Airship net weight gravity center measuring method and net weight weighing device and method thereof

Abstract

The invention discloses an airship net weight gravity center measuring method and a net weight weighing device and method thereof, and the device comprises one or more net weight weighing mechanisms, each net weight weighing mechanism comprises an undercarriage and a net weight weighing assembly disposed between a wheel fork and a hydraulic rod of the undercarriage; the net weight weighing assembly comprises an upper mounting plate, a lower mounting plate, a plurality of bolts, a plurality of nuts, a force transducer and a tension spring; the upper mounting plate is arranged right above the lower mounting plate; a plurality of first through holes through which the front ends of the bolts penetrate are formed in the lower mounting plate; second through holes allowing the front ends of the bolts to penetrate through are formed in the positions, corresponding to the first through holes, of the upper mounting plate; the front ends of the plurality of bolts penetrate through the plurality of first through holes and the corresponding second through holes in a one-to-one correspondence manner and are in threaded connection with the plurality of nuts in a one-to-one correspondence manner; the force measuring sensor is mounted on the top surface of the lower mounting plate; and the tension spring is connected between the force measuring sensor and the upper mounting plate. The net weight and the net weight gravity center position of the airship can be quickly obtained.

Description

Technical Field

[0001] The present invention relates to the technical field of airship net weight measuring equipment, and in particular to an airship net weight center of gravity measuring method and a net weight weighing device and method thereof. Background Art

[0002] Airships are aircraft that utilize the principle of buoyancy. Compared with other aircraft, airships have advantages such as long flight time, large payload capacity, low pollution, low maintenance costs, and low requirements for take-off and landing sites, and thus have broad application prospects.

[0003] During takeoff, the net weight of an airship can fluctuate significantly due to variations in the volume and purity of helium in the main airbag, the altitude of the takeoff / landing site, and the temperature and humidity at the time of takeoff / landing. This can affect the airship's ability to fly normally. Therefore, before takeoff, the airship's net weight must be adjusted promptly based on the predicted takeoff / landing environment to meet the requirements of the entire flight profile. Measuring the net weight of an airship is crucial for proper flight. Currently, the airship is towed to a ground-based weighing device for measurement, but this requires the assistance of multiple people and equipment and is time-consuming. Furthermore, net weight measurements conducted outdoors, outside of a hangar, often encounter unstable weather conditions, making it difficult to obtain stable weather conditions and thus unable to perform accurate measurements. Summary of the Invention

[0004] In order to solve the technical problems existing in the background technology, the present invention proposes a method for measuring the net weight center of gravity of an airship and a net weight weighing device and method thereof.

[0005] The present invention proposes a method for measuring the net weight center of gravity of an airship and a net weight weighing device and method thereof, comprising: one or more net weight weighing mechanisms, the net weight weighing mechanisms comprising a landing gear and a net weight weighing assembly;

[0006] The net weight weighing assembly includes an upper mounting plate, a lower mounting plate, a plurality of bolts, a plurality of nuts, a force sensor and a tension spring; the upper mounting plate is arranged directly above the lower mounting plate; the lower mounting plate is provided with a plurality of first through holes for the front ends of the bolts to pass through; the upper mounting plate is provided with second through holes for the front ends of the bolts to pass through at positions corresponding to the first through holes; the front ends of the plurality of bolts pass through the plurality of first through holes and their corresponding second through holes in a one-to-one correspondence and are threadedly connected to the plurality of nuts in a one-to-one correspondence; the force sensor is mounted on the top surface of the lower mounting plate; one end of the tension spring is fixedly connected to the force sensor, and the other end of the tension spring is fixedly connected to the bottom surface of the upper mounting plate;

[0007] The landing gear includes a hydraulic rod, a wheel fork and a tire. The top end of the hydraulic rod's cylinder is used to fix the connection to the airship's pod. The piston rod of the hydraulic cylinder extends from the bottom end of the cylinder and is fixedly connected to the top surface of the upper mounting plate. The top end of the wheel fork is fixedly connected to the bottom surface of the lower mounting plate, and the tire is installed on the wheel fork.

