Multi-rotor unmanned aerial vehicle capable of being folded and catapulted and take-off method thereof

Abstract

The invention discloses a multi-rotor unmanned aerial vehicle capable of being folded and catapulted, and relates to the technical field of unmanned aerial vehicles, the multi-rotor unmanned aerial vehicle comprises a rack, a plurality of rotor assemblies, an unfolding assembly, a locking assembly, a catapulting assembly and a central control assembly; each rotor assembly can move relative to the rack so as to be stored in the rack or unfolded out of the rack; the unfolding assemblies can drive the corresponding rotor assemblies to unfold; when the rotor wing assembly is stored in the rack, the locking assembly can lock the position of the rotor wing assembly, and the locking assembly can release the position of the rotor wing assembly, so that the rotor wing assembly can be unfolded under the action of the unfolding assembly; the ejection assembly can eject the rack; the center control assembly is in communication connection with the rotor wing assembly, the locking assembly and the ejection assembly and can control actions of the rotor wing assembly, the locking assembly and the ejection assembly. According to the multi-rotor unmanned aerial vehicle capable of being catapulted in the folding mode, the catapult-assisted take-off efficiency of the unmanned aerial vehicle is The invention further provides a take-off method.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicles, and in particular to a foldable ejectable multi-rotor unmanned aerial vehicle and a take-off method thereof. Background Art

[0002] Due to the characteristics of drones such as high automation, flexibility, and concealment, drones are showing more and more unique and huge value at the tactical, campaign, and strategic levels of modern warfare. Among them, unmanned multi-rotor aircraft have the advantages of small size and easy take-off and landing due to their unique structure. At the same time, multi-rotor drones have a simple structure and low manufacturing cost, making them very suitable for forming drone clusters. They have unique advantages in performing tasks such as reconnaissance, blasting, precise destruction of personnel, and coordination of manned vehicles at the tactical level.

[0003] However, existing multi-rotor drones often have the problem of poor portability, so they are usually folded to reduce the transportation and storage volume. In actual use, they need to be manually unfolded and released, and each drone requires an operator to operate, which makes it difficult to adapt to the complex and changeable battlefield environment. Summary of the invention

[0004] The purpose of the present invention is to provide a foldable ejection multi-rotor drone and a take-off method thereof, so as to solve the problems existing in the above-mentioned prior art and improve the ejection take-off efficiency of the drone.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides a foldable and ejectable multi-rotor unmanned aerial vehicle, comprising a frame, a plurality of rotor assemblies, an unfolding assembly, a locking assembly, an ejection assembly and a central control assembly; a plurality of rotor assemblies are movably arranged on both sides of the frame, and each of the rotor assemblies can move relative to the frame to be stored in the frame or unfolded outside the frame; an unfolding assembly is arranged on the frame and connected to each of the rotor assemblies, and the unfolding assembly can drive the corresponding rotor assembly to unfold; a locking assembly is arranged on the frame, and when the rotor assembly is stored in the frame, the locking assembly can lock the position of the rotor assembly, and the locking assembly can release the position of the rotor assembly so that the rotor assembly can be unfolded under the action of the unfolding assembly; the ejection assembly is used to place the frame and can eject the frame; the central control assembly is arranged on the frame, and the central control assembly is communicatively connected with the rotor assembly, the locking assembly and the ejection assembly, and can control the actions of the rotor assembly, the locking assembly and the ejection assembly.

[0007] Preferably, the deployment assembly includes a plurality of deployment mechanisms, and the plurality of deployment mechanisms are respectively connected to a plurality of rotor assemblies, and one end of each rotor assembly is rotatably connected to the frame; the deployment mechanism can drive the corresponding rotor assembly to rotate relative to the frame to deploy outside the frame.

