Multi-rotor unmanned aerial vehicle device convenient to take off and land

Abstract

The invention relates to a multi-rotor unmanned aerial vehicle device convenient to take off and land, belongs to the technical field of aircrafts, and solves the problems that in the prior art, an unmanned aerial vehicle is high in take-off and landing space precision requirement in the flight process and cannot be quickly centered after landing. The multi-rotor unmanned aerial vehicle comprises a multi-rotor unmanned aerial vehicle body and a take-off and landing unit. The multi-rotor unmanned aerial vehicle body comprises a force bearing frame body, rotor assemblies and corollary equipment. The force bearing frame body is of an inverted-cone-shaped structure. The lifting unit comprises an upper fixing ring, a vertical buffer rib and a lower fixing ring, the top end of the vertical buffer rib is connected with the upper fixing ring, and the bottom end is connected with the lower fixing ring; the rotation diameter of the upper fixing ring is larger than the bottom rotation diameter of the multi-rotor unmanned aerial vehicle and is smaller than the rotation diameter of the multi-rotor unmanned aerial vehicle on the plane where the upper force bearing truss is located. The inverted-cone-shaped force bearing frame main body is matched with the annular take-off and landing units, the requirement for the take-off and landing space precision can be effectively lowered, and the unmanned aerial vehicle can be automatically centered in the landing process.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft, and in particular to a multi-rotor unmanned aerial vehicle device that is convenient for taking off and landing. Background Art

[0002] During the design and development of multi-rotor UAVs, the take-off and landing methods, stability and reliability of the UAV are affected by the structural form of the UAV landing gear. The structural form of the multi-rotor UAV landing gear not only affects the size of the ground space required for the UAV to take off and land, but the landing gear also plays a role in protecting the pod and other mounted load equipment.

[0003] The take-off and landing units of multi-rotor UAVs are of various forms. When selecting and designing landing gear, it is necessary to comprehensively consider factors such as the use requirements of the UAV, the flight environment, and cost-effectiveness. At the same time, the take-off and landing unit should have characteristics or functions such as support, cushioning, protection, and safety improvement to ensure the stable take-off and landing of the UAV and the overall flight safety.

[0004] The take-off and landing units of existing multi-rotor drones have very high control accuracy requirements for drones, especially for drones used on mobile platforms such as vehicles. When landing, they need to land accurately at the parking position to ensure that they are accurately clamped and fixed. The movement of the platform itself makes the positioning of the drone more difficult, so there is an urgent need to design a drone and its take-off and landing unit that has accurate positioning, easy control, simple structure and low cost. Summary of the invention

[0005] In view of the above analysis, an embodiment of the present invention aims to provide a multi-rotor UAV device that is easy to take off and land, so as to solve the problems in the prior art that the UAV has high requirements for take-off and landing space accuracy during flight and cannot quickly return to the center after landing.

[0006] On the one hand, the present invention provides a multi-rotor UAV device that is easy to take off and land, the device includes a multi-rotor UAV and a take-off and landing unit, the multi-rotor UAV includes a load-bearing frame body and a rotor assembly; the load-bearing frame body is an inverted cone structure; the take-off and landing unit is suitable for engaging and supporting the load-bearing frame body.

[0007] Furthermore, the load-bearing frame body includes an upper load-bearing truss, a lower load-bearing frame and an oblique support rod, one end of the oblique support rod is connected to the upper load-bearing truss, and the other end is connected to the lower load-bearing frame.

[0008] Furthermore, the rotor assembly is arranged at the outer end of the upper load-bearing truss.

[0009] Furthermore, there are a plurality of upper load-bearing trusses, which are evenly distributed along the circumference of the load-bearing frame body.

[0010] Furthermore, the lower bearing frame is in the shape of a circular ring.

[0011] Furthermore, the radius of the lower load-bearing frame is less than half the length of the upper load-bearing truss.

[0012] Furthermore, the connection between the oblique support rod and the upper load-bearing truss is located within the following range: between 1 / 2 and 2 / 3 of the length of the upper load-bearing truss along the radial outward direction.

[0013] Furthermore, the oblique support rod can automatically center the multi-rotor drone when the multi-rotor drone lands.

[0014] Furthermore, the drone also includes a photoelectric camera.

[0015] Furthermore, the photoelectric camera is arranged below the lower bearing frame.

