CN117644972B - Medical rescue unmanned aerial vehicle based on autonomous navigation and control method thereof - Google Patents
Medical rescue unmanned aerial vehicle based on autonomous navigation and control method thereof Download PDFInfo
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Abstract
The invention discloses a medical rescue unmanned aerial vehicle based on autonomous navigation and a control method thereof. The unmanned aerial vehicle comprises a box body, a machine body, a left wing, a right wing, a left duck wing, a right duck wing, at least two wing cantilevers and tail wings, and is characterized in that the unmanned aerial vehicle is mounted on the box body in a transportation state, when the unmanned aerial vehicle executes a medical rescue task, the box body can be used for loading medical rescue supplies, the box body loaded with the medical rescue supplies is mounted below the machine body of the unmanned aerial vehicle, and the unmanned aerial vehicle flies to a region to be subjected to medical rescue, so that the box body is released.
Description
Technical Field
The invention relates to the field of medical rescue of unmanned aerial vehicles, in particular to a medical rescue unmanned aerial vehicle based on autonomous navigation and a control method thereof.
Background
For medical rescue in sudden disaster areas, the traditional rescue mode is limited by ground traffic conditions, such as short-term traffic paralysis, traffic jams and the like in earthquake areas, and medical rescue materials cannot be transported to disaster areas in time by adopting a traditional medical rescue vehicle.
With the gradual maturity of unmanned vehicles application technology, adopt unmanned vehicles can effectively make up the not enough of traditional rescue mode, overcome the defects that exist in traditional first aid are limited by traffic, with high costs, mobility subalternation, but multiaxis unmanned vehicles's carrying capacity is limited, and disaster area communication is not good, only adopt GPS navigation can not realize accurate navigation.
Therefore, the invention aims at the problems and provides the medical rescue unmanned aerial vehicle based on autonomous navigation and the control method thereof by combining the advantages of the autonomous navigation unmanned aerial vehicle.
Disclosure of Invention
Based on the problems, the invention provides the medical rescue unmanned aerial vehicle based on autonomous navigation and the control method thereof, which are used for solving the problems that the traditional rescue mode is not timely, the unmanned aerial vehicle has low load and effective navigation can not be realized under the condition of communication interruption in the prior art.
In order to achieve the above purpose, a medical rescue unmanned aerial vehicle based on autonomous navigation is provided, wherein the unmanned aerial vehicle is a modularized unmanned aerial vehicle; the unmanned aerial vehicle comprises a fuselage, a left wing, a right wing, a left duck wing, a right duck wing, at least two wing cantilevers and a tail wing; the wing cantilever is detachably arranged below the left wing and the right wing, a lifting propeller is detachably arranged above the wing cantilever, and a locking mechanism is arranged below the wing cantilever; the tail fin is detachably arranged above the tail part of the wing cantilever; the machine body is a sectional machine body and comprises a first machine body and a second machine body, and the first machine body and the second machine body are designed in a detachable manner; a binocular vision camera is arranged below the first machine body, an airspeed meter is arranged in front of the first machine body, and the left duck wings and the right duck wings are detachably arranged on two sides of the first machine body; the second machine body is provided with an avionics cabin, a control system, a GPS, an IMU, a gyroscope, an accelerometer and a height sensor are arranged in the avionics cabin, and the left wing and the right wing are detachably arranged on two sides of the second machine body; when the modularized unmanned aerial vehicle is in a transportation state, the fuselage, the left wing, the right wing, the left duck wing, the right duck wing, the at least two wing cantilevers and the tail wings are placed in the box body in a mode of independent parts, when the unmanned aerial vehicle executes a medical rescue task, the fuselage, the left wing, the right wing, the left duck wing, the right duck wing, the at least two wing cantilevers and the tail wings are assembled into the unmanned aerial vehicle, the box body can be used for loading medical rescue materials, the box body loaded with the medical rescue materials is installed below the fuselage of the unmanned aerial vehicle, the unmanned aerial vehicle flies to a region to be subjected to medical rescue, and the box body is released.