[0008] Preferably, each of the deployment mechanisms includes a driving spring and a driving rope, one end of the driving rope is connected to the rotor assembly, and the other end is connected to the driving spring, and the driving spring is arranged on the frame; the driving spring is always in a stretched state, and the driving spring can contract and cause the driving rope to move synchronously to enable the corresponding rotor assembly to deploy.

[0009] Preferably, each of the rotor assemblies includes an arm and a rotor mechanism; one end of each of the arms is movably connected to the frame, and the other end is provided with the rotor mechanism; the deployment assembly is connected to the arm and can drive the arm and the rotor mechanism to move relative to the frame; each of the rotor mechanisms is communicatively connected to the central control assembly, and the central control assembly can control the rotation movement of each of the rotor mechanisms.

[0010] Preferably, the locking assembly includes two electromagnetic locks that are communicatively connected to the central control assembly, and the two electromagnetic locks are respectively arranged on the front and rear sides of the frame; the central control assembly can control the action of the electromagnetic locks so that the electromagnetic locks on the front or rear side lock or unlock the rotor assembly on the front or rear side.

[0011] Preferably, the frame comprises an upper plate and a lower plate fixed in relative position, and the rotor assembly, the deployment assembly, the locking assembly and the central control assembly are arranged between the upper plate and the lower plate.

[0012] Preferably, the ejection assembly includes a launching tube and an ejection drive mechanism, the ejection drive mechanism is arranged in the launching tube and is communicatively connected with the central control assembly, the frame can be placed in the launching tube, and the ejection drive mechanism can eject the frame.

[0013] Preferably, it also includes an obstacle monitoring component and a battery assembly, wherein the obstacle monitoring component is arranged on the front side of the frame and is communicatively connected with the central control assembly; the obstacle monitoring component is used to obtain obstacle information and send it to the central control assembly; the battery assembly is arranged in the frame, and the battery assembly can be electrically connected to the central control assembly, the rotor assembly and the locking assembly and provide the required electrical energy.

[0014] Preferably, the central control assembly includes an onboard computer and a flight control module, the flight control module is communicatively connected to the onboard computer, the rotor assembly and the locking assembly, the onboard computer can send a control signal to the flight control module to control the movement of the rotor assembly and the locking assembly; and the flight control module can monitor the acceleration information and attitude information of the frame and send it to the onboard computer.

[0015] The present invention also provides a take-off method for the above-mentioned foldable ejection multi-rotor drone, comprising the following steps:

[0016] The central control component controls the ejection component to eject the rack:

[0017] After the frame is separated from the ejection assembly, the central control assembly controls the locking assembly to unlock the rotor assembly, and the unfolding assembly unfolds the rotor assembly outside the frame;

[0018] The central control assembly controls the actions of each of the rotor assemblies to complete take-off.

[0019] Compared with the prior art, the present invention has achieved the following technical effects:

[0020] The foldable and ejectable multi-rotor UAV provided by the present invention has a rotor assembly stored in a frame in a stored state, and the position of the rotor assembly is fixed by a locking assembly; during take-off, the frame is placed on the ejection assembly, and the frame is ejected under the control of a central control assembly, and after ejection, the locking assembly is controlled to release the lock on the rotor assembly, so that the rotor assembly can be automatically unfolded outside the frame under the drive of the unfolding assembly, and then the rotor assembly is actuated to achieve a smooth ejection take-off; in this way, there is no need for manpower to unfold the UAV, so that the UAV can be ejected and unfolded in a folded state, thereby improving the take-off efficiency.

