CN114180039A - A system and method for adjusting the center of gravity of a transport unmanned helicopter - Google Patents
A system and method for adjusting the center of gravity of a transport unmanned helicopter Download PDFInfo
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- CN114180039A CN114180039A CN202111488449.3A CN202111488449A CN114180039A CN 114180039 A CN114180039 A CN 114180039A CN 202111488449 A CN202111488449 A CN 202111488449A CN 114180039 A CN114180039 A CN 114180039A
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- 230000005484 gravity Effects 0.000 title claims abstract description 87
- 238000000034 method Methods 0.000 title claims abstract description 14
- 239000000446 fuel Substances 0.000 claims abstract description 52
- 239000000295 fuel oil Substances 0.000 claims abstract description 16
- 230000008859 change Effects 0.000 claims abstract description 10
- 239000002828 fuel tank Substances 0.000 claims description 26
- 230000000712 assembly Effects 0.000 claims description 14
- 238000000429 assembly Methods 0.000 claims description 14
- 239000003921 oil Substances 0.000 claims description 12
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 2
- 238000005259 measurement Methods 0.000 claims 2
- 230000007613 environmental effect Effects 0.000 abstract 1
- 230000009471 action Effects 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D37/00—Arrangements in connection with fuel supply for power plant
- B64D37/02—Tanks
- B64D37/04—Arrangement thereof in or on aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a gravity center adjusting system for a transportation unmanned helicopter. The invention also discloses a method for adjusting the gravity center of the unmanned helicopter, which comprises the following steps: firstly, carrying goods in a nacelle component by an unmanned helicopter, and taking off to execute a flight task; then, after the unmanned helicopter descends in different places, fuel is supplemented through the fuel adjusting unit; then, the gravity center adjusting device senses the change and displays the gravity center position in real time; and finally, balancing the gravity center of the overall structure of the unmanned helicopter by adjusting the goods in the slide rail structure or the nacelle assembly. The invention can utilize fuel oil and cargo loading to adjust the gravity center of the unmanned transport helicopter, solves the problem that the fuel oil can not be supplemented due to the limitation of environmental conditions during the remote take-off, realizes the more reasonable target of weight distribution and use of the helicopter, and greatly improves the cruising ability and the cargo carrying ability.
Description
Technical Field
The invention belongs to the technical field of mechanical devices and transportation, and particularly relates to a gravity center adjusting system and method for a transportation unmanned helicopter.
Background
The unmanned transportation helicopter has vertical take-off and landing and air hovering capabilities, and the point-to-point air transportation mode has great advantages for conditions with complex terrain and severe environment. Due to the limitation of transportation environment, the remote refueling can not be realized, so that the requirements of remote transportation and round trip transportation of goods are difficult to meet, and the defect of low cruising ability caused by lack of fuel is more obvious. Due to the structural layout characteristics of the unmanned transport helicopter, the front end of the helicopter needs to be subjected to counterweight design, so that the gravity center of the helicopter is adjusted. At present, the main counterweight form is to install a counterweight block at the front end of an airplane body to adjust the center of gravity of the airplane, and the structural form needs to sacrifice part of weight for center of gravity adjustment, so that the defects of improving oil consumption and reducing load capacity exist.
Therefore, a novel unmanned transportation helicopter structure with adjustable gravity center is designed, the gravity center is adjusted, the cruising ability is enhanced, and the unmanned transportation helicopter structure has important engineering significance for solving the problems in the prior art.
Disclosure of Invention
The invention aims to solve the problems that in the prior art, the weight of an unmanned helicopter is required to be provided with a balancing weight, so that part of the weight is sacrificed for gravity center adjustment, the oil consumption is improved, and the load capacity is reduced.
