CN106155088A - Stable centre-of-gravity device that major-minor medicine-chest combines and method and unmanned plane - Google Patents
Stable centre-of-gravity device that major-minor medicine-chest combines and method and unmanned plane Download PDFInfo
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- CN106155088A CN106155088A CN201610687546.8A CN201610687546A CN106155088A CN 106155088 A CN106155088 A CN 106155088A CN 201610687546 A CN201610687546 A CN 201610687546A CN 106155088 A CN106155088 A CN 106155088A
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- 241001347978 Major minor Species 0.000 title claims abstract description 9
- 238000000034 method Methods 0.000 title claims abstract description 8
- 239000003814 drug Substances 0.000 claims abstract description 74
- 239000003795 chemical substances by application Substances 0.000 claims abstract description 53
- 239000007788 liquid Substances 0.000 claims abstract description 28
- 230000005484 gravity Effects 0.000 claims abstract description 16
- 239000007921 spray Substances 0.000 claims abstract description 15
- 239000000126 substance Substances 0.000 claims abstract description 15
- 238000009434 installation Methods 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 10
- 229940079593 drug Drugs 0.000 claims description 9
- 239000012530 fluid Substances 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 238000005507 spraying Methods 0.000 abstract description 8
- 239000013589 supplement Substances 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 101000863856 Homo sapiens Shiftless antiviral inhibitor of ribosomal frameshifting protein Proteins 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002828 fuel tank Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000002002 slurry Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
- -1 vertical fin Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Catching Or Destruction (AREA)
- Special Spraying Apparatus (AREA)
Abstract
The present invention discloses the stable centre-of-gravity device that a kind of major-minor medicine-chest combines, and including support, the top of described support is provided with auxiliary medicine case, bottom is provided with principal agent case, middle part is unmanned plane installation position；Described auxiliary medicine case with principal agent case relative to the installation symmetrical above and below of the center of gravity of unmanned plane；The bottom of described auxiliary medicine case is provided with the compensation hole connected by the road with principal agent case, is provided with farm chemical spray pump at this compensation hole；The bottom of described principal agent case is provided with medicine outlet；Described support includes adjustable for height support bar, and the crossbeam being connected between support bar, and described crossbeam is provided with fixing described auxiliary medicine case and the position-limit mechanism of principal agent case.The invention also discloses stable center of gravity method based on aforementioned stable centre-of-gravity device, and there is the unmanned plane of this device.The present invention can regulate the position of major-minor medicine-chest by support, stablizes the bottom of unmanned plane and the balance on top；Achieve the flowing of medicinal liquid during spraying of principal agent case and auxiliary medicine case to supplement, stablize the operation balance of unmanned plane.
Description
Technical field
The present invention relates to agricultural engineering field and be applicable to the unmanned plane gravity balance device of farmland spraying operation, especially relate to
And the stable centre-of-gravity device that combines of a kind of major-minor medicine-chest and method and there is the unmanned plane of this device.
Background technology
In recent years, unmanned air vehicle technique has had the development advanced by leaps and bounds.Owing to its low cost, mobility are good, survival ability
By force, no one was injured advantages such as risk, unmanned plane occupies extremely important status at modern military and civil area, agricultural
Field application is more and more wide.
Unmanned aerial vehicle quality is light and handy, it is simple to operation, but the change of its center of gravity is to the flight of aircraft and agricultural operation quality
Affect the biggest.For the center of gravity of stable unmanned plane during flying, what the patent application of Publication No. CN104354864A provided is used for spraying
The rotary wind type unmanned plane of pesticide, including the fuselage with rotor assemblies, described fuselage is also equipped with medicine-chest and connects with medicine-chest
The chemical spraying device connect, described medicine-chest is provided with multiple, the horizontal center of gravity of the tiling setting of all medicine-chests and entirety and the level weight of fuselage
The heart overlaps；Big medicine-chest is decomposed into isometric multiple little medicine-chest, and aircraft is under emergency stop, and the liquid in each medicine-chest produces
Horizontal centre-of gravity shift less, overall horizontal centre-of gravity shift to be significantly smaller than single medicine-chest to contain the situation of medicinal liquid, thus
Avoid because the change of horizontal centre-of gravity shift is excessive, fuselage inclination angle is too high and make to fly control and cannot correct born problem out of control and send out
Raw.