[0021] The present invention also provides a take-off method for a foldable and ejectable multi-rotor UAV. During take-off, a frame is placed on a ejection assembly, and the frame is ejected under the control of a central control assembly. After ejection, a locking assembly is controlled to release the lock on the rotor assembly, so that the rotor assembly can be automatically unfolded outside the frame under the drive of an unfolding assembly, and then the rotor assembly is actuated to achieve a smooth ejection take-off. In this way, no manpower is required to unfold the UAV, so that the UAV can be ejected and unfolded in a folded state, thereby improving the take-off efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 This is a schematic diagram of the foldable ejectable multi-rotor drone provided in Example 1 when it is stored;

[0024] Figure 2 This is a schematic diagram of the axial side of the foldable ejectable multi-rotor drone provided in Example 1 after it is unfolded;

[0025] Figure 3 A front view schematic diagram of a foldable ejectable multi-rotor drone provided in Example 1;

[0026] Figure 4 A schematic diagram of the connection of the deployment assembly provided in Example 1;

[0027] Figure 5 A schematic diagram of an ejection assembly provided in Example 1;

[0028] Figure 6 A schematic diagram of the communication connection of the foldable ejectable multi-rotor drone provided in Example 1;

[0029] Figure 7 This is a schematic diagram of the takeoff process provided in Example 2.

[0030] In the figure: 1-obstacle monitoring component; 2-ejection assembly; 20-launching tube; 21-pad; 22-ejection spring; 23-servo; 24-ejection bracket; 3-flight control module; 301-distribution board; 4-battery assembly; 5-rotor assembly; 51-arm; 52-rotor mechanism; 6-onboard computer; 701-top plate; 703-bottom plate; 704-screw; 705-drive rope; 706-drive spring; 707-spindle; 8-electromagnetic lock; 9-upper plate; 10-lower plate; 11-connecting column. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] The purpose of the present invention is to provide a foldable ejection multi-rotor drone and a take-off method thereof, so as to solve the problems existing in the above-mentioned prior art and improve the ejection take-off efficiency of the drone.

[0033] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] Embodiment 1

[0035] This embodiment provides a foldable ejectable multi-rotor drone. Figure 1-Figure 6 , including a frame, multiple rotor assemblies 5, an unfolding assembly, a locking assembly, an ejection assembly 2 and a central control assembly; multiple rotor assemblies 5 are movably arranged on both sides of the frame, and each rotor assembly 5 can move relative to the frame to be stored in the frame or unfolded outside the frame; the unfolding assembly is arranged on the frame and connected to each rotor assembly 5, and the unfolding assembly can drive the corresponding rotor assembly 5 to unfold; the locking assembly is arranged on the frame, and when the rotor assembly 5 is stored in the frame, the locking assembly can lock the position of the rotor assembly 5, and the locking assembly can release the position of the rotor assembly 5 so that the rotor assembly 5 can be unfolded under the action of the unfolding assembly; the ejection assembly 2 is used to place the frame and can eject the frame; the central control assembly is arranged on the frame, and the central control assembly is communicatively connected with the rotor assembly 5, the locking assembly and the ejection assembly 2, and can control the actions of the rotor assembly 5, the locking assembly and the ejection assembly 2.

[0036] See also Figure 1 In the stowed state, the rotor assembly 5 is stowed in the frame, and the position of the rotor assembly 5 is fixed by the locking assembly; when taking off, the frame is placed on the ejection assembly 2, and the frame is ejected under the control of the central control assembly. After ejection, the locking assembly is controlled to release the lock of the rotor assembly 5, so that the rotor assembly 5 can be automatically deployed outside the frame under the drive of the deployment assembly, such as Figure 2 As shown, the rotor assembly 5 then moves to achieve a smooth catapult takeoff; in this way, no manpower is required to unfold the UAV, so that the UAV can be ejected and unfolded in a folded state, thereby improving the take-off efficiency; there is no need to take off in a stationary state, and the UAV can be mounted on vehicles such as cars and ships, and can take off while moving. There is no need to stop the vehicle for takeoff, and the deployment of cluster UAVs can be completed quickly.

[0037] In the optional scheme of this embodiment, it is more preferred that the frame includes an upper plate 9 and a lower plate 10 which are fixed in relative position, and the rotor assembly 5, the unfolding assembly, the locking assembly and the central control assembly are arranged between the upper plate 9 and the lower plate 10; wherein the upper plate 9 and the lower plate 10 are fixedly connected by a connecting column 11.