Further, when the weight of the rescue materials is smaller than a threshold value, two wing cantilevers are adopted to provide lifting force for the unmanned aerial vehicle; when the weight of the rescue materials is greater than the threshold value, four wing cantilevers are adopted to provide lifting force for the unmanned aerial vehicle. The wing cantilever is in streamline design. Four lifting propellers are arranged on the wing cantilever.
Further, a telescopic locking mechanism is arranged below the wing cantilever, and is matched with a strip-shaped groove arranged on the box body to realize the installation of the box body; the strip-shaped groove comprises a closed part and an open part, wherein the closed part is arranged at two ends of the open part; the locking mechanism comprises a fixed rod, a telescopic sleeve and a reset spring, wherein the telescopic sleeve is sleeved at two ends of the fixed rod and is connected with the two ends of the fixed rod through the reset spring, and a bulge is arranged on the outer side of the telescopic sleeve.
Further, a flap is arranged on the inner side of the trailing edge of the wing, and an aileron is arranged on the outer side of the trailing edge of the wing.
Further, a wingtip winglet is arranged on the outer side of the wing.
A method for controlling a medical rescue unmanned aerial vehicle based on autonomous navigation, the method comprising the steps of:
s1, determining the number of required wing cantilevers according to the weight of medical rescue materials;
s2, taking out all parts of the unmanned aerial vehicle from the box body for assembly;
s3, medical rescue materials are placed in the box body;
s4, the box body is arranged below the unmanned aerial vehicle and locked with a locking mechanism below the innermost wing cantilever;
s5, the unmanned aerial vehicle starts autonomous navigation, flies to a destination, and puts in a box body.
The step S2 specifically includes:
S2.1, arranging left duck wings and right duck wings on two sides of the first machine body;
S2.2, arranging a left wing and a right wing on two sides of the second fuselage;
s2.3, installing the first airframe and the second airframe to form an airframe of the unmanned aerial vehicle;
s2.4, arranging the tail wing above the tail part of the innermost wing cantilever, and mounting the lift propeller above the wing cantilever;
s2.5, mounting the wing cantilever on the left wing and the right wing.
The step S5 specifically includes:
s5.1, initializing the pose of the unmanned aerial vehicle, determining the flight track of the unmanned aerial vehicle according to destination coordinates, and correcting the IMU and the binocular vision camera;
S5.2, controlling the unmanned aerial vehicle to take off, collecting inertial data of the IMU and visual data of the binocular vision camera in real time, performing loose coupling on the inertial data of the IMU and the visual data of the binocular vision camera, and performing data optimization by using a tight coupling optimization model, wherein the data optimization comprises adjacent frame tight coupling optimization and local tight coupling optimization;
s5.3, generating a map model according to the optimized data, and determining the current position of the unmanned aerial vehicle according to the map model;
S5.4, determining a navigation path according to the destination and the current position of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly to the destination according to the navigation path; the navigation path is determined according to the following,
；
Wherein U is a planning pose of the unmanned aerial vehicle, alpha 1, alpha 2 and alpha 3 are respectively commands of the unmanned aerial vehicle for identification, determination of a navigation path according to a destination and a current position and when a box body is put in, beta is a motion command of the unmanned aerial vehicle for pitching, rolling and yawing motions, theta, phi and ψ are respectively pitch angle, rolling angle and yawing angle of the unmanned aerial vehicle, gamma is a command of the unmanned aerial vehicle for realizing a stable pose in x, y and z directions, sigma T is a resultant force of the unmanned aerial vehicle for realizing the stable pose in x, y and z directions, a and b are respectively poses of the unmanned aerial vehicle before and after tight coupling optimization by an IMU and a binocular vision camera, A, B and C are respectively a set of loose coupling, tight coupling optimization of adjacent frames and partial tight coupling optimization by the unmanned aerial vehicle by the IMU and the binocular vision camera, and U A、uB and U C are respectively all parameters of loose coupling, tight coupling optimization and partial tight coupling optimization of adjacent frames by the unmanned aerial vehicle;
S5.5, after flying to a destination, separating the locking mechanism from the wing cantilever and putting the wing cantilever into the box body.
