JP2020024123A - Center-of-gravity position measurement method - Google Patents

Center-of-gravity position measurement method Download PDF

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JP2020024123A
JP2020024123A JP2018148044A JP2018148044A JP2020024123A JP 2020024123 A JP2020024123 A JP 2020024123A JP 2018148044 A JP2018148044 A JP 2018148044A JP 2018148044 A JP2018148044 A JP 2018148044A JP 2020024123 A JP2020024123 A JP 2020024123A
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JP7142902B2 (en
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鈴木　陽一
Yoichi Suzuki
陽一 鈴木
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Aeronext Inc
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Abstract

To provide electronic parts that can perform ex-fact posture control of a flying vehicle, as well.SOLUTION: A flying vehicle's center-of-gravity position measurement method according to the present invention comprises the steps of: attaching two jigs extending parallely in a first horizontal direction to a flying vehicle, and identifying a first center-of-gravity point getting balanced in the first horizontal direction; attaching two jigs extending parallely in a second horizontal direction orthogonal to the first horizontal direction to the flying vehicle, and identifying a second center-of-gravity point getting balanced in the second horizontal direction; attaching two jigs extending parallely in a vertical direction to the flying vehicle, and when supporting respective two jigs by one point in a state where the flying vehicle laterally toppled so as to be parallel with a horizontal plane, identifying a third center-of-gravity point getting balanced in a second horizontal plane; and identifying an intersection point of the first center-of-gravity point, the second center-of-gravity point and the third center-of-gravity point.SELECTED DRAWING: Figure 3

Description

本発明は、重心位置測定方法に関する。   The present invention relates to a method of measuring a center of gravity position.

近年、ドローン（Ｄｒｏｎｅ）や無人航空機（ＵＡＶ：Ｕｎｍａｎｎｅｄ Ａｅｒｉａｌ Ｖｅｈｉｃｌｅ）などの飛行体（以下、「飛行体」と総称する）を利用して荷物の配達を行う試みがなされている。特許文献１には、飛行体による配達システムが開示されている（例えば、特許文献１参照）。   2. Description of the Related Art In recent years, attempts have been made to deliver luggage using a flying object such as a drone (Drone) or an unmanned aerial vehicle (UAV) (hereinafter, collectively referred to as an “flying object”). Patent Document 1 discloses a delivery system using a flying object (for example, see Patent Document 1).

小型飛行体の姿勢がどの様に変化しても、安定して鉛直下方又は上方の画像を撮影可能である航空写真システムも提供されている（例えば、特許文献２及び特許文献３参照）。図１及び図２に示されるように、飛行体は、ジンバルを介して任意の方向に傾斜自在に支持されたカメラを有している。   An aerial photographing system that can stably capture an image vertically below or above no matter how the attitude of the small aircraft changes (see, for example, Patent Documents 2 and 3). As shown in FIGS. 1 and 2, the flying object has a camera supported by a gimbal so as to be tiltable in an arbitrary direction.

米国特許公開公報２０１５−０１２００９４ Ａ１U.S. Patent Publication No. 2015-0120094 A1 特開２０１４−１６７４１３号公報JP 2014-167413 A 特開２０１６−２１９９４１号公報JP-A-2006-219941

特許文献２及び特許文献３に開示されている技術は、いずれも、飛行体の姿勢制御に資する構造であるが、これらの構造は、必ずしも飛行体の重心位置を考慮した構造とは言えない。従って、突発的な風向きの変化や重量物（ペイロード）の変化によって姿勢を崩した場合、機体のバランスが崩れやすく落下の原因となる。   Each of the technologies disclosed in Patent Documents 2 and 3 is a structure that contributes to attitude control of an air vehicle, but these structures are not necessarily structures that take into account the position of the center of gravity of the air vehicle. Therefore, if the posture is lost due to a sudden change in the wind direction or a change in the weight (payload), the balance of the airframe is likely to be lost, causing a drop.