[0038] In the optional scheme of this embodiment, it is more preferred that each rotor assembly 5 includes an arm 51 and a rotor mechanism 52; one end of each arm 51 is movably connected to the frame, and the other end is provided with a rotor mechanism 52; the deployment assembly is connected to the arm 51 and can drive the arm 51 and the rotor mechanism 52 to move relative to the frame; each rotor mechanism 52 is communicatively connected to the central control assembly, and the central control assembly can control the rotation of each rotor mechanism 52; specifically, the rotor mechanism 52 adopts a conventional propeller and is driven by a motor. row drive; there are four rotor assemblies 5, and the four arms 51 are respectively a first upper arm, a second upper arm, a first lower arm, and a second lower arm, which are respectively connected to the four corners of the frame, the first upper arm and the second upper arm on the front side of the frame are connected to the upper machine plate 9, and the first lower arm and the second lower arm on the rear side of the frame are connected to the lower machine plate 10; in the storage state, the two rotor assemblies 5 on the front side are stored under the upper machine plate 9, and the two rotor assemblies 5 on the rear side are stored above the lower machine plate 10.

[0039] In the optional scheme of this embodiment, it is more preferred that the deployment assembly includes multiple deployment mechanisms, and the multiple deployment mechanisms are respectively connected to multiple rotor assemblies 5, and one end of each rotor assembly 5 is rotatably connected to the frame; the deployment mechanism can drive the corresponding rotor assembly 5 to rotate relative to the frame so as to be deployed outside the frame; by setting up multiple deployment mechanisms, it is convenient to control the deployment of multiple rotor assemblies 5 separately.

[0040] Among the optional solutions of this embodiment, it is more preferred to refer to Figure 4 , each deployment mechanism includes a driving spring 706 and a driving rope 705, one end of the driving rope 705 is connected to the rotor assembly 5, and the other end is connected to the driving spring 706, and the driving spring 706 is arranged on the frame; the driving spring 706 is always in a stretched state, the driving spring 706 can shrink and make the driving rope 705 move synchronously to make the corresponding rotor assembly 5 unfold, and the driving spring 706 that is always in a stretched state can still maintain the posture of the machine arm 51 after the machine arm 51 is unfolded; specifically, one end of the driving spring 706 is fixedly connected to the connecting column 11, and the other end is connected to the driving rope 705, and one end of each machine arm 51 is rotatably connected to the top plate 701 and the bottom plate through the rotating shaft 707 Between the plates 703, the front top plate 701 is fixedly connected to the upper machine plate 9, the front bottom plate 703 is fixedly connected to one end of the arm 51, and is rotatably connected to the top plate 701 through a rotating shaft 707, the rear bottom plate 703 is fixedly connected to the lower machine plate 10, the rear top plate 701 is fixedly connected to one end of the arm 51, and is rotatably connected to the bottom plate 703 through a rotating shaft 707, a screw 704 is set on one side of the arm 51, and a driving rope 705 is used to connect a driving spring 706, one end of the driving spring 706 is connected to the driving rope 705, and the other end is connected to the connecting column 11, so that the arm 51 is driven to rotate relative to the rotating shaft 707 by pulling the driving rope 705 to achieve deployment.

[0041] The rotor assembly 5 can be stored by manual folding and locked by a locking assembly after storage; in addition, the deployment mechanism can also be set to electric telescopic or hydraulic telescopic, and the deployment or storage of the arm 51 can be achieved through remote control.