It addition, the patent application of Publication No. CN203876985U provides a kind of remote control spray with automatic balance function
Medicine helicopter, including fuselage, main rotor, electromotor, foot piece, tail slurry, vertical fin, fuel tank, chemical spraying device, remote control unit, described spray
Medicine device includes drug storage mechanism, flexible pipe, air pump, the rotary chemical spraying mechanism of both wings, described drug storage mechanism by left medicine-chest, right medicine-chest,
Rear medicine-chest, communicating pipe, ballast pump, forward horizontal stand induction apparatus, back balance induction apparatus composition, described left medicine-chest, right medicine-chest are respectively mounted
In the left and right sides of fuselage, the front end of described left medicine-chest and right medicine-chest is by flexible pipe, air pump with the rotary chemical spraying mechanism of both wings even
Connecing, described left medicine-chest is connected with the rear medicine-chest being arranged on foot piece by communicating pipe, ballast pump with the rear end of right medicine-chest；This patent
Horizontal center of gravity is regulated by ballast pump also with between three medicine-chests.
At present, the unmanned aerial vehicle general only one of which medicine-chest on market, it is generally seated in above or below aircraft, when filling
The when of medicinal liquid, the height of C.G. of aircraft is on the lower side, along with the sprinkling of medicinal liquid, the minimizing of medicine-chest Chinese medicine liquid measure, the weight of unmanned aerial vehicle
The heart can significantly raise, and causes center of gravity of airplane height and position to change, and forms unbalanced state, affects the flight stability of aircraft
Property, in addition the collection of agricultural land information and fertile medicine are sprayed etc. and to cause serious impact, result even in unmanned plane time serious and crash.
Summary of the invention
For the problems referred to above, the present invention provides the stable centre-of-gravity device and method, Yi Jiwu that a kind of major-minor medicine-chest combines
Man-machine, mainly unmanned plane is added auxiliary medicine case and balances the overall weight of fuselage, ensure during unmanned plane operation with
The minimizing of amount of liquid medicine in main box, adjust fuselage overall weight by the supply of auxiliary medicine case, reach bottom and top
The balance of weight, balances the problems such as the fuselage inclination that bottom unmanned plane, medicine-chest causes because of the minimizing of medicinal liquid.
The concrete technical scheme of the present invention is as follows:
The stable centre-of-gravity device that a kind of major-minor medicine-chest combines, including support, the top of described support be provided with auxiliary medicine case,
Bottom is provided with principal agent case, middle part is unmanned plane installation position；
Described auxiliary medicine case with principal agent case relative to the installation symmetrical above and below of the center of gravity of unmanned plane；
The bottom of described auxiliary medicine case is provided with the compensation hole connected by the road with principal agent case, is provided with spray medicine at this compensation hole
Pump；
The bottom of described principal agent case is provided with medicine outlet；
Described support includes adjustable for height support bar, and the crossbeam being connected between support bar, and described crossbeam sets
There are fixing described auxiliary medicine case and the position-limit mechanism of principal agent case.
The present invention utilizes two completely identical in structure auxiliary medicine casees and principal agent case, is separately mounted to up and down the two of unmanned plane
Side, it is ensured that after equipped medicine-chest, the height of C.G. of unmanned plane holding self is constant；Meanwhile, in flight course, along with principal agent case
The ejection of inner liquid medicine, utilizes auxiliary medicine case to compensate dose in principal agent case, keeps upper and lower two medicine-chests to locate all the time in flight course
Medicinal liquid surplus in weight balancing state, i.e. medicine-chest is equal, with the height of C.G. during this stable unmanned plane during flying, reaches
The balance of the weight on bottom and top, balances the problems such as the fuselage inclination that bottom unmanned plane, medicine-chest causes because of the minimizing of medicinal liquid.
As preferably, described auxiliary medicine case and principal agent case are equipped with feeding opening, for injecting medicinal liquid in medicine-chest, and
It is combined with ventilative case lid at each feeding opening, balances medicine-chest inner and outer air pressure, it is to avoid in medicine-chest, occur that negative pressure affects the stream of medicinal liquid
Logical.
Further, at described medicine outlet, liquid flow sensor is installed, for sending the letter controlling described farm chemical spray pump
Number.
The present invention utilizes liquid flow sensor, and that detects principal agent case in real time goes out dose so that farm chemical spray pump can be according to this inspection
Surveying signal and regulate the auxiliary medicine case compensation dosage to principal agent case, keeping compensation dosage is the 1/2 of principal agent case drug flow, it is achieved whole nothing
Man-machine height of C.G. balance.