一方で、複雑な構造の飛行体における重心の位置を事後的に特定する方法は今だ簡易的なものが提案されていない。   On the other hand, a simple method has not yet been proposed for a posteriori method of specifying the position of the center of gravity of a flying object having a complicated structure.

そこで、本発明は、飛行体の重心位置を簡易的な方法で特定する方法を提供することを一つの目的とする。   Therefore, an object of the present invention is to provide a method for specifying the position of the center of gravity of a flying object by a simple method.

本発明によれば、
飛行体の重心位置測定方法であって、
第１水平方向に平行に延びる２本の冶具を互いに離間した状態で前記飛行体に取り付ける第１取付ステップと、
２本の前記冶具の夫々を１点で支持した際に前記飛行体の前記第１水平方向における釣り合いの取れている第１重心点を特定するステップと、
前記第１水平方向と直交する第２水平方向に平行に延びる２本の冶具を互いに離間した状態で前記飛行体に取り付ける第２取付ステップと、
２本の前記冶具の夫々を１点で支持した際に前記飛行体の前記第２水平方向における釣り合いの取れている第２重心点を特定するステップと、
前記第１水平方向及び前記第２水平方向の双方と直交する垂直方向に平行に延びる２本の冶具を互いに離間した状態で前記飛行体に取り付ける第３取付ステップと、
２本の前記冶具が前記第１水平方向及び前記第２水平方向で規定される水平面と平行になるように前記飛行体を横に倒した状態で、２本の当該冶具夫々を１点で支持した際に前記飛行体の前記第２水平面における釣り合いの取れた第３重心点を特定するステップと、
前記第１重心点と、前記第２重心点と、前記第３重心点との交点を前記飛行体の前記重心位置として特定するステップと、
を備える、重心位置測定方法が得られる。 According to the present invention,
A method of measuring the center of gravity of a flying object,
A first attaching step of attaching two jigs extending in parallel to the first horizontal direction to the flying body while being separated from each other;
Identifying each of the two centrifugal points of the flying object that are balanced in the first horizontal direction when each of the two jigs is supported at one point;
A second attaching step of attaching two jigs extending in parallel to a second horizontal direction orthogonal to the first horizontal direction to the flying object while being separated from each other;
Identifying a balanced second centroid point of the flying object in the second horizontal direction when each of the two jigs is supported at one point;
A third attachment step of attaching two jigs extending parallel to a vertical direction perpendicular to both the first horizontal direction and the second horizontal direction to the flying body in a state where the jigs are separated from each other;
Each of the two jigs is supported at one point while the flying object is laid down sideways so that the two jigs are parallel to a horizontal plane defined by the first horizontal direction and the second horizontal direction. Identifying a balanced third center of gravity of the flying object in the second horizontal plane when
Specifying an intersection of the first center of gravity, the second center of gravity, and the third center of gravity as the center of gravity of the flying object;
The method for measuring the position of the center of gravity, comprising:

本発明によれば、飛行体の重心位置を簡易的な方法で特定することができる。   According to the present invention, the position of the center of gravity of the flying object can be specified by a simple method.

本発明の実施の形態によるＸ方向の重心位置を特定するステップを示す図である。FIG. 5 is a diagram illustrating a step of specifying the position of the center of gravity in the X direction according to the embodiment of the present invention. 本発明の実施の形態によるＹ方向の重心位置を特定するステップを示す図である。FIG. 4 is a diagram illustrating a step of specifying a center of gravity position in the Y direction according to the embodiment of the present invention. 本発明の実施の形態によるＺ方向の重心位置を特定するステップを示す図である。FIG. 5 is a diagram illustrating a step of specifying the position of the center of gravity in the Z direction according to the embodiment of the present invention.