[0042] Among the optional solutions of this embodiment, it is more preferred to refer to Figure 3 and Figure 6 The locking assembly includes two electromagnetic locks 8 that are both communicatively connected to the central control assembly, and the two electromagnetic locks 8 are respectively arranged on the front and rear sides of the frame; the central control assembly can control the action of the electromagnetic locks 8 so that the electromagnetic locks 8 on the front or rear side lock or unlock the rotor assembly 5 on the front or rear side; Figure 4 As shown in the figure, the inner sides of the two top plates 701 on the rear side of the drone are provided with extension arms that can cooperate with the same electromagnetic lock 8. When unlocking, the electromagnetic lock 8 releases the lock with the extension arm, and the two arms 51 will automatically pop open at the same time under the elastic force of the spring. Similarly, the electromagnetic lock 8 on the front side cooperates with the two bottom plates 703; correspondingly, a metal part that cooperates with the electromagnetic lock 8 can be provided on the extension arm, or the extension arm itself can be set to a metal material, so as to cooperate with the electromagnetic lock 8 to achieve locking or unlocking, wherein the central control component is connected to the electromagnetic lock 8 via a PWM DC signal switch to realize the action conversion of the electromagnetic lock 8.

[0043] Among the optional solutions of this embodiment, it is more preferred to refer to Figure 7 The ejection assembly 2 includes a launch tube 20 and an ejection drive mechanism. The ejection drive mechanism is arranged in the launch tube 20 and is communicatively connected with the central control assembly. The frame can be placed in the launch tube 20, and the ejection drive mechanism can eject the frame. In order for the UAV to be loaded into the launch tube 20 for launch, it needs to be folded to reduce the volume. All components need to be installed in the frame to ensure that the outer surface of the frame is flat so that it can be loaded into the launch tube 20. At the same time, according to actual needs, a launch tube 20 of appropriate size is required to launch the UAV to a sufficient initial velocity so that the UAV has time to unfold its arms 51.

[0044] Specifically, the launch tube 20 is fixed by an ejection bracket 24, and the ejection drive mechanism includes a pad 21, an ejection spring 22 and a servo 23; the launch tube 20 is tilted, the ejection spring 22 is arranged at the bottom of the launch tube 20, and the pad 21 is arranged at the front end of the ejection spring 22. The ejection spring 22 can be compressed manually. When the spring is compressed into place, the servo 23 rotates the buckle to make the buckle enter the launch tube 20 to clamp the spring and fix the compression amount of the spring 22. When the drone is placed in the launch tube 20, the servo 23 is controlled by the central control component to rotate and rotate the buckle out of the launch tube 20 to release the restriction on the ejection spring 22, so that the ejection spring 22 is released to eject the drone; the ejection spring 22 is driven to be compressed in the launch tube 20 by a handle, and the handle is installed on the outside of the launch tube 20. The rope is driven to wrap around, pull and compress the spring by rotating the wheel axle. When the spring is compressed to the limit, it is fixed by the buckle of the servo 23.

[0045] In addition, the ejection drive mechanism is not limited to the above-mentioned method, and the ejection drive can also be performed by using a cylinder or other methods.

[0046] Among the optional schemes of this embodiment, it is more preferred that the drone provided by this embodiment also includes an obstacle monitoring component 1 and a battery assembly 4. The obstacle monitoring component 1 is arranged on the front side of the frame and is communicatively connected with the central control component; the obstacle monitoring component 1 is used to obtain obstacle information and send it to the central control component; the battery assembly 4 is arranged in the frame, and the battery assembly 4 can be electrically connected to the central control component, the rotor assembly 5 and the locking assembly and provide the required power; specifically, the obstacle monitoring component 1 is arranged as a depth camera for determining the position of obstacles; the battery assembly 4 is arranged as a lithium battery pack and is arranged on the rear side of the drone fuselage to provide the required power for the drone.

[0047] In the optional scheme of this embodiment, it is more preferred that the central control component includes an onboard computer 6 and a flight control module 3, and the flight control module 3 is communicatively connected with the onboard computer 6, the rotor assembly 5 and the locking assembly. The onboard computer 6 can send a control signal to the flight control module 3 to control the movement of the rotor assembly 5 and the locking assembly; and the flight control module 3 can monitor the acceleration information and attitude information of the frame and send it to the onboard computer 6.