[0016] Furthermore, the take-off and landing unit includes an upper fixing ring, a vertical buffer rib and a lower fixing ring, the top end of the vertical buffer rib is connected to the upper fixing ring, and the bottom end is connected to the lower fixing ring; the rotation diameter of the upper fixing ring is larger than the bottom rotation diameter of the multi-rotor UAV, and at the same time smaller than the rotation diameter of the multi-rotor UAV in the plane where the upper load-bearing truss is located.

[0017] Furthermore, the diameter of the lower fixing ring is smaller than the diameter of the upper fixing ring.

[0018] Furthermore, the axis lines of the upper fixing ring and the lower fixing ring coincide with each other.

[0019] Furthermore, the vertical buffer rib includes a first section extending in a vertical direction and a second section extending in an inclined direction, and there is an arc transition between the first section and the second section.

[0020] Furthermore, the vertical buffer ribs can be elastically deformed to provide buffering when the multi-rotor UAV lands.

[0021] Furthermore, the material of the vertical buffer ribs is fiber composite material or engineering plastic.

[0022] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0023] (1) The multi-rotor UAV device of the present invention is easy to take off and land. The common support rod landing gear is abandoned in the structure of the multi-rotor UAV, so that the field of view of the optoelectronic camera will not be blocked by the fuselage structure during the flight of the UAV, and the weight of the structure is also reduced; the inverted cone-shaped load-bearing frame body is matched with the take-off and landing unit in the form of a concave annular groove, which can use gravity to automatically center the UAV during the take-off and landing of the UAV, reducing the take-off and landing space requirements of the UAV. The redundancy in the landing space can relax the requirements for the take-off and landing control accuracy of the UAV, and at the same time can protect the optoelectronic camera and other loads.

[0024] (2) The multi-rotor UAV device of the present invention, which is easy to take off and land, does not have a traditional landing gear structure and has the advantages of low cost and light weight. The UAV structure is made of standardized carbon fiber tubes, carbon fiber plates, metal profiles, etc., and the take-off and landing unit is made of ordinary steel and non-metallic materials. The overall structure has a small number of parts and is easy to process.

[0025] (3) The multi-rotor UAV device of the present invention, which is easy to take off and land, will not affect the field of view of the optoelectronic pod payload. The UAV payload is located directly below the fuselage, and there is no obstruction from other structures such as the landing gear during flight, so it has a good reconnaissance field of view.

[0026] (4) The multi-rotor UAV device that is easy to take off and land of the present invention can reduce the impact on the UAV during landing. The vertical buffer ribs of the take-off and landing unit have a certain buffering capacity, which can buffer the landing process of the UAV and play a role in protecting the UAV structure;

[0027] (5) The multi-rotor UAV and the take-off and landing unit have a wide range of application scenarios. The take-off and landing unit is easy to install and fix, and can be fixed on the ground, a stand surface, a vehicle platform, etc. through the bottom through-hole. It is suitable for various scenarios such as fixed applications or vehicle-mounted mobile applications.

[0028] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can become obvious from the description, or can be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings are only for the purpose of illustrating specific embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like components throughout the drawings.

[0030] Figure 1 A schematic diagram of the structure of a multi-rotor UAV in a multi-rotor UAV device that is easy to take off and land according to the present invention;

[0031] Figure 2 for Figure 1 A schematic diagram of the structure of the multi-rotor drone from another perspective;

[0032] Figure 3 It is a structural schematic diagram of a take-off and landing unit in a multi-rotor UAV device that is easy to take off and land according to the present invention;

[0033] Figure 4 for Figure 3 A front view of the take-off and landing unit;

[0034] Figure 5 for Figure 3 A top view of the take-off and landing unit;

[0035] Figure 6 It is a schematic diagram of the structure of a multi-rotor UAV located in a take-off and landing unit;

[0036] Figure 7 for Figure 6 A front view of

[0037] Figure 8 for Figure 6 A structural diagram from another perspective;

[0038] Fig. 9 This is a schematic diagram of the structure of the multi-rotor UAV device that is easy to take off and land according to the present invention, arranged on a vehicle-mounted platform;

[0039] Fig.10 It is a schematic diagram of a state in which the multi-rotor UAV of the present invention takes off and leaves the take-off and landing unit or is about to land on the take-off and landing unit;

[0040] Fig.11 It is a force diagram of the vertical buffer rib of the present invention;

[0041] Fig.12 Schematic diagram of the allowable error range when the multi-rotor drone of the present invention lands.