[0008] Preferably, each second through hole is provided with a rolling contact structure for rolling contact with the bolt;

[0009] Preferably, the rolling contact structure includes a ball disposed on an inner wall of the second through hole and configured to be in rolling contact with the bolt;

[0010] Preferably, the rolling contact structure includes a ball bearing, the ball bearing is installed in the second through hole, and the bolt is located in the inner ring of the bearing.

[0011] Preferably, the invention further comprises a torsion arm, the torsion arm comprising a first arm and a second arm, the first end of the first arm being hingedly connected to the bottom end of the cylinder body, the second end of the first arm being hingedly connected to the first end of the second arm, and the second end of the second arm being hingedly connected to the bottom end of the piston rod;

[0012] Preferably, it also includes multiple buffer pillars, which are spaced and evenly arranged along the circumference of the cylinder body. The top ends of the multiple buffer pillars are used to be hinged to the pod, and the bottom ends of the multiple buffer pillars are hinged to the bottom end of the cylinder body. The multiple buffer pillars and the cylinder body form an umbrella-shaped support frame.

[0013] Preferably, the tightness of the tension spring is generally about 20% of the maximum net weight of the airship, and the strength of the tension spring can withstand 1.5 times the maximum impact load of the airship.

[0014] Preferably, a controller is installed on the upper mounting plate, and the force sensor and the hydraulic rod are electrically connected to the controller.

[0015] Preferably, the controller is preset with the total weight F of the bolts, nuts, lower mounting plate, fork, tire, and force sensor. 结构 And the initial tension F of the tension spring when each net weight weighing mechanism is lifted 弹簧 ;

[0016] The controller is used to measure the F of each net weight weighing mechanism 结构 and F 弹簧， The net weight obtained by each net weight weighing mechanism is obtained, and the net weight of the airship is obtained according to the net weight obtained by each net weight weighing mechanism.

[0017] Preferably, the controller is also preset with the position of each net weight weighing mechanism relative to the airship capsule, and the controller is further used to obtain the center of gravity of the airship net weight based on the position of each net weight weighing mechanism relative to the capsule and the net weight weighed by each net weight weighing mechanism.

[0018] The present invention also provides an airship net weight weighing method, which is applied to any of the airship net weight weighing devices described above, comprising:

[0019] Weighing using one or more net weight weighing mechanisms to obtain a net weight measured by the one or more net weight weighing mechanisms;

[0020] The net weight of the airship is obtained according to the net weight obtained by one or more net weight weighing mechanisms.

[0021] Preferably, one or more net weight weighing mechanisms are used to perform weighing to obtain the net weight measured by the one or more net weight weighing mechanisms, specifically including:

[0022] Obtain the total weight F of the bolts, nuts, lower mounting plate, fork, tire, and force sensor in each net weighing mechanism in advance 结构 ;

[0023] Obtain in advance the initial tension F of the tension spring when each net weight weighing mechanism is lifted 弹簧 ;

[0024] Mounting one or more net weight weighing mechanisms on the airship's gondola;

[0025] Use one or more net weight weighing mechanisms to obtain the measurement record F of the force sensor of the airship before takeoff 反馈 ;

[0026] According to the F of each net weighing mechanism 结构 、F 弹簧 、F 反馈 , get the net weight F obtained by each net weight weighing mechanism 净重 Among them, F 净重 =F 反馈 +F 结构 -F 弹簧

[0027] According to the net weight F obtained by each net weight weighing mechanism 净重 , get the net weight of the airship.

[0028] The present invention also proposes a method for measuring the net weight center of gravity of an airship, comprising:

[0029] Using any of the above-mentioned airship net weight weighing methods, the net weight F obtained by each net weight weighing mechanism is obtained. 净重 and the net weight of the airship;

[0030] According to the net weight F obtained by each net weight weighing mechanism 净重 The position of the net weight center of the airship is obtained by combining the net weight of the airship and the pre-obtained position of each net weight weighing mechanism on the airship capsule.

[0031] In the present invention, the proposed method for measuring the net weight center of gravity of an airship and its net weight weighing device and method can absorb part of the vertical impact and bounce energy generated during landing and ground movement through a tensioning spring, and can provide real-time feedback on the stress condition of the landing gear when the airship is moored on the ground through a net weight weighing mechanism. Before the airship takes off, the net weight and the position of the net weight center of gravity of the airship can be quickly and accurately obtained to ensure that the center of gravity is within an appropriate range. The net weight data can be mastered at any time and the net weight can be adjusted in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a structural schematic diagram of an airship equipped with an airship net weight weighing device in one embodiment of the present invention.

