CN106155088B - Main and auxiliary medicine box combined gravity center stabilizing device and method and unmanned aerial vehicle - Google Patents
Main and auxiliary medicine box combined gravity center stabilizing device and method and unmanned aerial vehicle Download PDFInfo
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- CN106155088B CN106155088B CN201610687546.8A CN201610687546A CN106155088B CN 106155088 B CN106155088 B CN 106155088B CN 201610687546 A CN201610687546 A CN 201610687546A CN 106155088 B CN106155088 B CN 106155088B
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- 239000003814 drug Substances 0.000 title claims abstract description 240
- 230000005484 gravity Effects 0.000 title claims abstract description 43
- 230000000087 stabilizing effect Effects 0.000 title claims abstract description 17
- 238000000034 method Methods 0.000 title claims abstract description 16
- 239000007788 liquid Substances 0.000 claims abstract description 34
- 238000005507 spraying Methods 0.000 claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 10
- 238000009434 installation Methods 0.000 claims abstract description 9
- 230000008569 process Effects 0.000 claims abstract description 9
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 claims 1
- 239000000203 mixture Substances 0.000 claims 1
- 238000011897 real-time detection Methods 0.000 claims 1
- 239000007921 spray Substances 0.000 claims 1
- 230000001502 supplementing effect Effects 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 description 3
- 229940079593 drug Drugs 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000575 pesticide Substances 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000002002 slurry 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 invention discloses a device for stabilizing the center of gravity by combining a main medicine box and a secondary medicine box, which comprises a bracket, wherein the upper part of the bracket is provided with the secondary medicine box, the lower part of the bracket is provided with the main medicine box, and the middle part of the bracket is provided with an unmanned aerial vehicle installation position; the auxiliary medicine chest and the main medicine chest are symmetrically arranged up and down relative to the gravity center of the unmanned aerial vehicle; the bottom of the auxiliary medicine box is provided with a compensation hole communicated with the main medicine box through a pipeline, and a medicine spraying pump is arranged at the compensation hole; the bottom of the main medicine box is provided with a medicine outlet; the support comprises supporting rods with adjustable heights and a cross beam connected between the supporting rods, and a limiting mechanism for fixing the auxiliary medicine box and the main medicine box is arranged on the cross beam. The invention also discloses a gravity center stabilizing method based on the gravity center stabilizing device and an unmanned aerial vehicle with the gravity center stabilizing device. The invention can adjust the positions of the main medicine box and the auxiliary medicine box through the bracket, and stabilize the balance of the bottom and the upper part of the unmanned aerial vehicle; the liquid medicine flowing and supplementing of the main medicine box and the auxiliary medicine box in the spraying process is realized, and the operation balance of the unmanned aerial vehicle is stabilized.
Description
Technical Field
The invention relates to an unmanned aerial vehicle gravity center balancing device suitable for farmland spraying operation in the field of agricultural engineering, in particular to a device and a method for stabilizing gravity centers by combining a main medicine box and a secondary medicine box, and an unmanned aerial vehicle with the device.
Background
In recent years, unmanned aerial vehicle technology has been developed. Because of the advantages of low cost, good maneuvering characteristics, strong survivability, no risk of casualties and the like, unmanned aerial vehicles occupy extremely important positions in modern military and civil fields, and are also widely applied in agricultural fields.
Unmanned aircraft is light in weight and convenient to operate, but the change of the gravity center of the unmanned aircraft greatly influences the flight and agricultural operation quality of the aircraft. In order to stabilize the flying gravity center of the unmanned aerial vehicle, the rotary-wing unmanned aerial vehicle for spraying pesticides provided by the patent application with the publication number of CN104354864A comprises a machine body with a rotary wing assembly, wherein a plurality of medicine boxes and a pesticide spraying device connected with the medicine boxes are further arranged on the machine body, and all the medicine boxes are tiled and arranged, and the whole horizontal gravity center coincides with the horizontal gravity center of the machine body; the large medicine boxes are decomposed into a plurality of small medicine boxes with equal volume, under the condition that an airplane is suddenly stopped, the horizontal gravity center offset generated by liquid in each medicine box is small, and the total horizontal gravity center offset is much smaller than that of a single medicine box to contain liquid medicine, so that the problem that the flight control cannot correct out-of-control falling ground due to overlarge horizontal gravity center offset change and overlarge inclination angle of the airplane body is avoided.