Compared with the prior art, the invention has the beneficial effects that:
1) Medical rescue supplies are delivered through the unmanned aerial vehicle, and the defect of poor medical rescue maneuverability of the traditional rescue vehicle is overcome. The unmanned aerial vehicle adopts a modularized structure, so that the unmanned aerial vehicle is convenient to disassemble, assemble and transport, the number of the wing cantilevers is selectable, the unmanned aerial vehicle can be provided with lifting forces of different sizes, and medical rescue materials of different weights can be carried. The box can be used for loading unmanned vehicles, can be used for loading medical rescue supplies after the unmanned vehicles are assembled and taken out and is hung on the assembled unmanned vehicles, and the double utilization of the box is realized.
2) According to the invention, through data fusion of the IMU and binocular vision, a map model is generated so as to generate a navigation path, so that autonomous navigation of the unmanned aerial vehicle is realized, phenomena of yaw and the like which can occur under a severe environment facing communication interruption by the unmanned aerial vehicle only depending on GPS navigation are avoided, and smooth medical rescue is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will briefly explain the drawings needed in the embodiments or the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method of intelligent control of an unmanned aerial vehicle;
FIG. 2 is a schematic structural view of an unmanned aerial vehicle;
FIG. 3 is a schematic view of the structure of an unmanned aerial vehicle carrying case;
FIG. 4 is a schematic view of the structure of the case;
FIG. 5 is a schematic structural view of a locking mechanism;
FIG. 6 is a flow chart of an unmanned aerial vehicle assembly;
fig. 7 is a flow chart of autonomous navigation of an unmanned aerial vehicle.
Description of the embodiments
The following description of the embodiments of the present invention will be made more apparent and fully by reference to the accompanying drawings, in which it is shown, however, only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-7, the unmanned aerial vehicle is a modularized unmanned aerial vehicle based on autonomous navigation, and comprises a fuselage 1, a left wing 2, a right wing 3, a left duck wing 4, a right duck wing 5, at least two wing cantilevers 6 and a tail wing 7, wherein the wing cantilevers 6 are detachably arranged below the left wing 2 and the right wing 3, a lift propeller 8 is detachably arranged above the wing cantilevers 6, and a locking mechanism 9 is arranged below the wing cantilevers 6; when the modularized unmanned aerial vehicle is in a transportation state, the fuselage 1, the left wing 2, the right wing 3, the left duck wing 4, the right duck wing 5, the at least two wing cantilevers 6 and the tail wings 7 are placed in the box body 10 in a mode of independent parts; the machine body 1 is a segmented machine body 1 and comprises a first machine body 11 and a second machine body 12, wherein the first machine body 11 and the second machine body 12 are detachably designed; a binocular vision camera 13 is arranged below the first machine body 11, an airspeed meter is arranged in front of the first machine body 11, and the left duck wings 4 and the right duck wings 5 are detachably arranged on two sides of the first machine body 11; the second airframe 12 is provided with an avionics cabin 14, a control system, a GPS, an IMU, a gyroscope, an accelerometer and a height sensor are arranged in the avionics cabin 14, and the left wing 2 and the right wing 3 are detachably arranged on two sides of the second airframe 12; the tail part of the wing cantilever 6 can be detachably provided with a tail wing 7. The flap 16 is arranged inboard of the trailing edge of the wing, and the aileron 17 is arranged outboard of the trailing edge of the wing. The wing outboard side is provided with a wingtip winglet 18.
The intelligent control method comprises the following steps:
S1, determining the number of required wing cantilevers 6 according to the weight of medical rescue materials: when the weight of the rescue materials is smaller than a threshold value, two wing cantilevers 6 are adopted to provide lifting force for the unmanned aerial vehicle; when the weight of the rescue materials is larger than a threshold value, four wing cantilevers 6 are adopted to provide lifting force for the unmanned aerial vehicle;
s2, taking out each part of the unmanned aerial vehicle from the box body 10 for assembly:
s2.1, arranging a left duck wing 4 and a right duck wing 5 on two sides of the first body 11;
s2.2, arranging a left wing 2 and a right wing 3 on two sides of the second fuselage 12;
s2.3, mounting the first fuselage 11 and the second fuselage 12 to form the fuselage 1 of the unmanned aerial vehicle;
s2.4, arranging a tail wing 7 above the tail part of the innermost wing cantilever 6, and installing a lift propeller 8 above the wing cantilever 6;
s2.5 the wing boom 6 is mounted on the left wing 2 and the right wing 3.