[0048] Specifically, the onboard computer 6 is used to control the drone, the depth camera is connected to the onboard computer 6, and power is supplied and data is transmitted through a data cable; the onboard computer 6 is also connected to the flight control module 3, and control signals are transmitted through the serial port; the flight control module 3 executes an autonomous attitude control algorithm for balancing and controlling the aircraft attitude, and the flight control module 3 is used for the rotor assembly 5. The four rotor assemblies 5 are respectively connected to four electric regulators, and the power supply of the four electric regulators is provided by the distribution board 301. The distribution board 301 and the onboard computer 6 are simultaneously connected to the lithium battery pack through power lines.

[0049] The flight control module 3 is integrated with an acceleration sensor and an attitude sensor such as an inertial sensor or a gyroscope to record the acceleration information and attitude information of the drone obtained by the computer.

[0050] Embodiment 2

[0051] This embodiment provides a take-off method for a multi-rotor drone with foldable ejection, see Figure 7 , including the following steps:

[0052] The central control component controls the ejection component 2 to eject the rack:

[0053] After the frame is separated from the ejection assembly 2, the central control assembly controls the locking assembly to release the lock on the rotor assembly 5, and the unfolding assembly unfolds the rotor assembly 5 outside the frame;

[0054] The central control assembly controls the actions of each rotor assembly 5 to complete take-off.

[0055] Specifically, the detailed operation process of UAV catapult takeoff includes:

[0056] Step 01, start: When performing catapult takeoff, first start the launch system in the onboard computer 6;

[0057] Step 02, detecting the ejection signal: the onboard computer 6 mainly controls the target attitude of the UAV; the flight control module 3 is used to receive the attitude command issued by the onboard computer 6, and resolve the attitude command into a command signal sent to the motor; then the launch system in the onboard computer 6 begins to prepare to receive the control signal to start the ejection;

[0058] Step 03, releasing the ejection spring 22: After the launch system in the onboard computer 6 receives the start signal, the servo 23 controls the ejection spring 22 of the launch tube 20 to release;

[0059] Step 04, detecting the acceleration of the fuselage: the UAV begins to be ejected by the elastic force of the launch tube 20, and at the same time, the acceleration sensor begins to detect the acceleration of the UAV;

[0060] Step 05, countdown until the drone leaves the launch tube 20: the timing module in the onboard computer 6 starts timing when the acceleration is detected, and the time setting is longer than the normal time for the drone to be launched from the launch tube 20, ensuring that the arm 51 is opened after the drone has left the launch tube 20;

[0061] Step 06, release the electromagnetic lock 8 and release the arm 51: after the UAV completely leaves the launch tube 20, the flight control module 3 sends a control signal to the PWM signal DC switch to control the electromagnetic lock 8 to release the arm 51 of the folded UAV;

[0062] Step 07, start the rotor motor: the flight control module 3 sends a start command to the electric control module, and the electric control module controls the rotor motor of the folding drone to start;

[0063] Step 08, Detect the body attitude: The flight control module 3 has a built-in attitude sensor, which can detect the attitude of the drone in real time and adjust the attitude of the drone through the rotor motor; when the attitude of the drone reaches a stable level, the drone completes the catapult takeoff and enters the controlled flight mode.

[0064] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A foldable ejectable multi-rotor drone, characterized in that: include: frame; A plurality of rotor assemblies are movably arranged on both sides of the frame, and each of the rotor assemblies can move relative to the frame to be stored in the frame or deployed outside the frame; An unfolding assembly, disposed on the frame and connected to each of the rotor assemblies, the unfolding assembly being capable of driving the corresponding rotor assembly to unfold; a locking assembly, arranged on the frame, capable of locking the position of the rotor assembly when the rotor assembly is stored in the frame, and capable of releasing the position of the rotor assembly so that the rotor assembly can be deployed under the action of the deployment assembly; An ejection assembly, used for placing the rack and being capable of ejecting the rack; and A central control component is arranged on the frame, and is communicatively connected with the rotor assembly, the locking assembly and the ejection assembly, and is capable of controlling the actions of the rotor assembly, the locking assembly and the ejection assembly.