In addition, the patent application with the publication number of CN203876985U provides a remote control spraying helicopter with an automatic balancing function, which comprises a fuselage, a main rotor, an engine, a tail rod, tail slurry, a vertical tail, an oil tank, a spraying device and a remote control device, wherein the spraying device comprises a medicine storage mechanism, a hose, an air pump and a two-wing rotary spraying mechanism, the medicine storage mechanism consists of a left medicine box, a right medicine box, a rear medicine box, a communicating pipe, a balance pump, a front balance sensor and a rear balance sensor, the left medicine box and the right medicine box are respectively arranged on the left side and the right side of the fuselage, the front ends of the left medicine box and the right medicine box are connected with the two-wing rotary spraying mechanism through the hose and the air pump, and the rear ends of the left medicine box and the right medicine box are connected with the rear medicine box arranged on the tail rod through the communicating pipe and the balance pump; the patent also uses a balancing pump between the three medicine boxes to adjust the horizontal center of gravity.
At present, an unmanned plane on the market generally has only one medicine box, is generally arranged above or below the plane, when the unmanned plane is filled with liquid medicine, the gravity center height of the plane is lower, the liquid medicine in the medicine box is reduced along with the spraying of the liquid medicine, the gravity center of the unmanned plane can be obviously increased, the gravity center height position of the plane is changed, an unbalanced state is formed, the flight stability of the plane is affected, in addition, serious influences are caused on the collection of farmland information, the spraying of fertilizer and the like, and even the unmanned plane is crashed when serious.
Disclosure of Invention
The invention provides a device and a method for stabilizing the center of gravity by combining a main medicine box and an auxiliary medicine box, and an unmanned aerial vehicle, wherein the auxiliary medicine box is added to the unmanned aerial vehicle to balance the whole weight of a machine body, the whole weight of the machine body is regulated by supplementing the auxiliary medicine box along with the reduction of the liquid medicine in the main box body in the operation process of the unmanned aerial vehicle, the balance of the weight of the bottom and the upper part is achieved, and the problems of the side tilting of the machine body caused by the reduction of the liquid medicine of the medicine box at the bottom of the unmanned aerial vehicle are solved.
The specific technical scheme of the invention is as follows:
the device comprises a bracket, wherein the auxiliary medicine box is arranged at the upper part of the bracket, the main medicine box is arranged at the lower part of the bracket, and the middle part of the bracket is an unmanned aerial vehicle mounting position;
the auxiliary medicine chest and the main medicine chest are symmetrically arranged up and down relative to the gravity center of the unmanned aerial vehicle;
the bottom of the auxiliary medicine box is provided with a compensation hole communicated with the main medicine box through a pipeline, and a medicine spraying pump is arranged at the compensation hole;
the bottom of the main medicine box is provided with a medicine outlet;
the support comprises supporting rods with adjustable heights and a cross beam connected between the supporting rods, and a limiting mechanism for fixing the auxiliary medicine box and the main medicine box is arranged on the cross beam.
The invention utilizes two auxiliary medicine boxes and main medicine boxes with identical structures to be respectively arranged at the upper side and the lower side of the unmanned aerial vehicle, so that the unmanned aerial vehicle can keep the gravity center height unchanged after the medicine boxes are matched; meanwhile, in the flight process, with the ejection of the liquid medicine in the main medicine box, the auxiliary medicine box is utilized to compensate the medicine amount in the main medicine box, the upper medicine box and the lower medicine box are kept in weight balance states all the time in the flight process, namely the liquid medicine allowance in the medicine boxes is equal, so that the gravity center height of the unmanned aerial vehicle in the flight process is stabilized, the balance of the weight of the bottom and the upper part is achieved, and the problems of side inclination and the like of the machine body of the bottom medicine box of the unmanned aerial vehicle due to the reduction of the liquid medicine are solved.