本発明の実施形態の内容を列記して説明する。本発明の実施の形態による電子部品は、以下のような構成を備える。
［項目１］
飛行体の重心位置測定方法であって、
第１水平方向に平行に延びる２本の冶具を互いに離間した状態で前記飛行体に取り付ける第１取付ステップと、
２本の前記冶具の夫々を１点で支持した際に前記飛行体の前記第１水平方向における釣り合いの取れている第１重心点を特定するステップと、
前記第１水平方向と直交する第２水平方向に平行に延びる２本の冶具を互いに離間した状態で前記飛行体に取り付ける第２取付ステップと、
２本の前記冶具の夫々を１点で支持した際に前記飛行体の前記第２水平方向における釣り合いの取れている第２重心点を特定するステップと、
前記第１水平方向及び前記第２水平方向の双方と直交する垂直方向に平行に延びる２本の冶具を互いに離間した状態で前記飛行体に取り付ける第３取付ステップと、
２本の前記冶具が前記第１水平方向及び前記第２水平方向で規定される水平面と平行になるように前記飛行体を横に倒した状態で、２本の当該冶具夫々を１点で支持した際に前記飛行体の前記第２水平面における釣り合いの取れた第３重心点を特定するステップと、
前記第１重心点と、前記第２重心点と、前記第３重心点との交点を前記飛行体の前記重心位置として特定するステップと、
を備える、重心位置測定方法。
［項目２］
前記第１取付ステップは、前記冶具を前記第１水平方向における仮想直線と前記飛行体とが交差する少なくとも２点に取り付けるステップであり、
前記第２取付ステップは、前記冶具を前記第２水平方向における仮想直線と前記飛行体とが交差する少なくとも２点に取り付けるステップである、
重心位置測定方法。
［項目３］
項目２に記載の重心位置測定方法であって、
前記飛行体は少なくとも前記第１水平方向又は前記第２水平方向に延びる仮想直線状に配置されるモータ部を有しており、前記２本の冶具は前記モータ部に取り付けられる、
重心位置測定方法。
［項目４］
項目２又は項目３に記載の重心位置測定方法であって、
前記飛行体は少なくとも前記第１水平方向又は前記第２水平方向に延びる仮想直線状と少なくとも２点で交差するフレーム部を有しており、前記２本の冶具は前記フレーム部の前記２点に取り付けられる、
重心位置測定方法。
［項目５］
項目２乃至項目４のいずれかに記載の重心位置測定方法であって、
前記飛行体は少なくとも前記第１水平方向又は前記第２水平方向に延びる仮想直線状と少なくとも２点で交差するプロペラガード部を有しており、前記２本の冶具は前記プロペラガード部の前記２点に取り付けられる、
重心位置測定方法。
［項目６］
項目１乃至項目５のいずれかに記載の重心位置測定方法であって、
前記第３取付ステップにおける前記冶具は、前記第１取付ステップ又は前記第２取付ステップにおいて取り付けられた冶具に取り付けられる、
重心位置測定方法。
［項目７］
項目１乃至項目６のいずれかに記載の重心位置測定方法に使用される冶具。 The contents of the embodiment of the present invention will be listed and described. The electronic component according to the embodiment of the present invention has the following configuration.
[Item 1]
A method of measuring the center of gravity of a flying object,
A first attaching step of attaching two jigs extending in parallel to the first horizontal direction to the flying body while being separated from each other;
Identifying each of the two centrifugal points of the flying object that are balanced in the first horizontal direction when each of the two jigs is supported at one point;
A second attaching step of attaching two jigs extending in parallel to a second horizontal direction orthogonal to the first horizontal direction to the flying object while being separated from each other;
Identifying a balanced second centroid point of the flying object in the second horizontal direction when each of the two jigs is supported at one point;
A third attachment step of attaching two jigs extending parallel to a vertical direction perpendicular to both the first horizontal direction and the second horizontal direction to the flying body in a state where the jigs are separated from each other;
Each of the two jigs is supported at one point while the flying object is laid down sideways so that the two jigs are parallel to a horizontal plane defined by the first horizontal direction and the second horizontal direction. Identifying a balanced third center of gravity of the flying object in the second horizontal plane when
Specifying an intersection of the first center of gravity, the second center of gravity, and the third center of gravity as the center of gravity of the flying object;
A method of measuring the center of gravity, comprising:
[Item 2]
The first attaching step is a step of attaching the jig to at least two points where the virtual straight line in the first horizontal direction intersects with the flying object,
The second attaching step is a step of attaching the jig to at least two points where the virtual straight line in the second horizontal direction intersects with the flying object.
The method of measuring the center of gravity.
[Item 3]
A method of measuring a center of gravity position according to item 2, wherein
The flying object has a motor unit that is arranged in a virtual straight line extending at least in the first horizontal direction or the second horizontal direction, and the two jigs are attached to the motor unit.
The method of measuring the center of gravity.
[Item 4]
A method of measuring a center of gravity position according to item 2 or 3, wherein:
The flying object has a frame portion that intersects at least two points with a virtual straight line extending in at least the first horizontal direction or the second horizontal direction, and the two jigs are provided at the two points of the frame portion. It is attached,
The method of measuring the center of gravity.
[Item 5]
A method of measuring a center of gravity position according to any one of items 2 to 4, wherein
The flying object has a propeller guard portion that intersects at least two points with an imaginary straight line extending in at least the first horizontal direction or the second horizontal direction. Attached to a point,
Method of measuring the center of gravity.
[Item 6]
A method of measuring the position of the center of gravity according to any one of items 1 to 5,
The jig in the third attaching step is attached to the jig attached in the first attaching step or the second attaching step.
The method of measuring the center of gravity.
[Item 7]
A jig used in the method of measuring the position of the center of gravity according to any one of items 1 to 6.