In order to achieve the aim, the invention provides a gravity center adjusting system of a transportation unmanned helicopter, which is characterized by comprising the unmanned helicopter, a fuel oil adjusting unit, a nacelle assembly, a slide rail structure and a gravity center adjusting device; the bottom of the unmanned helicopter is provided with a machine body frame, and the lower side of the machine body frame is provided with an undercarriage; the fuel oil adjusting unit is arranged in the unmanned helicopter, is used for storing and supplying oil, and is used as a structure for balancing and leveling the aircraft; the sliding rail structure is arranged at the bottom of the machine body frame and used for hoisting, moving and fixing the pod assembly; the pod component is arranged at the lower side of the slide rail structure and used for loading goods; the gravity center adjusting device is arranged between the machine body frame and the undercarriage and used for adjusting the gravity center of the unmanned helicopter;
when the unmanned helicopter takes off, the position of the nacelle component is adjusted through the slide rail structure, so that the gravity center of the unmanned helicopter is in a balanced state; after the unmanned helicopter lands in other places, the fuel oil adjusting unit is used for supplying fuel to the unmanned helicopter so as to improve the cruising ability; at the moment, the center of gravity of the unmanned helicopter is changed due to the consumption of fuel in the fuel adjusting unit, the center of gravity adjusting device senses the change and displays the change of the center of gravity on the remote measuring interface of the measuring and controlling vehicle in real time, and therefore an operator adjusts the position of the nacelle assembly, and stable flight of the unmanned helicopter is achieved.
Further, the fuel regulating unit comprises a counterweight auxiliary fuel tank, a fuel pipe, a fuel pump and a main fuel tank; the counterweight auxiliary oil tank and the main oil tank are both arranged inside the unmanned helicopter and are connected through a fuel oil pipe, and a fuel oil pump is arranged on the fuel oil pipe and used for conveying fuel oil in the counterweight auxiliary oil tank to the main oil tank.
Further, the pod assembly comprises a hook, a pod hanger and a pod frame; the lifting hook is arranged at the top of the pod hanging piece, a pod frame body is fixedly arranged at the lower end of the pod hanging piece, and the pod frame body is used for loading goods.
Further, the slide rail structure comprises a V-shaped slide rail, a V-shaped slide block, an inner hexagon bolt and a hanging ring; the V-shaped sliding rail is arranged below the machine body frame, the V-shaped sliding block is arranged in the V-shaped sliding rail in a sliding mode, the V-shaped sliding block is locked on the V-shaped sliding rail through an inner hexagon bolt, and the hanging ring is arranged at the lower end of the V-shaped sliding block; the hanging ring is used for hanging the pod assembly and can move to a specified position along the sliding rail together with the V-shaped sliding block.
Furthermore, the gravity center adjusting device is a plurality of gravity center sensors, and measuring signals of the gravity center sensors are transmitted to the ground measuring and controlling vehicle through the flight control and management computer and the airborne link and are displayed on the remote measuring interface.
Furthermore, a plurality of nacelle assemblies are hung at the lower end of the slide rail structure, and the flying gravity center of the unmanned helicopter can be adjusted by adjusting the number of the nacelle assemblies, the positions of the nacelle assemblies and the weight of goods in the nacelle assemblies.
Furthermore, a pod frame body is fixedly arranged at the lower end of the pod hanging piece, and the pod hanging piece and the pod frame body are fixedly locked through a hexagon screw.
In order to realize the aim of the invention, the invention also discloses a method for adjusting the gravity center of the transportation unmanned helicopter, which is based on a system for adjusting the gravity center of the transportation unmanned helicopter and comprises the following steps:
and 4, balancing the gravity center of the overall structure of the unmanned helicopter by adjusting the goods in the slide rail structure or the nacelle assembly.
Compared with the prior art, the invention has the remarkable improvements that: 1) the invention can utilize fuel oil and cargo loading to adjust the gravity center of the unmanned transport helicopter, realize the more reasonable target of airplane weight distribution and use, and greatly improve the cruising ability and the cargo carrying ability; 2) an auxiliary fuel tank is designed at the front end of the airplane and used for storing fuel and replacing the original counterweight structure, so that the dual functions of counterweight and fuel storage are realized, the cruising ability is improved, and the problem that the fuel cannot be supplemented due to the limitation of conditions during taking off and landing at different places is solved; 3) the lower end of the airplane frame is provided with a plurality of movable pod assemblies, and the weight and the position of the cargo are reasonably distributed by utilizing a visual gravity sensor, so that the transportation capacity is maximally improved; through this structure, can more effectual utilization counter weight, adjust the counter weight more conveniently, promote unmanned transportation helicopter load carrying capacity and duration.