[0042] Reference numerals:

[0043] 0100-Multi-rotor UAV; 0101-blades; 0102-motor, electric regulator and motor seat; 0103-upper load-bearing truss; 0104-lower load-bearing frame; 0105-photoelectric camera or other load; 0106-satellite antenna magnetic compass and housing; 0107-electronic equipment and housing; 0108-power battery pack; 0109-wireless communication equipment and antenna; 0200-take-off and landing unit; 0201-upper fixing ring; 0202-lower fixing ring; 0203-vertical buffer rib; 0204-positioning protrusion; 0205-slide rail; 0206-clamping movable parts; 0207-electric telescopic rod; 0300-unmanned vehicle. DETAILED DESCRIPTION

[0044] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0045] Example 1

[0046] The present invention relates to a multi-rotor UAV device that is easy to take off and land. The device comprises a multi-rotor UAV 0100 and a take-off and landing unit 0200 that are designed in a matching manner.

[0047] like Figure 1 , Figure 2 The figure shows the structure of the multi-rotor UAV 0100, including a load-bearing frame body, a rotor assembly and supporting equipment.

[0048] The main body of the load-bearing frame includes four upper load-bearing trusses 0103, four oblique support rods and a lower load-bearing frame 0104. The plane where the four upper load-bearing trusses 0103 are located is the first plane, and the plane where the lower load-bearing frame 0104 is located is the second plane. The first plane is parallel to the second plane and the first plane is located above the second plane. The outer ends of the four upper load-bearing trusses 0103 are respectively connected to a set of rotor assemblies, and the inner ends are fixedly connected to the electronic equipment and the shell 0107 in the supporting equipment. An oblique support rod is fixedly connected to the lower middle part of each upper load-bearing truss 0103, and the bottom of the oblique support rod is fixedly connected to the lower load-bearing frame 0104.

[0049] The lower load-bearing frame 0104 is a circular ring structure, and the radius of the ring is less than half the length of the arm. The connection parts of the four oblique support rods and the lower load-bearing frame 0104 are evenly distributed along the circumference of the lower load-bearing frame 0104. The four oblique support rods are inclined inward, so that the drone body forms an inverted cone structure.

[0050] The rotor assembly includes blades 0101, motors, electric regulators and motor bases 0102, which are fixedly arranged at the outer end of the upper load-bearing truss 0103. The number of rotor assemblies can be 4 or more groups.

[0051] The supporting equipment includes satellite antenna magnetic compass and housing 0106, electronic equipment and housing 0107, power battery pack 0108, optoelectronic camera or other load 0105, and wireless communication equipment and antenna 0109 and other components and equipment arranged from top to bottom, and arranged on the lower load-bearing frame 0104. The number of satellite antenna magnetic compass and housing 0106 is one or more, and is used to achieve single-point positioning or differential positioning and orientation.

[0052] The satellite antenna magnetic compass and housing 0106 are arranged above the first plane. The electronic device and housing 0107 are arranged on the first plane. The power battery pack 0108 is arranged between the first plane and the second plane, and the optoelectronic camera or other load 0105 is arranged in the space below the second plane.

[0053] The upper load-bearing truss 0103 and the oblique support rod not only serve to carry the power devices such as the motor, but also serve as the landing gear, integrating multiple functions into one, reducing the waste weight of the traditional UAV landing gear; and since the landing gear at the bottom of the UAV is cancelled, the problem of the optoelectronic camera's field of view being blocked by the fuselage structure is solved.

[0054] like Figure 3 , Figure 4 , Figure 5 , which is a schematic diagram of the structure of the take-off and landing unit 0200 , including an upper fixing ring 0201 , a lower fixing ring 0202 and vertical buffer ribs 0203 .

[0055] The upper fixed ring 0201 is responsible for supporting the upper load-bearing truss 0103 of the UAV. Its shape is circular, and its diameter is determined by the take-off and landing control accuracy of the UAV and the rotation size of the upper load-bearing truss 0103.

[0056] The upper surface of the upper fixing ring 0201 is provided with a plurality of positioning protrusions 0204, which are evenly distributed along the circumference of the upper fixing ring 0201. The shape of the positioning protrusions 0204 is preferably a semi-cylinder with the arc surface facing upward. The size of the positioning protrusions 0204 is determined according to the size of the crossbeam part of the upper load-bearing truss 0103. A positioning groove is formed between two adjacent positioning protrusions 0204. When the UAV lands on the take-off and landing platform, under the action of gravity, the upper load-bearing truss 0103 can automatically slide along the arc surface of the positioning protrusion 0204 to the positioning groove, thereby constraining the rotational freedom of the UAV in the horizontal plane.