Preferably, the auxiliary medicine chest and the main medicine chest are respectively provided with a medicine inlet for injecting medicine liquid into the medicine chest, and the medicine inlets are matched with breathable box covers for balancing the air pressure inside and outside the medicine chest and avoiding negative pressure in the medicine chest to influence the circulation of the medicine liquid.
Further, a liquid flow sensor is arranged at the medicine outlet and used for sending out a signal for controlling the medicine spraying pump.
According to the invention, the liquid flow sensor is utilized to detect the drug output quantity of the main medicine box in real time, so that the drug spraying pump can adjust the compensation quantity of the auxiliary medicine box to the main medicine box according to the detection signal, the compensation quantity is kept to be 1/2 of the drug output quantity of the main medicine box, and the gravity center height balance of the whole unmanned aerial vehicle is realized.
Preferably, the compensation hole on the auxiliary medicine box and the medicine outlet of the main medicine box are both positioned at the lowest center of the bottom of the corresponding box body; namely, the medicine chest is provided with an arc or inclined bottom surface, so that the medicine liquid in the medicine chest can be completely discharged.
In order to prevent the medicine box in the mounting bracket from shaking in the flying process, a limiting mechanism for fixing the medicine box is arranged on a cross beam of the bracket, specifically, the limiting mechanism is a T-shaped beam, and the side surfaces of the main medicine box and the auxiliary medicine box are provided with T-shaped grooves; the T-shaped beam is inserted into the T-shaped groove on the side surface of the medicine box, so that the medicine box is fixed.
Further preferably, the T-shaped beam comprises a horizontal T-shaped beam and a vertical T-shaped beam; the T-shaped groove comprises a horizontal T-shaped groove arranged at the top or the bottom of the box body and a vertical T-shaped groove arranged on the peripheral surface of the box body.
According to the invention, the limit of four directions of front, back, left and right of the medicine chest is realized by arranging the horizontal T-shaped beam and the vertical T-shaped beam, so that the balance of the medicine chest is better kept.
Preferably, the vertical T-shaped beam is positioned between the upper cross beam and the lower cross beam, a limiting block is fixed on the cross beam, and a T-shaped limiting groove matched with the end part of the vertical T-shaped beam is arranged on the limiting block. When the medicine box is installed, the box body can be directly pushed into the horizontal T-shaped beam, but the vertical T-shaped beam is required to adopt a detachable structure so as to be inserted into the vertical T-shaped beam after the medicine box is fixed horizontally.
Preferably, the support rod comprises a loop bar fixed with the bottom cross beam and a telescopic rod fixed with the top cross beam and inserted into the loop bar; the telescopic rod is characterized in that the sleeve rod and the telescopic rod are provided with matched height adjusting holes and are fixed through positioning pins penetrating through the height adjusting holes.
Utilize the height-adjustable's bracing piece to be suitable for not unidimensional unmanned aerial vehicle installation, more can adjust the position of two medical kit about the installation back for two medical kit stack up relative unmanned aerial vehicle body's focus about.
According to the method for realizing the gravity center stabilizing device, the liquid medicine compensation quantity of the auxiliary medicine box flowing to the main medicine box is controlled by the medicine spraying pump according to the flow of the medicine outlet at the bottom of the main medicine box, and the compensation quantity is 1/2 of the medicine outlet flow of the main medicine box, namely, the weight of the auxiliary medicine box above the unmanned aerial vehicle is always the same as the weight of the main medicine box below the unmanned aerial vehicle, and the flying gravity center height of the unmanned aerial vehicle is kept unchanged.