＜実施の形態の詳細＞
以下、本発明の実施の形態について、図面を参照しながら説明する。 <Details of Embodiment>
Hereinafter, embodiments of the present invention will be described with reference to the drawings.

＜概略＞
本発明の実施の形態による重心位置測定方法は、ドローン等の飛行体の重心位置を測定するための方法である。本実施の形態による重心位置測定方法は、Ｘ方向における重心が存在し得る仮想直線（「Ｘ方向重心線」と呼ぶ）と、Ｙ方向における重心が存在し得る仮想直線及びＺ方向における重心が存在し得る仮想直線の交点を飛行体の上記重心と推定するものである。 <Outline>
The center-of-gravity position measuring method according to the embodiment of the present invention is a method for measuring the center-of-gravity position of a flying object such as a drone. The center-of-gravity position measuring method according to the present embodiment includes a virtual straight line that may have a center of gravity in the X direction (referred to as “X-direction barycentric line”), a virtual straight line that may have a center of gravity in the Y direction, and a center of gravity in the Z direction. The intersection of the possible virtual straight lines is estimated as the center of gravity of the flying object.

以下、Ｘ方向重心線を測定するステップ（第１取付ステップおよび第３重心点を特定するステップ）、Ｙ方向重心線を測定するステップ（第２取付ステップおよび第３重心点を特定するステップ）、Ｚ方向重心線を測定するステップ（第３取付ステップおよび第３重心点を特定するステップ）の順に説明する。   Hereinafter, a step of measuring the X-direction barycentric line (a step of specifying the first mounting step and the third barycentric point), a step of measuring the Y-direction barycentric line (a step of specifying the second mounting step and the third barycentric point), The steps of measuring the Z-direction barycentric line (the third mounting step and the step of specifying the third barycentric point) will be described in this order.

第１取付ステップでは、まず、図１に示されるように、モータ１ａ、１ｂ、１ｃ、１ｄに２本の冶具を取り付ける。冶具はＸ向と平行な方向に長尺の細長い棒状のものである。第１治具２ａはモータ１ａ、１ｂに取り付け、第２治具２ｂはモータ１ｃ、１ｄに取り付ける。これにより、２本の冶具２ａ、２ｂは、機体に固定される。   In the first mounting step, first, as shown in FIG. 1, two jigs are mounted on the motors 1a, 1b, 1c and 1d. The jig is a long and narrow rod shaped in a direction parallel to the X direction. The first jig 2a is attached to the motors 1a and 1b, and the second jig 2b is attached to the motors 1c and 1d. Thereby, the two jigs 2a and 2b are fixed to the body.