[0057] The material of the positioning protrusion 0204 is non-metallic and has a low friction coefficient, such as polytetrafluoroethylene, which plays a role in buffering and guiding the UAV when landing. It can not only buffer the impact of the UAV 0100, but also prevent the UAV 0100 from being ejected due to excessive rebound force. The width of the slot is the same as the cross-sectional width of the arm of the UAV upper load-bearing truss 0103. After the UAV lands on the take-off and landing platform, the upper load-bearing truss 0103 automatically slides into the groove under the action of gravity, thereby restricting the rotational freedom of the UAV in the horizontal plane.

[0058] The width of the positioning groove is preferably equal to the width of the upper load-bearing truss 0103 to achieve circumferential positioning of the UAV.

[0059] The lower fixing ring 0202, the upper fixing ring 0201 and the vertical buffer rib 0203 together constitute the load-bearing structure of the lifting unit 0200. At the same time, the lower fixing ring 0202 has multiple through holes evenly distributed around the circumference, which can be fixed to the ground, platform surface, vehicles and other mobile platforms with the help of ground nails, screws and other materials.

[0060] See also Figure 3 , Figure 4 as well as Fig.11 The vertical buffer rib 0203 is in a bow shape and can be elastically deformed when the drone lands to buffer the impact force of the drone landing. The buffer stiffness can be adjusted by designing its cross-sectional shape and area. The vertical buffer rib 0203 includes a first section extending in the vertical direction and a second section extending in the inclined direction, and there is an arc transition between the first section and the second section. The length of the first section of the vertical buffer rib 0203 is A, the dimension of the second section in the height direction is B, and the dimension in the radial direction is L, and L is equal to the difference between the radius of the upper fixing ring 0201 and the radius of the lower fixing ring 0202. The cross section of the vertical buffer rib 0203 is a rectangle, and the length of the rectangle is a and the width is b.

[0061] like Fig.11 The figure shows the force diagram of the vertical buffer rib 0203. When the UAV 0100 lands on the take-off and landing unit 0200, the take-off and landing unit 0200 receives a downward impact force. The rigidity of the vertical buffer rib 0203 needs to have a certain buffering capacity to offset the impact force and play a buffering and protective role on the structure of the UAV 0100. The vertical buffer rib 0203 is designed to be an arched structure as shown in the figure. According to the relevant theories of material mechanics and structural mechanics, the upper end of the vertical buffer rib 0203 is a sliding fixed constraint that can move up and down but cannot rotate, and the lower end of the vertical buffer rib 0203 is a completely fixed fixed constraint. The parameters affecting the vertical stiffness of the vertical buffer rib 0203 include the elastic modulus E of the selected material, the cross-sectional shape and size (a, b values ​​and different cross-sectional moments of inertia caused by different shapes), the upper and lower positions of the arched bend (A, B values) and the degree of bending (L value). In engineering, the overall stiffness of the vertical buffer rib 0203 can be adjusted by reasonably selecting the material of the vertical buffer rib 0203, designing the cross-sectional moment of inertia, the bending position, the bending degree and other parameters, so that the UAV 0100 can achieve both buffering of the impact load when landing and preventing rebound from ejecting the UAV.

[0062] The material of the vertical buffer rib 0203 is a fiber composite material with designable stiffness, such as carbon fiber / glass fiber, or a material with a small elastic modulus, such as engineering plastics. The section moment of inertia of the buffer rib 0203 is determined by the section shape and size. The section shape can be designed to be rectangular, circular, elliptical, I-shaped, slot-shaped, and round-shaped. The characteristic size of the section (i.e., the maximum size of the section, such as the length of the rectangular section, the diameter of the circular section, etc.) should satisfy the requirement that the slenderness ratio of the buffer rib 0203 (i.e., the ratio of the length of the buffer rib 0203 to the characteristic size of the cross section) is greater than 10. The change in the position of the bending point of the buffer rib 0203 in the vertical direction can adjust the proportion of the fully deformed part of the buffer rib 0203. The larger the B value, the larger the proportion of the fully deformed part. The bending degree of the buffer rib 0203 is affected by the size of the upper fixing ring 0201 and the lower fixing ring 0202. The range of A / B is controlled between 1.5-3 to ensure sufficient flexibility while avoiding interference.