The invention also provides an unmanned aerial vehicle with the stable gravity center device, wherein the stable gravity center device is arranged on the unmanned aerial vehicle, and the unmanned aerial vehicle is fixed in an unmanned aerial vehicle installation position of the bracket.
The invention has simple structure, the positions of the main medicine box and the auxiliary medicine box can be adjusted through the balance bracket, and the balance of the bottom and the upper part of the unmanned aerial vehicle is stabilized; the liquid medicine flowing and supplementing of the main medicine box and the auxiliary medicine box in the spraying process is realized, and the operation balance of the unmanned aerial vehicle is stabilized.
Drawings
FIG. 1 is a general block diagram of a bracket;
FIG. 2 is a side view of a bracket;
FIG. 3 is a diagram of the main medicine box;
fig. 4 is a structural view of the auxiliary medicine chest.
Detailed Description
The center of gravity stabilizing device shown in fig. 1 and 2 comprises a bracket 2, wherein the upper part of the bracket 2 is provided with a secondary medicine box installation position 201, the middle part is provided with an unmanned aerial vehicle installation position 202, and the lower part is provided with a main medicine box installation position 203.
As shown in fig. 3, the main medicine box 10 is provided with a medicine outlet 6, a first medicine inlet 4, a T-shaped groove 5 and a first compensation hole 7, the first medicine inlet 4 and the first compensation hole 7 are respectively arranged at two upper sides of the box body, the first medicine inlet 4 is used for injecting medicine liquid into the main medicine box 10 and is sealed by adopting a breathable box cover 3, so that the air pressure inside and outside the medicine box can be balanced. The T-shaped groove 5 is positioned at the bottom of the box body and is formed by two parallel arranged grooves for installing the main medicine box 10 in the main medicine box installation position 203 in the bracket 2.
In this embodiment, the bottom surface of the main medicine box 10 is a cambered surface, and the medicine outlet 6 is located at the lowest position of the bottom surface of the box body, and the medicine liquid in the box body is sprayed outwards through the medicine outlet 6.
As shown in fig. 4, the auxiliary medicine box 11 is provided with a second medicine inlet 8, a second compensation hole 9 and a T-shaped groove 5. The second medicine inlet 8 is arranged at the upper side of the box body and is used for adding medicine liquid to the auxiliary medicine box 11 and is also sealed by the breathable box cover 3. The auxiliary medicine chest 11 has a flat top surface in which two parallel T-shaped grooves 5 are provided. The second compensating hole 9 is provided with a medicine spraying pump 12, and the second compensating hole 9 is communicated with the first compensating hole 7 on the main medicine box 10 through a pipeline, so that the medicine liquid in the auxiliary medicine box 11 can flow into the main medicine box 10 through the pipeline.
In this embodiment, the auxiliary medicine tank and the main medicine tank have the same capacity and are substantially similar in structure, and are installed in the bracket 2 and symmetrically up and down with respect to the center of gravity of the unmanned aerial vehicle.
The liquid flow sensor 13 is arranged at the medicine outlet 6 of the main medicine box and is used for detecting the medicine outlet amount of the main medicine box in real time, so that the medicine spraying pump can adjust the compensation amount of the auxiliary medicine box to the main medicine box according to the detection signal. Meanwhile, the DSP controller 1 on the bracket 2 is respectively and electrically connected with the liquid flow sensor and the medicine spraying pump.
The support frame 2 includes support bars 21 of adjustable height and cross beams 22 connected between the support bars 21. The support bar 21 includes a loop bar 24 fixed to the top beam and a telescopic bar 25 fixed to the bottom beam and inserted into the loop bar 24, and the loop bar 24 and the telescopic bar 25 are provided with a height adjusting hole 26 matched with each other and fixed by a positioning pin 27 passing through the height adjusting hole 26 so as to maintain the height of the support bar 21 unchanged.