第１重心点を特定するステップでは、この２つの治具を利用し、機体を釣り上げる。それぞれの治具のある１点ずつＰ１、Ｐ２を支持点として、機体を空中に釣り上げ、機体が水平なバランスを保持するようなＰ１、Ｐ２の位置を特定する。その位置のＰ１、Ｐ２を通る線分をＧ１とする。このとき、Ｇ１を含みＺ方向に対して平行な平面に機体の重心が存在する。   In the step of specifying the first center of gravity, the aircraft is caught using these two jigs. With the P1 and P2 as supporting points for each of the jigs, the aircraft is lifted in the air, and the positions of P1 and P2 at which the aircraft maintains a horizontal balance are specified. A line segment passing through P1 and P2 at that position is defined as G1. At this time, the center of gravity of the aircraft exists on a plane that includes G1 and is parallel to the Z direction.

第２取付ステップでは、まず、図２に示されるように、モータ１ａ、１ｂ、１ｃ、１ｄに２本の治具を取り付ける。治具はＹ向と平行な方向に長尺の細長い棒状のものである。第３治具２ｃはモータ１ａ、１ｃに取り付け、第４治具２ｄはモータ１ｂ、１ｄに取り付ける。これにより、２本の治具２、２ｄは、機体に固定される。   In the second mounting step, first, as shown in FIG. 2, two jigs are mounted on the motors 1a, 1b, 1c and 1d. The jig is a long and narrow rod shaped in a direction parallel to the Y direction. The third jig 2c is attached to the motors 1a and 1c, and the fourth jig 2d is attached to the motors 1b and 1d. Thereby, the two jigs 2 and 2d are fixed to the body.

第２重心点を特定するステップでは、この２つの治具を利用し、機体を釣り上げる。それぞれの治具のある１点ずつＰ３、Ｐ４を支持点として、機体を空中に釣り上げ、機体が水平なバランスを保持するようなＰ３、Ｐ４の位置を特定する。その位置のＰ３、Ｐ４を両端とした線分をＧ２とする。Ｇ２を含んでおり、かつ、Ｚ方向に対して平行な平面は、機体の重心を含んだ平面である。   In the step of specifying the second center of gravity, the aircraft is caught using these two jigs. Using the jigs at certain points P3 and P4 as supporting points, the aircraft is fished in the air, and the positions of P3 and P4 that maintain the horizontal balance of the aircraft are specified. A line segment having both ends of P3 and P4 at that position is defined as G2. A plane that includes G2 and that is parallel to the Z direction is a plane that includes the center of gravity of the aircraft.

第３取付ステップでは、まず、図３に示されるように、機体を水平方向に対して９０°傾けた状態でおく。そして、Ｚ方向の負の向き側にある、モータ１ｃ、１ｄに、それぞれ、第５治具２ｅ及び第６治具２ｆを取り付ける。治具はＹ向と平行な方向に長尺の細長い棒状のものである。これにより、２本の治具２ｅ、２ｆは、機体に固定される。   In the third mounting step, first, as shown in FIG. 3, the body is inclined at 90 ° with respect to the horizontal direction. Then, the fifth jig 2e and the sixth jig 2f are attached to the motors 1c and 1d on the negative side in the Z direction, respectively. The jig has a long and narrow rod shape in a direction parallel to the Y direction. Thereby, the two jigs 2e and 2f are fixed to the body.