2. The foldable ejectable multi-rotor drone according to claim 1, characterized in that: The deployment assembly includes a plurality of deployment mechanisms, which are respectively connected to a plurality of rotor assemblies, and one end of each rotor assembly is rotatably connected to the frame; the deployment mechanism can drive the corresponding rotor assembly to rotate relative to the frame so as to be deployed outside the frame.

3. The foldable ejectable multi-rotor drone according to claim 2, characterized in that: Each of the deployment mechanisms includes a driving spring and a driving rope, one end of the driving rope is connected to the rotor assembly, and the other end is connected to the driving spring, and the driving spring is arranged on the frame; the driving spring is always in a stretched state, and the driving spring can contract and cause the driving rope to move synchronously to enable the corresponding rotor assembly to deploy.

4. The foldable ejectable multi-rotor drone according to claim 1, characterized in that: Each of the rotor assemblies includes an arm and a rotor mechanism; one end of each of the arms is movably connected to the frame, and the other end is provided with the rotor mechanism; the deployment assembly is connected to the arm and can drive the arm and the rotor mechanism to move relative to the frame; each of the rotor mechanisms is communicatively connected to the central control assembly, and the central control assembly can control the rotation movement of each of the rotor mechanisms.

5. The foldable ejectable multi-rotor drone according to claim 1, characterized in that: The locking assembly includes two electromagnetic locks that are communicatively connected to the central control assembly, and the two electromagnetic locks are respectively arranged on the front and rear sides of the frame; the central control assembly can control the action of the electromagnetic locks so that the electromagnetic locks on the front or rear side lock or unlock the rotor assembly on the front or rear side.

6. The foldable ejectable multi-rotor drone according to claim 1, characterized in that: The frame comprises an upper plate and a lower plate which are fixed in relative position, and the rotor assembly, the unfolding assembly, the locking assembly and the central control assembly are arranged between the upper plate and the lower plate.

7. The foldable ejectable multi-rotor drone according to claim 1, characterized in that: The ejection assembly includes a launching tube and an ejection drive mechanism, wherein the ejection drive mechanism is disposed in the launching tube and is communicatively connected with the central control assembly, the frame can be placed in the launching tube, and the ejection drive mechanism can eject the frame.

8. The foldable ejectable multi-rotor drone according to claim 1, characterized in that: It also includes an obstacle monitoring component and a battery assembly. The obstacle monitoring component is arranged on the front side of the frame and is communicatively connected with the central control assembly. The obstacle monitoring component is used to obtain obstacle information and send it to the central control assembly. The battery assembly is arranged in the frame, and the battery assembly can be electrically connected to the central control assembly, the rotor assembly and the locking assembly and provide the required electrical energy.

9. The foldable ejectable multi-rotor drone according to claim 8, characterized in that: The central control assembly includes an onboard computer and a flight control module. The flight control module is communicatively connected to the onboard computer, the rotor assembly and the locking assembly. The onboard computer can send a control signal to the flight control module to control the actions of the rotor assembly and the locking assembly; and the flight control module can monitor the acceleration information and attitude information of the frame and send them to the onboard computer.

10. A take-off method for a foldable ejection multi-rotor drone according to any one of claims 1 to 9, characterized in that: The following steps are involved: The central control component controls the ejection component to eject the rack: After the frame is separated from the ejection assembly, the central control assembly controls the locking assembly to unlock the rotor assembly, and the unfolding assembly unfolds the rotor assembly outside the frame; The central control assembly controls the actions of each of the rotor assemblies to complete take-off.

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