S3, medical rescue materials are placed in the box body 10;
S4, installing the box body 10 below the unmanned aerial vehicle and locking with a locking mechanism 9 below the innermost wing cantilever 6;
s5, the unmanned aerial vehicle starts autonomous navigation, flies to a destination, and puts in the box 10:
s5.1, initializing the pose of the unmanned aerial vehicle, determining the flight track of the unmanned aerial vehicle according to destination coordinates, and correcting the IMU and the binocular vision camera 13;
S5.2, controlling the unmanned aerial vehicle to take off, collecting inertial data of the IMU and visual data of the binocular vision camera 13 in real time, performing loose coupling on the inertial data of the IMU and the visual data of the binocular vision camera 13, and performing data optimization by using a tight coupling optimization model, wherein the data optimization comprises adjacent frame tight coupling optimization and local tight coupling optimization;
s5.3, generating a map model according to the optimized data, and determining the current position of the unmanned aerial vehicle according to the map model;
S5.4, determining a navigation path according to the destination and the current position of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly to the destination according to the navigation path; the navigation path is determined according to the following,
Wherein U is a planning pose of the unmanned aerial vehicle, alpha 1, alpha 2 and alpha 3 are respectively commands of the unmanned aerial vehicle for identification, determination of a navigation path according to a destination and a current position and when a box body is put in, beta is a motion command of the unmanned aerial vehicle for pitching, rolling and yawing motions, theta, phi and ψ are respectively pitch angle, rolling angle and yawing angle of the unmanned aerial vehicle, gamma is a command of the unmanned aerial vehicle for realizing a stable pose in x, y and z directions, sigma T is a resultant force of the unmanned aerial vehicle for realizing the stable pose in x, y and z directions, a and b are respectively poses of the unmanned aerial vehicle before and after tight coupling optimization by an IMU and a binocular vision camera, A, B and C are respectively a set of loose coupling, tight coupling optimization of adjacent frames and partial tight coupling optimization by the unmanned aerial vehicle by the IMU and the binocular vision camera, and U A、uB and U C are respectively all parameters of loose coupling, tight coupling optimization and partial tight coupling optimization of adjacent frames by the unmanned aerial vehicle;
and S5.5, after flying to a destination, separating the locking mechanism 9 from the wing cantilever 6, and throwing the box 10.
Step S5.5 searches for an optimal hover strategy before the box 10 is put in, searches for an area suitable for the box 10 is put in through the binocular vision camera 13, establishes a ground communication model, and automatically navigates to a position right above the area of the box 10, and releases the box 10.
The wing boom 6 is of streamlined design. Four lifting propellers 8 are arranged on the wing cantilever 6. A telescopic locking mechanism 9 is arranged below the wing cantilever 6, and the locking mechanism 9 is matched with a strip-shaped groove 15 arranged on the box body 10 to realize the installation of the box body 10; the strip-shaped groove 15 includes a closed portion 151 and an open portion 152, the closed portion 151 being disposed at both ends of the open portion 152; the locking mechanism 9 comprises a fixed rod 91, a telescopic sleeve 92 and a return spring 93, wherein the telescopic sleeve 92 is sleeved at two ends of the fixed rod 91 and is connected with two ends of the fixed rod 91 by adopting the return spring 93, and a protrusion 94 is arranged at the outer side of the telescopic sleeve 92; pulling the protrusion 94, compressing the return spring 93, the locking mechanism 9 is in a contracted state, the locking mechanism 9 enters the open part 152 of the strip-shaped groove 15, releasing the protrusion 94, resetting the return spring 93, expanding the locking mechanism 9, and the telescopic sleeve 92 of the locking mechanism 9 enters the closed part 151 of the strip-shaped groove 15, so that the box 10 is locked.
While the foregoing is directed to the preferred embodiments of the present invention, it is to be understood that the preferred embodiments of the disclosed application are illustrative of the principles of the present invention and not in limitation thereof. All equivalent structural changes made by the content of the specification and the drawings of the invention or direct/indirect application in other related technical fields are included in the protection scope of the invention.