As preferably, the medicine outlet compensating hole and principal agent case on described auxiliary medicine case is respectively positioned in corresponding box bottom
Heart lowest part；I.e. medicine-chest has the bottom surface of circular arc or inclination, promotes the medicinal liquid in medicine-chest to be completely exhausted out.
In the present invention, for preventing medicine-chest the rocking in flight course in mounting bracket, the crossbeam of support is provided with
The position-limit mechanism of fixing medicine-chest, specifically, described position-limit mechanism is T-shaped beam, and the side of described principal agent case and auxiliary medicine case is provided with T
Type groove；Inserted in the T-slot of medicine-chest side by T-shaped beam, it is achieved fixing of medicine-chest.
It is further preferred that described T-shaped beam includes that level is to T-shaped beam with vertically to T-shaped beam；Described T-slot includes
The level of casing top or bottom of being located at is to T-slot, and is located at the vertical to T-slot of casing side face.
The present invention is by arranging level to T-shaped beam with vertically to T-shaped beam, it is achieved the limit to medicine-chest four orientation all around
Position, more preferably to keep the balance of medicine-chest.
As preferably, described vertical to T-shaped beam between upper and lower two crossbeams, crossbeam is fixed with limited block, should
Limited block is provided with and the vertical T-shaped stopper slot coordinated to T-shaped beam end.When medicine-chest is installed, casing directly can be pushed level
To T-shaped beam, but vertically must use demountable structure to T-shaped beam, in order in level after fixing medicine-chest, hanging down described in insertion
Straight to T-shaped beam.
As preferably, described support bar includes the loop bar fixing with base cross members, and fixes with top cross-bar and insert
Enter the expansion link in loop bar；Described loop bar and expansion link are provided with the height adjusting holes matched, and by adjusting through height
The alignment pin of knothole is fixed.
Utilize adjustable for height support bar to install to be adapted to various sizes of unmanned plane, more can regulate after installing
The position of lower two medicine-chests so that upper and lower two medicine-chests pile relative to the center of gravity of unmanned plane body.
A kind of method that aforementioned stable centre-of-gravity device realizes, according to the flow of principal agent bottom portion medicine outlet, passes through farm chemical spray pump
Controlling auxiliary medicine case and flow to the medicinal liquid compensation dosage of principal agent case, described compensation dosage is the 1/2 of principal agent case drug flow, i.e. ensures unmanned
The weight of the auxiliary medicine case above aircraft is the most identical with the weight of the principal agent case below unmanned plane, keeps the center of flying gravity of unmanned plane
The most constant.
Present invention also offers a kind of unmanned plane with stable centre-of-gravity device, described unmanned plane is provided with above-mentioned steady
Determining centre-of-gravity device, unmanned plane is fixed in the unmanned plane installation position of described support.
Present configuration is simple, can be regulated the position of major-minor medicine-chest by balance bracket, stablize the bottom of unmanned plane
Balance with top；Achieve the flowing of medicinal liquid during spraying of principal agent case and auxiliary medicine case to supplement, stablize the work of unmanned plane
Industry balances.
Accompanying drawing explanation
Fig. 1 is the general structure figure of support；
Fig. 2 is the side view of support；
Fig. 3 is the structure chart of principal agent case；
Fig. 4 is the structure chart of auxiliary medicine case.
Detailed description of the invention
Stable centre-of-gravity device as depicted in figs. 1 and 2, including support 2, the top of this support 2 is auxiliary medicine case installation position
201, middle part is unmanned plane installation position 202, and bottom is principal agent case installation position 203.
As it is shown on figure 3, principal agent case 10 is provided with medicine outlet the 6, first feeding opening 4, T-shaped groove 5 and first compensates hole 7, the
One feeding opening 4 and the first compensation hole 7 are separately positioned on the position on the upper side, both sides of casing, and the first feeding opening 4 is for principal agent case 10
Interior injection medicinal liquid, and use ventilative case lid 3 to seal, medicine-chest inner and outer air pressure can be balanced.T-shaped groove 5 is positioned at the bottom of casing,
And be two be arranged in parallel, in the principal agent case installation position 203 that principal agent case 10 is arranged in support 2.
In the present embodiment, the bottom surface of principal agent case 10 is cambered surface, and medicine outlet 6 is positioned at the lowest part of tank floor, in casing
Medicinal liquid is outwards sprayed by medicine outlet 6.
