: The rotor device includes a propeller and a motor for driving the propeller to rotate.

79. The kit of claim 46, wherein: The rotor devices on each pair of the first arms are located above the first arms.

80. The kit of claim 79, wherein: A communication antenna is provided below at least one of the first arms.

81. The kit of claim 80, wherein: The communication antenna is located directly below the rotor device.

82. The kit of claim 80, wherein: The communication antenna is arranged on the first arm in the nose direction of the multi-rotor unmanned aerial vehicle.

83. The kit of claim 80, wherein: The communication antenna is an SDR antenna.

84. The kit of claim 46, wherein: The rotor devices on each pair of the first arms are located below the first arms.

85. The kit of claim 84, wherein: A communication antenna is provided above at least one of the first arms.

86. The kit of claim 85, wherein: The communication antenna is arranged on the first arm in the nose direction of the multi-rotor unmanned aerial vehicle.

87. The kit of claim 85, wherein: The communication antenna is an SDR antenna.

88. The kit of claim 84, wherein: A positioning antenna is provided above at least one of the first arms.

89. The kit of claim 88, wherein: The positioning antenna is arranged on the first arm in the tail direction of the multi-rotor unmanned aerial vehicle.

90. The kit of claim 88, wherein: The positioning antenna is an RTK positioning antenna.

91. The kit of claim 46, wherein: Each pair of the first arms includes a front arm and a rear arm, the rotor device on the front arm is located below the front arm, and the rotor device on the rear arm is located above the rear arm.

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