[0063] See also Figure 3 , Figure 4 The lifting and lowering unit 0200 also includes a clamping and positioning assembly, which includes a slide rail 0205, a clamping movable part 0206, an electric telescopic rod 0207, and a clamping and positioning bracket. The clamping and positioning bracket is fixedly set on the lower fixed ring 0202, and includes two vertical supports and one horizontal support. The bottom of the vertical support is fixedly set on the lower fixed ring 0202, and the top is fixedly connected to the horizontal support. There are two clamping and positioning brackets, which are symmetrically arranged about the center of the lower fixed ring 0202. The two ends of the slide rail 0205 are respectively connected to the end of a horizontal support.

[0064] The structural size of the clamping and positioning bracket is much larger than the size of the photoelectric camera or other load 0105, and will not interfere with the landing of the drone.

[0065] The clamping movable part 0206 includes a semicircular arc section located in the middle and a radially outwardly extending guide section located at both ends of the semicircular arc section. The end of the guide section is provided with a through hole, through which it is sleeved on the slide rail 0205 and can slide along the slide rail 0205.

[0066] The electric telescopic rod 0207 is fixedly arranged on the outer middle part of the horizontal support through a vertical support. The output end of the electric telescopic rod 0207 extends to the interior of the lifting and lowering unit 0200 and is fixedly connected to the middle part of the semicircular arc section of the clamping movable part 0206, which can drive the clamping movable part 0206 to slide along the slide rail 0205.

[0067] The distance from the plane where the clamping movable part 0206 is located to the upper surface of the upper fixed ring 0201 is equal to the distance from the first plane to the second plane. The radius of the semicircular arc segment of the clamping movable part 0206 is greater than or equal to the radius of the lower load-bearing frame 0104. Through this arrangement, when the UAV lands on the take-off and landing unit 0200, the upper load-bearing truss 0103 is supported on the upper surface of the upper fixed ring 0201, and the lower load-bearing frame 0104 is clamped and fixed by the clamping movable part 0206, so as to prevent the UAV from moving relative to the take-off and landing unit 0200.

[0068] The clamping movable part 0206 and the electric telescopic rod 0207 are in the open state when the drone is landing. Fig.10 As shown, after the UAV lands, the photoelectric camera or other load 0105 falls into the corresponding central position of the clamping and positioning component. After the UAV lands steadily, the electric telescopic rod 0207 drives the clamping movable part 0206 to extend forward, clamps and fixes the lower load-bearing frame 0104, and together with the upper surface positioning protrusion 0204, it realizes the horizontal and vertical freedom constraints of multiple force-bearing points of the UAV 0100; the electric telescopic rod 0207 is powered by self-power or by the mobile platform 0300.

[0069] like Figure 6 , Figure 7 , Figure 8 As shown, it is a schematic diagram of the multi-rotor UAV 0100 landing on the take-off and landing unit 0200. After the multi-rotor UAV 0100 lands, the cross beam of the upper load-bearing truss 0103 rests on the upper fixing ring 0201 under the action of gravity, and the cross beam of the upper load-bearing truss 0103 automatically slides to the positioning groove between two adjacent positioning protrusions 0204 on the upper surface under the action of gravity. Then, the electric telescopic rod 0207 automatically extends, driving the clamping movable part 0206 to extend forward, clamping and fixing the lower load-bearing frame 0104.

[0070] When the drone lands on the upper fixed ring 0201, the impact will cause the vertical buffer rib 0203 to produce elastic deformation, so that the upper fixed ring 0201 will vibrate, and the distance between it and the fixed plane of the lower fixed ring 0202 will change continuously. During this process, the drone has not yet stopped. If the vibration amplitude is large, it is easy to cause bumps when the clamping movable part 0206 is driven to extend forward. To solve this problem, a position sensor is set on the lower surface of the upper fixed ring 0201 to monitor the distance between the lower surface of the upper fixed ring 0201 and the fixed plane where the lower fixed ring 0202 is located in real time. Or a vibration sensor is set on the upper fixed ring 0201 to monitor the vibration of the upper fixed ring 0201. The sensor transmits the monitored values ​​to the control center in real time. When the position of the upper fixed ring 0201 changes or the vibration amplitude is less than a preset value, the control center controls the electric telescopic rod 0207 to automatically extend, drive the clamping movable part 0206 to extend forward, and clamp and fix the lower load-bearing frame 0104.