In this embodiment, in order to prevent the medicine box in the mounting bracket from shaking during the flight, a T-shaped beam for fixing the medicine box is arranged on the cross beam 22 of the bracket, and the medicine box is fixed by inserting the T-shaped beam into the T-shaped groove 5 on the side surface of the medicine box. The T-beam comprises a horizontal T-beam 23 and a vertical T-beam 31; the T-shaped groove comprises a horizontal T-shaped groove arranged at the top or the bottom of the box body and a vertical T-shaped groove arranged on the peripheral surface of the box body. When the medicine box is installed, the horizontal T-shaped beam 23 is inserted into the horizontal T-shaped groove, and the vertical T-shaped beam 31 is inserted into the vertical T-shaped groove, so that the medicine box is fixed.
Wherein, the vertical T-shaped beam 31 is positioned between the upper and lower cross beams, a limiting block 32 is fixed on the cross beams, and a T-shaped limiting groove matched with the end part of the vertical T-shaped beam 31 is arranged on the limiting block 32. When the medicine box is installed, the box body can be directly pushed into the horizontal T-shaped beam, but the vertical T-shaped beam is required to adopt a detachable structure so as to be inserted into the vertical T-shaped beam after the medicine box is fixed horizontally.
In this embodiment, the loop bar 24 and the telescopic bar 25 are externally threaded, and the first lifting beam 28 is sleeved between the loop bar 24, the limiting blocks 32 are oppositely arranged on the first lifting beam 28 and the beam 22, the vertical T-shaped 31 is inserted between the two limiting blocks 32, and the first lifting beam 28 can slide relative to the loop bar 24 and is fixed through the positioning nut 30. For example, when the auxiliary medicine box 11 is installed, the height of the first lifting beam 28 is lowered first, so that the auxiliary medicine box 11 can be installed in a bracket, the horizontal T-shaped beam 23 is inserted into the T-shaped groove 5 at the top of the auxiliary medicine box 11, then the vertical T-shaped beam 31 is inserted into the T-shaped groove at one side surface of the auxiliary medicine box 11, the height of the first lifting beam 28 is raised again, so that two ends of the vertical T-shaped beam 31 are just positioned in the T-shaped limit grooves of the two limit blocks 32, and the positioning nuts 30 are screwed down, so that the auxiliary medicine box 11 between the first lifting beam 28 and the top beam is fixed. Similarly, the main medicine box is also fixed by a locking nut 33 and a second lifting cross beam 29 which is in sliding fit with the telescopic rod.
By utilizing the stable gravity center device, in the operation flight process of the unmanned aerial vehicle, the liquid flow sensor 13 detects the flow of the medicine outlet 6 on the main medicine box in real time, the liquid flow sensor 13 transmits the liquid medicine value sprayed by the medicine outlet 6 of the main medicine box 10 to the DSP controller 1, the DSP controller 1 transmits the processed signal to the medicine spraying pump 12 at the second compensation hole 9 of the auxiliary medicine box 11, the medicine spraying pump can adjust the compensation quantity of the auxiliary medicine box to the main medicine box according to the detection signal, the compensation quantity is controlled to be 1/2 of the medicine outlet of the main medicine box, and the gravity center height balance of the whole unmanned aerial vehicle is maintained.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (9)
1. A steady focus device that main and auxiliary medicine case combined together, includes support, its characterized in that: the upper part of the bracket is provided with a secondary medicine box, the lower part of the bracket is provided with a main medicine box, and the middle part of the bracket is an unmanned aerial vehicle installation position;
the auxiliary medicine chest and the main medicine chest are symmetrically arranged up and down relative to the gravity center of the unmanned aerial vehicle;
the bottom of the auxiliary medicine box is provided with a compensation hole communicated with the main medicine box through a pipeline, and a medicine spraying pump is arranged at the compensation hole;
the bottom of the main medicine box is provided with a medicine outlet;
the support comprises support rods with adjustable height and a cross beam connected between the support rods, and a limiting mechanism for fixing the auxiliary medicine box and the main medicine box is arranged on the cross beam;
the support rod comprises a loop bar fixed with the bottom cross beam and a telescopic rod fixed with the top cross beam and inserted into the loop bar; the sleeve rod and the telescopic rod are provided with matched height adjusting holes and are fixed through positioning pins penetrating through the height adjusting holes;
the auxiliary medicine box is provided with a second medicine inlet, a second compensation hole and a T-shaped groove; a liquid flow sensor is arranged at the medicine outlet of the main medicine box; the DSP controller on the bracket is respectively and electrically connected with the liquid flow sensor and the medicine spraying pump;
in unmanned aerial vehicle operation flight process, liquid flow sensor passes through the flow of real-time detection main medicine case go up medicine outlet department, liquid flow sensor gives DSP controller with the liquid medicine quantity value transmission that the medicine outlet of main medicine case sprayed, DSP controller transmits the second compensation hole department of vice medicine case after with signal processing and spouts the medicine pump for spout the medicine pump can adjust the compensation volume of vice medicine case to main medicine case according to this detected signal, and the control compensation volume is 1/2 of main medicine case medicine outlet flow, keeps whole unmanned aerial vehicle's focus altitude mixture control.