[0033] Figure 2 This is a schematic structural diagram of an airship net weight weighing device in one embodiment of the present invention.

[0034] Figure 3 This is a schematic structural diagram of a net weight weighing mechanism in one embodiment of the present invention. DETAILED DESCRIPTION

[0035] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0036] Reference Figure 1-3 , the present invention proposes an airship net weight weighing device, comprising: one or more net weight weighing mechanisms;

[0037] The net weight weighing mechanism includes a landing gear 200 and a net weight weighing assembly 100;

[0038] The net weight weighing assembly 100 includes an upper mounting plate 102, a lower mounting plate 101, a plurality of bolts 104, a plurality of nuts, a load cell 106 and a tension spring 105;

[0039] The upper mounting plate 102 is arranged directly above the lower mounting plate 101;

[0040] The lower mounting plate 101 is provided with a plurality of first through holes for the front ends of the bolts 104 to pass through;

[0041] A second through hole is provided on the upper mounting plate 102 at a position corresponding to the first through hole for the front end of the bolt 104 to pass through;

[0042] Front ends of the plurality of bolts 104 pass through the plurality of first through holes and their corresponding second through holes in a one-to-one correspondence and are threadedly connected with the plurality of nuts in a one-to-one correspondence;

[0043] The load cell 106 is mounted on the top surface of the lower mounting plate 101;

[0044] One end of the tension spring 105 is fixedly connected to the force sensor 106, and the other end of the tension spring 105 is fixedly connected to the bottom surface of the upper mounting plate 102;

[0045] The landing gear 200 includes a hydraulic rod 201, a wheel fork 202 and a tire 203. The top end of the cylinder body of the hydraulic rod 201 is used to fix the connection with the airship's pod. The piston rod of the hydraulic cylinder extends from the bottom end of the cylinder body and is fixedly connected to the top surface of the upper mounting plate 102. The top end of the wheel fork 202 is fixedly connected to the bottom surface of the lower mounting plate 101. The tire 203 is mounted on the wheel fork 202.

[0046] The tension spring 105 of the present invention can absorb part of the vertical impact and bounce energy generated during landing and ground movement. The net weight weighing mechanism can provide real-time feedback on the stress condition of the landing gear 200 when the airship is moored on the ground. Before the airship takes off, the net weight and the position of the net weight center of gravity of the airship can be quickly and accurately determined to ensure that the center of gravity is within an appropriate range. The net weight data is available at any time and can be adjusted in real time.

[0047] The bolts and nuts in this embodiment only serve to limit the upper and lower positions and do not transmit vertical force.

[0048] Specifically, the force sensor 106 is installed in the middle of the top surface of the lower mounting plate 101, one end of the tensioning spring 105 is fixedly connected to the force sensor 106, and the other end is fixedly connected to the middle of the bottom surface of the upper mounting plate 102, so that the tensioning spring 105 is always arranged vertically to ensure stable force.

[0049] To ensure that the tension spring 105 can withstand the impact load, the tension spring 105 in this embodiment is generally set at a tightness of about 20% of the maximum net weight of the airship, and the spring strength can withstand 1.5 times the maximum impact load of the airship.

[0050] It should be noted that the “multiple” in this embodiment includes 2 or more.

[0051] In this embodiment, the first through holes are evenly arranged on the periphery of the lower mounting plate 101 along the circumference of the lower mounting plate 101 to ensure stable force.

[0052] In a further embodiment, the number of the first through holes is 3 to 6.

[0053] In one specific embodiment, the number of the first through holes is four, and the four first through holes are respectively located at the four corners of the lower mounting plate 101 .

[0054] In this embodiment, a controller is installed on the upper mounting plate 102 , and the force sensor 106 and the hydraulic rod 201 are both electrically connected to the controller.

[0055] The controller is preset with the total weight F of the bolt 104, nut, lower mounting plate 101, fork 202, tire 203, and force sensor 106. 结构 And the initial tensioning force of the tensioning spring 105 when each net weight weighing mechanism is lifted, recorded as F 弹簧 ;

[0056] The controller is used to measure the F of each net weight weighing mechanism 结构 and F 弹簧， The net weight obtained by each net weight weighing mechanism is obtained, and the net weight of the airship is obtained according to the net weight obtained by each net weight weighing mechanism.