第３重心点を特定するステップでは、この２つの治具を利用し、機体を釣り上げる。それぞれの治具のある１点ずつＰ５、Ｐ６を支持点として、機体を空中に釣り上げ、機体が水平なバランスを保持するようなＰ５、Ｐ６の位置を特定する。その位置のＰ５、Ｐ６を両端とした線分をＧ３とする。Ｇ３を含んでおり、かつＺ方向に平行な平面は、機体の重心を含んだ平面である。   In the step of specifying the third center of gravity, the aircraft is caught using these two jigs. With the P5 and P6 as supporting points, each of the jigs is used as a support point, and the aircraft is caught in the air, and the positions of P5 and P6 at which the aircraft maintains a horizontal balance are specified. A line segment having both ends of P5 and P6 at that position is defined as G3. A plane that includes G3 and is parallel to the Z direction is a plane that includes the center of gravity of the aircraft.

上記の全ステップを踏んで得られた３平面が交わる一点は、機体の重心である。以上の手順により、機体重心位置を測定する。   One point where the three planes obtained by taking all the above steps intersect is the center of gravity of the aircraft. According to the above procedure, the position of the machine body weight is measured.

１ａ〜１ｄ モータ
２ａ 第１治具
２ｂ 第２治具
２ｃ 第３治具
２ｄ 第４治具
２ｅ 第５治具
２ｆ 第６治具
Ｇ１ 第１重心線
Ｇ２ 第２重心線
Ｇ３ 第３重心線
Ｐ１〜６ 支持点

1a to 1d Motor 2a First jig 2b Second jig 2c Third jig 2d Fourth jig 2e Fifth jig Gf Sixth jig G1 First center line G2 Second center line G3 Third center line P1 -6 support points

Claims (7)