To more clearly illustrate the functional characteristics and structural parameters of the present invention, the following description is given with reference to the accompanying drawings and the detailed description.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic diagram of the overall structure of a transport unmanned helicopter center of gravity adjustment system;
FIG. 2 is a schematic view of a fuel adjustment unit of the transport unmanned helicopter center of gravity adjustment system;
FIG. 3 is a schematic structural view of a slide rail of the gravity center adjusting system of the transport unmanned helicopter;
FIG. 4 is a block diagram of a nacelle assembly of the transport unmanned helicopter center of gravity adjustment system;
FIG. 5 is a block diagram of the center of gravity adjustment device of the center of gravity adjustment system of the transport unmanned helicopter;
FIG. 6 is a schematic flow chart of a method for adjusting the center of gravity of a transport unmanned helicopter;
reference numbers in the figures: 1. an unmanned helicopter; 2. a fuel regulating unit; 3. a pod assembly; 4. a slide rail structure; 5. a center of gravity adjusting device; 6. a counterweight auxiliary oil tank; 7. a fuel pipe; 8. a fuel pump; 9. a main oil tank; 10. a V-shaped slide rail; 11. a V-shaped sliding block; 12. a hexagon socket head cap screw; 13. a hoisting ring; 14. a hook; 15. a pod rack; 16. a hexagonal head screw; 17. a pod frame; 18. a machine body frame; 19. a center of gravity sensor; 20. a landing gear.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 and 5, in the present embodiment, an organism frame 18 is provided at the bottom of the unmanned helicopter 1, and a landing gear 20 is provided on the lower side of the organism frame 18; the fuel oil adjusting unit 2 is arranged in the unmanned helicopter 1, is used for storing and supplying oil, and is used as a structure for balancing and leveling an airplane; the slide rail structure 4 is arranged at the bottom of the machine body frame 18 and used for hoisting, moving and fixing the pod component 3; the pod component 3 is arranged at the lower side of the slide rail structure 4 and is used for loading goods; the gravity center adjusting device 5 is a plurality of gravity center sensors 19, which are arranged between the body frame 18 and the undercarriage 20 and used for adjusting the gravity center of the unmanned helicopter 1. The gravity center sensor 19 can reflect the weight and the gravity center distribution in real time, and can adjust the fuel amount and the cargo weight and position according to the feedback result. When the unmanned helicopter 1 takes off, the position of the nacelle component 3 is adjusted through the slide rail structure 4, so that the gravity center of the unmanned helicopter 1 is in a balanced state; when the unmanned helicopter 1 falls off in other places, the fuel oil adjusting unit 2 is used for supplying fuel to the unmanned helicopter 1 so as to improve the cruising ability; at the moment, the center of gravity of the unmanned helicopter 1 is changed due to the consumption of fuel in the fuel adjusting unit 2, the center of gravity adjusting device 5 senses the change and displays the change of the center of gravity on the remote measuring interface of the measuring and controlling vehicle in real time, and therefore an operator adjusts the position of the nacelle component 3, and stable flight of the unmanned helicopter 1 is achieved.
Specifically, in the present embodiment, a plurality of pod assemblies 3 are suspended from the lower end of the slide rail structure 4, and the flight center of gravity of the unmanned helicopter 1 can be adjusted by adjusting the number of the pod assemblies 3, the positions of the pod assemblies 3, and the weight of the cargo in the pod assemblies 3. The number and the position distribution of the pod assemblies 3 can be adjusted correspondingly according to the cargo transportation requirements and the gravity center adjustment requirements. For example, in short-distance transportation, in order to increase the load, a pod frame body 17 can be arranged under the gravity center axis, and a pod frame body 17 can also be arranged under the counterweight secondary fuel tank 6 for auxiliary balancing; for long-distance bidirectional transportation of goods, the pod frame body 17 can be arranged below the axis of the gravity center during flying out, the counterweight secondary fuel tank 6 is arranged at the front end of the airplane for balancing, fuel oil in the counterweight secondary fuel tank 6 is input into the main fuel tank 9 during returning, and all heavy objects are moved to the position below the counterweight secondary fuel tank 6 for counterweight mounting.
As shown in fig. 2, in the present embodiment, the fuel adjusting unit 2 includes a weighted secondary fuel tank 6, a fuel pipe 7, a fuel pump 8, a main fuel tank 9; the counterweight auxiliary fuel tank 6 and the main fuel tank 9 are both arranged inside the unmanned helicopter 1, the counterweight auxiliary fuel tank 6 is connected with the main fuel tank 9 through a fuel pipe 7, and the fuel pipe 7 is provided with a fuel pump 8 for conveying fuel in the counterweight auxiliary fuel tank 6 to the main fuel tank 9. After the airplane arrives at the destination, the fuel in the counterweight auxiliary fuel tank 6 is input into the main fuel tank 9 through the fuel pump 8 and the fuel pipe 7, so that the endurance of the return stroke is improved.