Claims (7)
1. A medical rescue unmanned aerial vehicle based on autonomous navigation, wherein the unmanned aerial vehicle is a modularized unmanned aerial vehicle; the unmanned aerial vehicle comprises a fuselage (1), a left wing (2), a right wing (3), a left duck wing (4), a right duck wing (5), at least two wing cantilevers (6) and a tail wing (7); the wing cantilever (6) is detachably arranged below the left wing (2) and the right wing (3), a lift propeller (8) is detachably arranged above the wing cantilever (6), and a locking mechanism (9) is arranged below the wing cantilever (6); the tail wing (7) is detachably arranged above the tail part of the wing cantilever (6); the machine body (1) is a sectional machine body and comprises a first machine body (11) and a second machine body (12), wherein the first machine body (11) and the second machine body (12) are detachably designed; a binocular vision camera (13) is arranged below the first machine body (11), an airspeed meter is arranged in front of the first machine body (11), and the left duck wings (4) and the right duck wings (5) are detachably arranged on two sides of the first machine body (11); the second machine body (12) is provided with an avionics cabin (14), a control system, a GPS, an IMU, a gyroscope, an accelerometer and a height sensor are arranged in the avionics cabin (14), and the left wing (2) and the right wing (3) are detachably arranged on two sides of the second machine body (12); when the modularized unmanned aerial vehicle is in a transportation state, the fuselage (1), the left wing (2), the right wing (3), the left duck wing (4), the right duck wing (5), the at least two wing cantilevers (6) and the tail wing (7) are arranged in a box body (10) in a way of independent parts, when the unmanned aerial vehicle executes a medical rescue task, the fuselage (1), the left wing (2), the right wing (3), the left duck wing (4), the right duck wing (5), the at least two wing cantilevers (6) and the tail wing (7) are assembled into the unmanned aerial vehicle, the box body (10) is used for loading medical rescue materials, the box body (10) loaded with the medical rescue materials is arranged below the fuselage (1) of the unmanned aerial vehicle, the unmanned aerial vehicle flies to the area to be subjected to medical rescue, and the box body (10) is released; when the weight of the rescue materials is smaller than a threshold value, two wing cantilevers (6) are adopted to provide lifting force for the unmanned aerial vehicle; when the weight of the rescue materials is larger than a threshold value, four wing cantilevers (6) are adopted to provide lifting force for the unmanned aerial vehicle; a telescopic locking mechanism (9) is arranged below the wing cantilever (6), and the locking mechanism (9) is matched with a strip-shaped groove (15) arranged on the box body (10) to realize the installation of the box body (10); the strip-shaped groove (15) comprises a closed part (151) and an open part (152), wherein the closed part (151) is arranged at two ends of the open part (152); the locking mechanism (9) comprises a fixed rod (91), a telescopic sleeve (92) and a reset spring (93), wherein the telescopic sleeve (92) is sleeved at two ends of the fixed rod (91), the telescopic sleeve is connected with the two ends of the fixed rod (91) through the reset spring (93), and a protrusion (94) is arranged on the outer side of the telescopic sleeve (92).
2. Autonomous navigation-based medical rescue unmanned aerial vehicle according to claim 1, characterized in that the wing cantilever (6) is of streamlined design.
3. Autonomous navigation-based medical rescue unmanned aerial vehicle according to claim 2, characterized in that four lift propellers (8) are provided on the wing boom (6).
4. Autonomous navigation based medical rescue unmanned aerial vehicle according to claim 3, characterized in that the inner side of the trailing edge of the wing is provided with a flap (16) and the outer side of the trailing edge of the wing is provided with an aileron (17).
5. Autonomous navigation based medical rescue unmanned aerial vehicle according to claim 4, wherein the wing is provided with a wingtip winglet (18) outside.