飛行体の重心位置測定方法であって、
第１水平方向に平行に延びる２本の冶具を互いに離間した状態で前記飛行体に取り付ける第１取付ステップと、
２本の前記冶具の夫々を１点で支持した際に前記飛行体の前記第１水平方向における釣り合いの取れている第１重心点を特定するステップと、
前記第１水平方向と直交する第２水平方向に平行に延びる２本の冶具を互いに離間した状態で前記飛行体に取り付ける第２取付ステップと、
２本の前記冶具の夫々を１点で支持した際に前記飛行体の前記第２水平方向における釣り合いの取れている第２重心点を特定するステップと、
前記第１水平方向及び前記第２水平方向の双方と直交する垂直方向に平行に延びる２本の冶具を互いに離間した状態で前記飛行体に取り付ける第３取付ステップと、
２本の前記冶具が前記第１水平方向及び前記第２水平方向で規定される水平面と平行になるように前記飛行体を横に倒した状態で、２本の当該冶具夫々を１点で支持した際に前記飛行体の前記第２水平面における釣り合いの取れた第３重心点を特定するステップと、
前記第１重心点と、前記第２重心点と、前記第３重心点との交点を前記飛行体の前記重心位置として特定するステップと、
を備える、重心位置測定方法。 A method of measuring the center of gravity of a flying object,
A first attaching step of attaching two jigs extending in parallel to the first horizontal direction to the flying body while being separated from each other;
Identifying each of the two centrifugal points of the flying object that are balanced in the first horizontal direction when each of the two jigs is supported at one point;
A second attaching step of attaching two jigs extending in parallel to a second horizontal direction orthogonal to the first horizontal direction to the flying object while being separated from each other;
Identifying a balanced second centroid point of the flying object in the second horizontal direction when each of the two jigs is supported at one point;
A third attachment step of attaching two jigs extending parallel to a vertical direction perpendicular to both the first horizontal direction and the second horizontal direction to the flying body in a state where the jigs are separated from each other;
Each of the two jigs is supported at one point while the flying object is laid down sideways so that the two jigs are parallel to a horizontal plane defined by the first horizontal direction and the second horizontal direction. Identifying a balanced third center of gravity of the flying object in the second horizontal plane when
Specifying an intersection of the first center of gravity, the second center of gravity, and the third center of gravity as the center of gravity of the flying object;
A method of measuring the center of gravity, comprising: 前記第１取付ステップは、前記冶具を前記第１水平方向における仮想直線と前記飛行体とが交差する少なくとも２点に取り付けるステップであり、
前記第２取付ステップは、前記冶具を前記第２水平方向における仮想直線と前記飛行体とが交差する少なくとも２点に取り付けるステップである、
重心位置測定方法。 The first attaching step is a step of attaching the jig to at least two points where the virtual straight line in the first horizontal direction intersects with the flying object,
The second attaching step is a step of attaching the jig to at least two points where the virtual straight line in the second horizontal direction intersects with the flying object.
The method of measuring the center of gravity. 請求項２に記載の重心位置測定方法であって、
前記飛行体は少なくとも前記第１水平方向又は前記第２水平方向に延びる仮想直線状に配置されるモータ部を有しており、前記２本の冶具は前記モータ部に取り付けられる、
重心位置測定方法。 The method of measuring the position of the center of gravity according to claim 2, wherein
The flying object has a motor unit arranged at least in a virtual straight line extending in the first horizontal direction or the second horizontal direction, and the two jigs are attached to the motor unit.
The method of measuring the center of gravity. 請求項２又は請求項３に記載の重心位置測定方法であって、
前記飛行体は少なくとも前記第１水平方向又は前記第２水平方向に延びる仮想直線状と少なくとも２点で交差するフレーム部を有しており、前記２本の冶具は前記フレーム部の前記２点に取り付けられる、
重心位置測定方法。 The method of measuring the position of the center of gravity according to claim 2 or 3, wherein
The flying object has a frame portion that intersects at least two points with a virtual straight line extending in at least the first horizontal direction or the second horizontal direction, and the two jigs are provided at the two points of the frame portion. It is attached,
The method of measuring the center of gravity. 請求項２乃至請求項４のいずれかに記載の重心位置測定方法であって、
前記飛行体は少なくとも前記第１水平方向又は前記第２水平方向に延びる仮想直線状と少なくとも２点で交差するプロペラガード部を有しており、前記２本の冶具は前記プロペラガード部の前記２点に取り付けられる、
重心位置測定方法。 A method of measuring the position of the center of gravity according to any one of claims 2 to 4, wherein
The flying object has a propeller guard portion that intersects at least two points with an imaginary straight line extending in at least the first horizontal direction or the second horizontal direction, and the two jigs are connected to the propeller guard portion of the propeller guard portion. Attached to a point,
The method of measuring the center of gravity. 請求項１乃至請求項５のいずれかに記載の重心位置測定方法であって、
前記第３取付ステップにおける前記冶具は、前記第１取付ステップ又は前記第２取付ステップにおいて取り付けられた冶具に取り付けられる、
重心位置測定方法。 A method of measuring the position of the center of gravity according to any one of claims 1 to 5, wherein
The jig in the third attaching step is attached to the jig attached in the first attaching step or the second attaching step.
The method of measuring the center of gravity. 請求項１乃至請求項６のいずれかに記載の重心位置測定方法に使用される冶具。

A jig used in the method of measuring the position of the center of gravity according to claim 1.

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022191279A1 (en) 2021-03-12 2022-09-15 ｑｕｉｎｔｕｐｌｅ ａｉｒ株式会社 Seat determination system

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59917U (en) * 1982-06-25 1984-01-06 三菱重工業株式会社 measuring device
JPH0643061A (en) * 1992-07-23 1994-02-18 Ishikawajima Inspection & Instrumentation Co Lifting-type center-of-gravity measuring apparatus

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59917U (en) * 1982-06-25 1984-01-06 三菱重工業株式会社 measuring device
JPH0643061A (en) * 1992-07-23 1994-02-18 Ishikawajima Inspection & Instrumentation Co Lifting-type center-of-gravity measuring apparatus

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022191279A1 (en) 2021-03-12 2022-09-15 ｑｕｉｎｔｕｐｌｅ ａｉｒ株式会社 Seat determination system

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