2. The gravity center stabilizing device according to claim 1, wherein the auxiliary medicine box and the main medicine box are provided with medicine inlets, and the medicine inlets are matched with breathable box covers.
3. The center of gravity stabilizing device of claim 1, wherein a liquid flow sensor is used to signal control of the spray pump.
4. The center of gravity stabilizing device of claim 1, wherein the compensation hole in the auxiliary medicine box and the medicine outlet of the main medicine box are both positioned at the lowest center of the bottom of the corresponding box.
5. The center of gravity stabilizing device of claim 1, wherein the limiting mechanism is a T-beam, and the sides of the main medicine chest and the auxiliary medicine chest are provided with T-shaped grooves.
6. The center of gravity stabilizing device of claim 5, wherein said T-beams include a horizontal T-beam and a vertical T-beam;
the T-shaped groove comprises a horizontal T-shaped groove arranged at the top or the bottom of the box body and a vertical T-shaped groove arranged on the peripheral surface of the box body.
7. The gravity center stabilizing device according to claim 6, wherein the vertical T-shaped beam is located between the upper and lower cross beams, and a limiting block is fixed on the cross beams, and is provided with a T-shaped limiting groove matched with the end of the vertical T-shaped beam.
8. A method for stabilizing a gravity center device according to any one of claims 1 to 7, wherein the liquid medicine compensation amount of the auxiliary medicine box flowing to the main medicine box is controlled by the medicine spraying pump according to the flow of the medicine outlet at the bottom of the main medicine box, and the compensation amount is 1/2 of the medicine outlet flow of the main medicine box.
9. An unmanned aerial vehicle with a stable gravity center device, characterized in that the stable gravity center device as claimed in any one of claims 1 to 7 is mounted on the unmanned aerial vehicle, and the unmanned aerial vehicle is fixed in the unmanned aerial vehicle mounting position of the bracket.
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 |
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| 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 |
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| CN106155088A CN106155088A (en) | 2016-11-23 |
| CN106155088B true CN106155088B (en) | 2024-02-23 |
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| CN106114822A (en) * | 2016-08-03 | 2016-11-16 | 安阳全丰航空植保科技股份有限公司 | The dynamic many rotors agricultural plant protection helicopter flight attitude regulator control system of oil |
| CN107728631B (en) * | 2017-09-25 | 2021-06-18 | 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 quality measurement |
| CN107804465A (en) * | 2017-12-12 | 2018-03-16 | 赵有科 | A kind of fixing device of unmanned plane apparatus for automatically loading |
| CN108528677B (en) * | 2018-04-10 | 2021-09-24 | 河南省豫石地质勘查技术有限公司 | Gravity center self-adjusting unmanned aerial vehicle |
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| CN106155088A (en) | 2016-11-23 |
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