6. A method of controlling an autonomous navigational-based medical rescue unmanned aerial vehicle as defined in any one of claims 1 to 5, the method comprising the steps of:
s1, determining the number of required wing cantilevers according to the weight of medical rescue materials;
s2, taking out all parts of the unmanned aerial vehicle from the box body for assembly;
s3, medical rescue materials are placed in the box body;
s4, the box body is arranged below the unmanned aerial vehicle and locked with a locking mechanism below the innermost wing cantilever;
S5, the unmanned aerial vehicle starts autonomous navigation, flies to a destination, and puts in a box body;
The step S5 specifically includes:
s5.1, initializing the pose of the unmanned aerial vehicle, determining the flight track of the unmanned aerial vehicle according to destination coordinates, and correcting the IMU and the binocular vision camera;
S5.2, controlling the unmanned aerial vehicle to take off, collecting inertial data of the IMU and visual data of the binocular vision camera in real time, performing loose coupling on the inertial data of the IMU and the visual data of the binocular vision camera, and performing data optimization by using a tight coupling optimization model, wherein the data optimization comprises adjacent frame tight coupling optimization and local tight coupling optimization;
s5.3, generating a map model according to the optimized data, and determining the current position of the unmanned aerial vehicle according to the map model;
S5.4, determining a navigation path according to the destination and the current position of the unmanned aerial vehicle, and controlling the unmanned aerial vehicle to fly to the destination according to the navigation path; the navigation path is determined according to the following,
; Wherein U is a planning pose of the unmanned aerial vehicle, alpha 1, alpha 2 and alpha 3 are respectively commands of the unmanned aerial vehicle for identification, determination of a navigation path according to a destination and a current position and when a box body is put in, beta is a motion command of the unmanned aerial vehicle for pitching, rolling and yawing motions, theta, phi and ψ are respectively pitch angle, rolling angle and yawing angle of the unmanned aerial vehicle, gamma is a command of the unmanned aerial vehicle for realizing a stable pose in x, y and z directions, sigma T is a resultant force of the unmanned aerial vehicle for realizing the stable pose in x, y and z directions, a and b are respectively poses of the unmanned aerial vehicle before and after tight coupling optimization by an IMU and a binocular vision camera, A, B and C are respectively a set of loose coupling, tight coupling optimization of adjacent frames and partial tight coupling optimization by the unmanned aerial vehicle by the IMU and the binocular vision camera, and U A、uB and U C are respectively all parameters of loose coupling, tight coupling optimization and partial tight coupling optimization of adjacent frames by the unmanned aerial vehicle;
S5.5, after flying to a destination, separating the locking mechanism from the wing cantilever and putting the wing cantilever into the box body.
7. The control method according to claim 6, wherein the step S2 specifically includes:
S2.1, arranging left duck wings and right duck wings on two sides of the first machine body;
S2.2, arranging a left wing and a right wing on two sides of the second fuselage;
s2.3, installing the first airframe and the second airframe to form an airframe of the unmanned aerial vehicle;
s2.4, arranging the tail wing above the tail part of the innermost wing cantilever, and mounting the lift propeller above the wing cantilever;
s2.5, mounting the wing cantilever on the left wing and the right wing.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB871257A (en) * | 1957-10-15 | 1961-06-21 | Ronald Emmerson Jackson | Helicopter aircraft |
| WO2018122821A2 (en) * | 2018-04-23 | 2018-07-05 | Wasfi Alshdaifat | City autonomous airport (caa) |
| CN214451855U (en) * | 2021-01-08 | 2021-10-22 | 天峋（常州）智能科技有限公司 | Duck wing VTOL unmanned aerial vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101535401B1 (en) * | 2015-04-01 | 2015-07-08 | 오인선 | Drone type life ring dropping device |
| CN109562833A (en) * | 2016-05-04 | 2019-04-02 | 沃尔玛阿波罗有限责任公司 | System and method for transporting product via unmanned vehicle |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB871257A (en) * | 1957-10-15 | 1961-06-21 | Ronald Emmerson Jackson | Helicopter aircraft |
| WO2018122821A2 (en) * | 2018-04-23 | 2018-07-05 | Wasfi Alshdaifat | City autonomous airport (caa) |
| CN214451855U (en) * | 2021-01-08 | 2021-10-22 | 天峋（常州）智能科技有限公司 | Duck wing VTOL unmanned aerial vehicle |
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