As shown in Figure 4, auxiliary medicine case 11 is provided with the second feeding opening 8, second and compensates hole 9 and T-shaped groove 5.Second feeding opening 8
It is arranged on the position on the upper side, side of casing, for adding medicinal liquid to auxiliary medicine case 11, also utilizes ventilative case lid 3 to seal.Auxiliary medicine case
11 have smooth end face, and two parallel T-shaped grooves 5 are arranged in end face.At second compensation hole 9, farm chemical spray pump 12 is installed,
And second compensated hole 9 and connected with the first compensation hole 7 on principal agent case 10 by pipeline so that auxiliary medicine case 11 inner liquid medicine is by this pipe
Road can flow in principal agent case 10.
In the present embodiment, auxiliary medicine case is identical with the capacity of principal agent case, and structure broadly similar, in support 2 and relatively nothing
The installation symmetrical above and below of man-machine center of gravity.
Being provided with liquid flow sensor 13 at the medicine outlet 6 of principal agent case, be used for real-time detection principal agent case goes out dose, makes
Obtain farm chemical spray pump and can regulate the auxiliary medicine case compensation dosage to principal agent case according to this detection signal.Meanwhile, the dsp controller 1 on support 2
Electrically connect with liquid flow sensor and farm chemical spray pump respectively.
Support 2 includes adjustable for height support bar 21 and the crossbeam 22 being connected between support bar 21.Support bar 21 includes
The loop bar 24 fixing with top cross-bar, and the expansion link 25 fixed with base cross members and be inserted in loop bar 24, and loop bar 24
It is provided with the height adjusting holes 26 matched with expansion link 25, and is fixed by the alignment pin 27 through height adjusting holes 26, with
The height maintaining support bar 21 is constant.
In the present embodiment, for preventing medicine-chest the rocking in flight course in mounting bracket, on the crossbeam 22 of support
It is provided with the T-shaped beam of fixing medicine-chest, is inserted by T-shaped beam in the T-shaped groove 5 of medicine-chest side, it is achieved fixing of medicine-chest.T-shaped Liang Bao
The level that includes is to T-shaped beam 23 with vertically to T-shaped beam 31；T-slot include the level being located at casing top or bottom to T-slot, and
It is located at the vertical to T-slot of casing side face.When mounted, level inserts level in T-slot to T-shaped beam 23, vertically to T-shaped beam
31 insert vertically to T-slot, to realize the fixing of medicine-chest.
Wherein, vertically to T-shaped beam 31 between upper and lower two crossbeams, crossbeam is fixed with limited block 32, this limited block 32
It is provided with and the vertical T-shaped stopper slot coordinated to T-shaped beam 31 end.When medicine-chest is installed, casing directly can be pushed level to T-shaped
Beam, but vertically must use demountable structure to T-shaped beam, in order in level after fixing medicine-chest, insert vertical to T-shaped beam.
In the present embodiment, loop bar 24 and expansion link 25 are externally provided with between screw thread, and two loop bars 24 and overlap by the first lifting horizontal stroke
Beam 28, the first hoisting cross beam 28 and crossbeam 22 to being provided opposite to limited block 32, be fitted with vertical to T-shaped between two limited blocks 32
31, the first hoisting cross beam 28 can slide by loop bar 24 relatively, and is fixed by location nut 30.Such as, when installing auxiliary medicine case 11,
First reduce the height of the first hoisting cross beam 28 so that auxiliary medicine case 11 can load in support, and make level insert auxiliary medicine to T-shaped beam 23
In the T-shaped groove 5 at case 11 top, then will vertically insert in the T-shaped groove of auxiliary medicine case 11 one side to T-shaped beam 31, then promote
The height of the first hoisting cross beam 28 so that be vertically located exactly in the T-shaped stopper slot of two limited blocks 32 to the two ends of T-shaped beam 31,
And screwed in place nut 30 so that the auxiliary medicine case 11 between the first hoisting cross beam 28 and top cross-bar is fixed.In like manner, principal agent case is also
Fixed by locking nut 33 and the second hoisting cross beam 29 being slidably matched with expansion link.
Utilizing above-mentioned stable centre-of-gravity device, in unmanned plane operation flight course, liquid flow sensor 13 is by real
Time detection principal agent case on flow at medicine outlet 6, the medicinal liquid that the medicine outlet 6 of principal agent case 10 is sprayed by liquid flow sensor 13
Value is transferred to dsp controller 1, and dsp controller 1 sprays medicine by being transferred to after signal processing at the second compensation hole 9 of auxiliary medicine case 11
Pump 12 so that farm chemical spray pump can regulate the auxiliary medicine case compensation dosage to principal agent case according to this detection signal, and control and compensation amount is principal agent
The 1/2 of case drug flow, keeps the height of C.G. of whole unmanned plane to balance.