[0057] Among them, F 结构 The method for obtaining the weight F is to record the total weight F of the bolt 104, nut, lower mounting plate 101, fork 202, tire 203 and force sensor 106 during the first installation. 结构 .

[0058] Among them, F 弹簧 The method for obtaining F is to lift the landing gear 200 or the pod during the initial installation, and adjust the bolts and nuts to compress the tension spring 105, thereby causing the force sensor 106 to be stressed. The initial force range is about 20% of the maximum net weight of the airship, which is recorded as F 弹簧 .

[0059] The controller also presets the position of each net weight weighing mechanism relative to the airship capsule, and is also used to obtain the center of gravity of the airship net weight based on the position of each net weight weighing mechanism relative to the capsule and the net weight weighed by each net weight weighing mechanism.

[0060] In this embodiment, a rolling contact structure for rolling contact with the bolt 104 is provided in each second through hole to ensure that no vertical load is transmitted between the bolt 104 and the upper mounting plate 102 .

[0061] In one specific embodiment, the rolling contact structure includes a ball disposed on the inner wall of the second through hole and configured to make rolling contact with the bolt 104 .

[0062] In another specific embodiment, the rolling contact structure includes a ball bearing, the ball bearing is installed in the second through hole, and the bolt 104 is located in the inner ring of the bearing.

[0063] In this embodiment, a torque arm 205 is also included, which includes a first force arm and a second force arm. The first end of the first force arm is hinged to the bottom end of the cylinder body, the second end of the first force arm is hinged to the first end of the second force arm, and the second end of the second force arm is hinged to the bottom end of the piston rod.

[0064] In a further embodiment, it further includes a plurality of buffer struts 204 for absorbing the impact energy of the airship when landing. The plurality of buffer struts 204 are spaced and evenly arranged along the circumference of the cylinder body. The top ends of the plurality of buffer struts 204 are used to be hinged to the pod, and the bottom ends of the plurality of buffer struts 204 are hinged to the bottom end of the cylinder body. The plurality of buffer struts 204 and the cylinder body form an umbrella-shaped support frame to absorb the impact energy of the airship when landing.

[0065] Specifically, the buffer strut adopts a conventional air-cavity oil-air hybrid buffer.

[0066] The present invention also provides an airship net weight weighing method, which is applied to any of the airship net weight weighing devices described above, comprising:

[0067] Weighing using one or more net weight weighing mechanisms to obtain a net weight measured by the one or more net weight weighing mechanisms;

[0068] The net weight of the airship is obtained according to the net weight obtained by one or more net weight weighing mechanisms.

[0069] This embodiment can quickly obtain the net weight of the airship, so that the net weight data can be mastered at any time before the airship takes off, and the net weight can be adjusted in real time.

[0070] The method of using one or more net weight weighing mechanisms to weigh and obtain the net weight obtained by the one or more net weight weighing mechanisms specifically includes:

[0071] The total weight of the bolts 104, nuts, lower mounting plate 101, fork 202, tire 203, and force sensor 106 in each net weight weighing mechanism is obtained in advance and recorded as F 结构 ;

[0072] The initial tensioning force of the tensioning spring 105 of each net weight weighing mechanism when it is lifted is obtained in advance and is recorded as F 弹簧 ;

[0073] Mounting one or more net weight weighing mechanisms on the airship's gondola;

[0074] Use one or more net weight weighing mechanisms to obtain the measurement record of the force sensor 106 of the airship before takeoff, which is recorded as F 反馈 ;

[0075] According to the F of each net weighing mechanism 结构 、F 弹簧、 F 反馈 , get the net weight F obtained by each net weight weighing mechanism 净重 Among them, F 净重 =F 反馈 +F 结构 -F 弹簧

[0076] According to the net weight F obtained by each net weight weighing mechanism 净重 , get the net weight of the airship.

[0077] In specific implementation, since the airship generally includes a capsule 1 and a pod 2, a flight control computer, a wireless link module and a power distribution module are installed inside the pod, and the power distribution module is electrically connected to the controller.