As shown in fig. 3, in the present embodiment, the pod assembly 3 includes a hook 14, a pod hanger 15, a pod frame 17; the lifting hook 14 is arranged on the top of the pod hanger 15, the lower end of the pod hanger 15 is fixedly provided with a pod frame 17, the pod frame 17 is used for loading goods, the goods are installed in the pod frame 17, and the locking and fixing are carried out to prevent the movement in the flying process. The weight of the auxiliary counter weight oil tank 6 can be reduced through the loading and position adjustment compensation of return cargo, and the readjustment of the gravity center is realized
Specifically, in the present embodiment, the lower end of the pod hanger 3 is fixedly provided with the pod frame 17, and the pod hanger 15 and the pod frame 17 are fixedly locked by the hexagon head screw 16.
As shown in fig. 4, in the present embodiment, the slide rail structure includes a V-shaped slide rail 10, a V-shaped slider 11, a hexagon socket head cap screw 12, and a suspension ring 13; the V-shaped sliding rail 10 is arranged below the machine body frame 18, the V-shaped sliding block 11 is arranged inside the V-shaped sliding rail 10 in a sliding mode, the V-shaped sliding block 11 is locked on the V-shaped sliding rail 10 through the hexagon socket head cap screw 12, and the hanging ring 13 is arranged at the lower end of the V-shaped sliding block 11; the hanging ring 13 is used for hanging the pod assembly 3 and can move to a specified position along the slide rail together with the V-shaped slide block 11.
Specifically, in the present embodiment, before the V-shaped slider 11 slides, the hexagon socket head cap screw 12 is unscrewed to ensure smooth sliding; after the V-shaped sliding block 11 reaches the designated position, the hexagon socket head cap screw 12 is fastened to ensure the fixation.
As shown in fig. 1, 3 and 4, in the present embodiment, the pod assembly 3 and the slide rail structure 4 are connected to the hanging ring 13 through the hook 14, so that the convenience of loading and unloading is ensured.
As shown in fig. 6, in this embodiment, the method for adjusting the center of gravity of the unmanned helicopter is as follows: firstly, carrying goods in a nacelle component by an unmanned helicopter, and taking off to execute a flight task; then, after the unmanned helicopter descends in different places, fuel is supplemented through the fuel adjusting unit; then, due to the consumption of fuel in the fuel adjusting unit, the flying center of gravity of the unmanned helicopter changes, and the center of gravity adjusting device senses the change and displays the center of gravity position in real time; and finally, balancing the gravity center of the overall structure of the unmanned helicopter by adjusting the goods in the slide rail structure or the nacelle assembly.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The gravity center adjusting system of the transportation unmanned helicopter is characterized by comprising an unmanned helicopter (1), a fuel oil adjusting unit (2), a nacelle assembly (3), a slide rail structure (4) and a gravity center adjusting device (5);
an organism frame (18) is arranged at the bottom of the unmanned helicopter, and a landing gear (20) is arranged on the lower side of the organism frame (18); the fuel oil adjusting unit (2) is arranged in the unmanned helicopter (1) and used for storing and supplying oil and is used as a structure for balancing and leveling an airplane; the sliding rail structure (4) is arranged at the bottom of the machine body frame (18) and is used for hoisting, moving and fixing the pod assembly (3); the pod assembly (3) is arranged on the lower side of the slide rail structure (4) and is used for loading cargoes; the gravity center adjusting device (5) is arranged between the machine body frame (18) and the undercarriage (20) and is used for adjusting the gravity center of the unmanned helicopter in real time;
when the unmanned helicopter (1) takes off, the position of the nacelle component (3) is adjusted through the slide rail structure (4), so that the gravity center of the unmanned helicopter (1) is in a balanced state; after the unmanned helicopter (1) descends in different places, the fuel oil adjusting unit (2) is used for supplying fuel to the unmanned helicopter (1) so as to improve the cruising ability; at the moment, the center of gravity of the unmanned helicopter (1) is changed due to the consumption of fuel in the fuel adjusting unit (2), the center of gravity adjusting device (5) senses the change and then displays the change of the center of gravity on a remote measuring interface of the measuring and controlling vehicle in real time, so that an operator adjusts the position of the nacelle component (3) and the stable flight of the unmanned helicopter (1) is realized.