[0071] like Fig. 9 , Fig.10 As shown, it is a schematic diagram of the take-off and landing unit 0200 being fixed on the mobile platform 0300, and the multi-rotor drone 0100 taking off or landing. When landing, the multi-rotor drone 0100 finds the landing point under control, and after the multi-rotor drone 0100 lands on the take-off and landing unit 0200, the multi-rotor drone 0100 falls into the upper fixed ring 0201 under the action of gravity, and automatically returns to the center position under the action of gravity, and the take-off and landing unit 0200 clamps and positions the drone 0100 to fix it, and the drone 0100 can move on the mobile platform 0300 with the take-off and landing unit 0200; when taking off, the clamping and positioning component of the take-off and landing unit 0200 is first retracted to unlock the drone 0100, and the drone 0100 is no longer constrained in the upward direction and automatically takes off upward; wherein the mobile platform 0300 includes but is not limited to unmanned vehicles, unmanned ships, manned vehicles, manned ships, mobile platforms, fixed platforms, and other mobile, fixed, and semi-fixed platforms.

[0072] like Fig.12 As shown, it is a schematic diagram of the take-off and landing unit 0200 increasing the allowable error of the UAV 0100 during landing. The upper end rotation diameter of the UAV 0100 is m, the lower end rotation diameter is n, and the inner ring diameter of the upper fixing ring 0201 is p.

[0073] The inner ring diameter p of the upper fixing ring 0201 is larger than the lower end rotation diameter n of the drone 0100, and smaller than the upper end rotation diameter m of the drone 0100. As shown in the figure, the landing accuracy of the drone only needs to be controlled within the range of ±(a+b) / 2 (i.e. (pn) / 2) to ensure that the drone accurately lands in the upper fixing ring 0201, realizes automatic centering, and is then fixed by the clamping positioning component.

[0074] This setting method can greatly reduce the position accuracy requirements of the drone 0100 when landing, which is especially suitable for situations where the mobile platform 0300 moves at high speed or irregularly, such as when the situation is urgent and it is impossible to slow down to wait for the drone to align, or when the vehicle shakes irregularly when moving in an environment with poor road conditions in the wild.

[0075] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A multi-rotor drone device that is easy to take off and land, characterized in that: The device comprises a multi-rotor UAV and a take-off and landing unit, wherein the multi-rotor UAV comprises a load-bearing frame body and a rotor assembly; the load-bearing frame body is an inverted cone-shaped structure; and the take-off and landing unit is suitable for engaging and supporting the load-bearing frame body.

2. The multi-rotor drone device that is easy to take off and land according to claim 1 is characterized in that: The load-bearing frame body comprises an upper load-bearing truss, a lower load-bearing frame and an oblique support rod, one end of the oblique support rod is connected to the upper load-bearing truss, and the other end is connected to the lower load-bearing frame.

3. The multi-rotor UAV device that is easy to take off and land according to claim 2 is characterized in that: The rotor assembly is arranged at the outer end of the upper load-bearing truss.

4. The multi-rotor UAV device that is easy to take off and land according to claim 3 is characterized in that: There are multiple upper load-bearing trusses, which are evenly distributed along the circumference of the load-bearing frame body.

5. The multi-rotor UAV device that is easy to take off and land according to claim 4 is characterized in that: The lower load-bearing frame is in the shape of a circular ring.

6. The multi-rotor UAV device that is easy to take off and land according to claim 1, characterized in that: The radius of the lower load-bearing frame is less than half the length of the upper load-bearing truss.

7. The multi-rotor UAV device that is easy to take off and land according to claim 6, characterized in that: The connection point between the oblique support rod and the upper load-bearing truss is located in the following range: between 1 / 2 and 2 / 3 of the length of the upper load-bearing truss along the radial outward direction.

8. The multi-rotor UAV device that is easy to take off and land according to claim 7, characterized in that: The oblique support rod can automatically center the multi-rotor drone when the multi-rotor drone lands.

9. The multi-rotor UAV device that is easy to take off and land according to claim 8, characterized in that: The drone also includes an optoelectronic camera.

10. The multi-rotor UAV device that is easy to take off and land according to claim 9, characterized in that: The photoelectric camera is arranged below the lower bearing frame.

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