[0078] When the airship net weight weighing device has only one net weight weighing mechanism, the total weight of the bolt 104, nut, lower mounting plate 101, fork 202, tire 203, and load cell 106 is obtained in advance during the weighing process and recorded as F. 结构 ;

[0079] Obtain the initial tension of the tension spring 105 when the landing gear 200 is lifted, denoted as F 弹簧 ;

[0080] The net weight weighing mechanism is used to obtain the measurement record of the force sensor 106 before takeoff, which is recorded as F 反馈 ;

[0081] The controller is based on F 结构、 F 弹簧和 F 反馈 , get the net weight obtained by the net weight weighing mechanism, record it as F 净重 Among them, F 净重 =F 反馈 +F 结构 -F 弹簧 ;

[0082] The net weight of the airship before takeoff is F 净重 .

[0083] When the airship net weight weighing device has multiple net weight weighing mechanisms, the net weights weighed by the net weight weighing mechanisms before takeoff are obtained by using the multiple net weight weighing mechanisms, which are recorded as F 净重1 、F 净重2 ,…,F 净重n ;

[0084] According to the net weight of each, the net weight of the airship is obtained, that is, F 净重 =F 净重1 +F 净重2 +…+F 净重n .

[0085] The present invention also proposes a method for measuring the net weight center of gravity of an airship, comprising:

[0086] Using any of the above-mentioned airship net weight weighing methods, the net weight F obtained by each net weight weighing mechanism is obtained. 净重 and the net weight of the airship;

[0087] According to the net weight F obtained by each net weight weighing mechanism 净重 The position of the net weight center of the airship is obtained by combining the net weight of the airship and the pre-obtained position of each net weight weighing mechanism on the airship capsule.

[0088] It should be noted that the “net weight center of gravity” in this embodiment specifically refers to the center of gravity at net weight.

[0089] Specifically, with the head of the bladder as the origin, the positions of the tires 203 of each net weight weighing mechanism are (x1, y1), (x1, y1) ... (x n ,y n ), then we can calculate the point where the sum of the airship's gravity and buoyancy acts = (F 净重1 *x1+F 净重2 *x2+…+F 净重n *x n ) / F 净重 , y=(F 净重1 *y1+F 净重2 *y2+…+F 净重n *y n ) / F 净重 , providing a calculation basis for the airship's center of gravity position adjustment and aerial attitude simulation, ensuring that the center of gravity is within an appropriate range.

[0090] This embodiment can quickly obtain the net weight center of gravity position of the airship, ensuring that the center of gravity is within the appropriate range.

[0091] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. An airship net weight weighing device, characterized in that: include: One or more net weight weighing mechanisms, the net weight weighing mechanism comprising a landing gear (200) and a net weight weighing assembly (100); The net weight weighing assembly (100) comprises an upper mounting plate (102), a lower mounting plate (101), a plurality of bolts (104), a plurality of nuts, a force sensor (106) and a tension spring (105); the upper mounting plate (102) is arranged directly above the lower mounting plate (101); the lower mounting plate (101) is provided with a plurality of first through holes for the front ends of the bolts (104) to pass through; the upper mounting plate (102) is provided with second through holes for the front ends of the bolts (104) to pass through at positions corresponding to the first through holes; the front ends of the plurality of bolts (104) pass through the plurality of first through holes and their corresponding second through holes in a one-to-one correspondence and are threadedly connected to the plurality of nuts in a one-to-one correspondence; the force sensor (106) is mounted on the top surface of the lower mounting plate (101); one end of the tension spring (105) is fixedly connected to the force sensor (106), and the other end of the tension spring (105) is fixedly connected to the bottom surface of the upper mounting plate (102); The landing gear (200) comprises a hydraulic rod (201), a wheel fork (202) and a tire (203); the top end of the cylinder body of the hydraulic rod (201) is used for fixed connection with the pod of the airship; the piston rod of the hydraulic cylinder extends from the bottom end of the cylinder body and is fixedly connected to the top surface of the upper mounting plate (102); the top end of the wheel fork (202) is fixedly connected to the bottom surface of the lower mounting plate (101); and the tire (203) is mounted on the wheel fork (202).