2. A transport unmanned helicopter center of gravity adjustment system according to claim 1, characterized in that said fuel adjustment unit (2) comprises a counterweight secondary fuel tank (6), a fuel pipe (7), a fuel pump (8), a main fuel tank (9); the weight-balancing auxiliary fuel tank (6) and the main fuel tank (9) are arranged inside the unmanned helicopter (1), the weight-balancing auxiliary fuel tank (6) and the main fuel tank (9) are connected through a fuel pipe (7), and the fuel pipe (7) is provided with a fuel pump (8) for conveying fuel in the weight-balancing auxiliary fuel tank (6) to the main fuel tank (9).
3. The system for adjusting the center of gravity of a transport unmanned helicopter according to claim 1, characterized in that the nacelle assembly (3) comprises a hook (14), a nacelle hanger (15), a nacelle frame (17); the lifting hook (14) is arranged on the top of the pod hanger (15), a pod frame body (17) is fixedly arranged at the lower end of the pod hanger (15), and the pod frame body (17) is used for loading goods.
4. The gravity center adjusting system for the transport unmanned helicopter according to claim 1, wherein the slide rail structure (4) comprises a V-shaped slide rail (10), a V-shaped slide block (11), a hexagon socket head cap screw (12) and a hanging ring (13); the V-shaped sliding rail (10) is arranged below the machine body frame (18), the V-shaped sliding block (11) is arranged in the V-shaped sliding rail (10) in a sliding mode, and the V-shaped sliding block (11) is locked on the V-shaped sliding rail (10) through an inner hexagon bolt (12); the hanging ring (13) is arranged at the lower end of the V-shaped sliding block (11), and the hanging ring (13) is used for hanging the pod assembly (3) and can move to a specified position along the sliding rail together with the V-shaped sliding block (11).
5. The system for adjusting the center of gravity of a transport unmanned helicopter according to claim 1, wherein the center of gravity adjusting means (5) is a plurality of center of gravity sensors (19), and the measurement signals of the center of gravity sensors (19) are transmitted to the ground measurement and control vehicle through the flight control and management computer and the airborne link and displayed on the telemetry interface.
6. The system for adjusting the center of gravity of a transport unmanned helicopter according to claim 1 or 3, characterized in that a plurality of nacelle assemblies (3) are suspended from the lower end of the slide rail structure (4), and the flying center of gravity of the unmanned helicopter (1) can be adjusted by adjusting the number of the nacelle assemblies (3), the positions of the nacelle assemblies (3) and the weight of the cargo in the nacelle assemblies (3).
7. The gravity center adjusting system of the transport unmanned helicopter according to claim 3, wherein a nacelle frame body (17) is fixedly arranged at the lower end of the nacelle hanger (15), and the nacelle hanger (15) and the nacelle frame body (17) are fixedly locked through a hexagon head screw (16).
8. A method for adjusting the center of gravity of a transport unmanned helicopter, the method being based on the system for adjusting the center of gravity of a transport unmanned helicopter according to any one of claims 1 to 7, comprising the steps of:
step 1, carrying goods in a nacelle component by an unmanned helicopter, and taking off to execute a flight task;
step 2, after the unmanned helicopter descends in different places, fuel is supplemented through a fuel adjusting unit;
step 3, due to the consumption of fuel in the fuel adjusting unit, the flying center of gravity of the unmanned helicopter changes, and the center of gravity adjusting device senses the change and displays the position of the center of gravity;
and 4, balancing the gravity center of the overall structure of the unmanned helicopter by adjusting the goods in the slide rail structure or the nacelle assembly.
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| CN202111488449.3A CN114180039B (en) | 2021-12-07 | 2021-12-07 | Gravity center adjusting system and method for unmanned helicopter for transportation |
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| CN202111488449.3A CN114180039B (en) | 2021-12-07 | 2021-12-07 | Gravity center adjusting system and method for unmanned helicopter for transportation |
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| CN114180039B CN114180039B (en) | 2024-01-09 |
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