The foregoing is only the preferable implementation example of the present invention, be not limited to the present invention, all in present invention spirit and
Within principle, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.
Claims (10)
1. the stable centre-of-gravity device that major-minor medicine-chest combines, including support, it is characterised in that: the top of described support is installed
Have auxiliary medicine case, bottom to be provided with principal agent case, middle part is unmanned plane installation position；
Described auxiliary medicine case with principal agent case relative to the installation symmetrical above and below of the center of gravity of unmanned plane；
The bottom of described auxiliary medicine case is provided with the compensation hole connected by the road with principal agent case, is provided with farm chemical spray pump at this compensation hole；
The bottom of described principal agent case is provided with medicine outlet；
Described support includes adjustable for height support bar, and the crossbeam being connected between support bar, and described crossbeam is provided with solid
Fixed described auxiliary medicine case and the position-limit mechanism of principal agent case.
2. stablize centre-of-gravity device as claimed in claim 1, it is characterised in that be equipped with on described auxiliary medicine case and principal agent case into
Ventilative case lid it is combined with at medicine mouth, and this feeding opening.
3. stablize centre-of-gravity device as claimed in claim 1, it is characterised in that fluid flow sensing is installed at described medicine outlet
Device, for sending the signal controlling described farm chemical spray pump.
4. stablize centre-of-gravity device as claimed in claim 1, it is characterised in that on described auxiliary medicine case, compensate hole and principal agent case
Medicine outlet is respectively positioned on the center lowest part of corresponding box bottom.
5. stablize centre-of-gravity device as claimed in claim 1, it is characterised in that described position-limit mechanism is T-shaped beam, described principal agent
The side of case and auxiliary medicine case is provided with T-slot.
6. stablize centre-of-gravity device as claimed in claim 5, it is characterised in that described T-shaped beam includes that level to T-shaped beam and is hung down
Straight to T-shaped beam；
Described T-slot includes that the level being located at casing top or bottom, to T-slot, and is located at the vertical to T of casing side face
Type groove.
7. stablize centre-of-gravity device as claimed in claim 6, it is characterised in that described vertical to be positioned at upper and lower two to T-shaped beam horizontal
Between beam, crossbeam being fixed with limited block, this limited block is provided with and the vertical T-shaped stopper slot coordinated to T-shaped beam end.
8. stablize centre-of-gravity device as claimed in claim 1, it is characterised in that described support bar includes fixing with base cross members
Loop bar, and the expansion link fixed with top cross-bar and be inserted in loop bar；Described loop bar and expansion link are provided with and match
Height adjusting holes, and fixed by the alignment pin through height adjusting holes.
9. one kind based on the method stablizing centre-of-gravity device described in any one of claim 1～8, it is characterised in that according to principal agent case
The flow of bottom medicine outlet, controls auxiliary medicine case by farm chemical spray pump and flows to the medicinal liquid compensation dosage of principal agent case, and described compensation dosage is main
The 1/2 of medicine-chest drug flow.
10. a unmanned plane with stable centre-of-gravity device, it is characterised in that install just like claim 1 on described unmanned plane
～the stable centre-of-gravity device that 8 described in any one, unmanned plane is fixed in the unmanned plane installation position of described support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610687546.8A CN106155088B (en) | 2016-08-17 | 2016-08-17 | Main and auxiliary medicine box combined gravity center stabilizing device and method and unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610687546.8A CN106155088B (en) | 2016-08-17 | 2016-08-17 | Main and auxiliary medicine box combined gravity center stabilizing device and method and unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
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| CN106155088A true CN106155088A (en) | 2016-11-23 |
| CN106155088B CN106155088B (en) | 2024-02-23 |
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| CN201610687546.8A Active CN106155088B (en) | 2016-08-17 | 2016-08-17 | Main and auxiliary medicine box combined gravity center stabilizing device and method and unmanned aerial vehicle |
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| CN107728631A (en) * | 2017-09-25 | 2018-02-23 | 富平县韦加无人机科技有限公司 | Plant protection unmanned aerial vehicle control system and method based on mass measurement |
| CN107804465A (en) * | 2017-12-12 | 2018-03-16 | 赵有科 | A kind of fixing device of unmanned plane apparatus for automatically loading |
| CN108528677A (en) * | 2018-04-10 | 2018-09-14 | 中博宇图信息科技有限公司 | A kind of center of gravity self-regulation unmanned plane |
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