2. The airship net weight weighing device according to claim 1, characterized in that: Each second through hole is provided with a rolling contact structure for rolling contact with the bolt (104); Preferably, the rolling contact structure comprises a ball disposed on the inner wall of the second through hole and configured to make rolling contact with the bolt (104); Preferably, the rolling contact structure comprises a ball bearing, the ball bearing is installed in the second through hole, and the bolt (104) is located in the inner ring of the bearing.

3. The airship net weight weighing device according to claim 1, characterized in that: It also includes a torque arm (205), the torque arm (205) includes a first force arm and a second force arm, the first end of the first force arm is hinged to the bottom end of the cylinder body, the second end of the first force arm is hinged to the first end of the second force arm, and the second end of the second force arm is hinged to the bottom end of the piston rod; Preferably, it also includes a plurality of buffer pillars (204) for absorbing the impact energy when the airship lands, the plurality of buffer pillars (204) are spaced and evenly arranged along the circumference of the cylinder body, the top ends of the plurality of buffer pillars (204) are used to be hinged to the pod, the bottom ends of the plurality of buffer pillars (204) are hinged to the bottom end of the cylinder body, and the plurality of buffer pillars (204) and the cylinder body form an umbrella-shaped support frame.

4. The airship net weight weighing device according to claim 1, characterized in that: The tightness of the tension spring (105) is generally about 20% of the maximum net weight of the airship, and the strength of the tension spring (105) can withstand 1.5 times of the maximum impact load of the airship.

5. The airship net weight weighing device according to any one of claims 1 to 4, characterized in that: A controller is installed on the upper mounting plate (102), and the force sensor (106) and the hydraulic rod (201) are electrically connected to the controller.

6. The airship net weight weighing device according to claim 5, characterized in that: The controller is preset with the total weight F of the bolt (104), the nut, the lower mounting plate (101), the wheel fork (202), the tire (203), and the force sensor (106). 结构 and the initial tensioning force F of the tensioning spring (105) of each net weight weighing mechanism when each net weight weighing mechanism is lifted 弹簧 ; The controller is used to measure the F of each net weight weighing mechanism. 结构 and F 弹簧， The net weight weighed by each net weight weighing mechanism is obtained, and the net weight of the airship is obtained according to the net weight weighed by each net weight weighing mechanism.

7. The airship net weight weighing device according to claim 6, characterized in that: The controller also presets the position of each net weight weighing mechanism relative to the airship capsule, and is also used to obtain the center of gravity of the airship net weight according to the position of each net weight weighing mechanism relative to the capsule and the net weight weighed by each net weight weighing mechanism.

8. A method for weighing the net weight of an airship, applied to the airship net weight weighing device according to any one of claims 1 to 7, characterized in that: include: Weighing using one or more net weight weighing mechanisms to obtain a net weight measured by the one or more net weight weighing mechanisms; The net weight of the airship is obtained according to the net weight obtained by one or more net weight weighing mechanisms.

9. The airship net weight weighing method according to claim 8, characterized in that: Weighing using one or more net weight weighing mechanisms to obtain a net weight measured by one or more net weight weighing mechanisms specifically includes: The total weight F of the bolts (104), nuts, lower mounting plate (101), wheel fork (202), tire (203), and force sensor (106) in each net weight weighing mechanism is obtained in advance. 结构 ; The initial tensioning force F of the tensioning spring (105) when each net weight weighing mechanism is lifted is obtained in advance. 弹簧 ; One or more net weight weighing mechanisms are mounted on the airship's gondola; Using one or more net weight weighing mechanisms to obtain the measurement record F of the force sensor (106) of the airship before takeoff 反馈 ; According to the F of each net weighing mechanism 结构 、F 弹簧、 F 反馈 , and obtain the net weight F obtained by each net weight weighing mechanism 净重 ; Among them, F 净重 =F 反馈 +F 结构 -F 弹簧 According to the net weight F obtained by each net weight weighing mechanism 净重 , get the net weight of the airship.

10. A method for measuring the net weight center of gravity of an airship, characterized in that: include: The net weight F obtained by each net weight weighing mechanism is obtained by using the airship net weight weighing method according to claim 8 or 9. 净重 and the net weight of the airship; According to the net weight F obtained by each net weight weighing mechanism 净重 The position of the net weight center of gravity of the airship is obtained by combining the net weight of the airship and the pre-obtained position of each net weight weighing mechanism on the airship capsule.

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