Gravity measuring device and gravity measurement method

Abstract

This application discloses a gravity measuring device and a gravity measuring method, belonging to the field of gravity measurement. The gravity measuring device includes: a movable carrier, an installation chamber, and a gravity measuring chip; the gravity measuring chip is located in the installation chamber, which is detachably connected to the carrier, and the gravity measuring chip is communicatively connected to the carrier; the carrier is equipped with a gravity calculation module and a communication module; the gravity measuring chip is used to measure gravity data in real time along the path of the carrier during its movement, and transmits the gravity data to the gravity calculation module; the gravity calculation module is used to receive the gravity data and calculate the gravity data into a gravity value; the communication module is used to transmit the gravity value outward.

Description

Technical Field

[0001] This application belongs to the field of gravity measurement, specifically relating to a gravity measuring device and a gravity measuring method. Background Technology

[0002] With the development of technology, gravity measurement is often required. In related technologies, gravity on a measuring line is measured by moving a carrier along that line. However, in these technologies, the carrier consumes a lot of power, resulting in a relatively small distance the carrier can travel. Summary of the Invention

[0003] This application aims to provide a gravity measuring device and a gravity measuring method, which at least solves the problem that the power consumption of the carrier is large when measuring gravity, resulting in a small carrier movement distance.

[0004] To solve the above-mentioned technical problems, this application is implemented as follows: In a first aspect, embodiments of this application propose a gravity measuring device, which includes: a movable carrier, an installation chamber, and a gravity measuring chip; The gravity measuring chip is located in the mounting compartment, which is detachably connected to the carrier, and the gravity measuring chip is communicatively connected to the carrier. The carrier is equipped with a gravity calculation module and a communication module. The gravity measurement chip is used to measure the gravity data along the path of the carrier in real time during the movement of the carrier, and transmit the gravity data to the gravity calculation module. The gravity calculation module is used to receive the gravity data and calculate the gravity data into a gravity value. The communication module is used to send the gravity value outward.

[0005] Optionally, the gravity measuring device further includes a gimbal; The gimbal is connected to the carrier, and the mounting cabin is located on the gimbal. The gimbal is used to stabilize the mounting cabin during the movement of the carrier.

[0006] Optionally, the installation chamber is equipped with a temperature control module, and the gravity measurement chip works in conjunction with the temperature control module to keep the temperature of the gravity measurement chip stable.

[0007] Secondly, embodiments of this application provide a gravity measurement method, applied in the gravity measurement device described in any one of the first aspects above, the gravity measurement method comprising: Determine the geographic coordinates of the survey line; The carrier is moved along the geographical coordinates of the survey line, and the gravity measurement chip measures gravity data. The gravity calculation module is controlled to calculate the gravity data to obtain the gravity value; Receive the gravity value sent by the communication module.

[0008] Optionally, after receiving the gravity value sent by the communication module, the gravity measurement method further includes: Monitor whether the gravity value is abnormal; If the gravity value is abnormal, a prompt message will be issued to prompt the operator to find the cause of the malfunction.

[0009] Optionally, the gravity measurement method further includes: If the operator fails to find the cause of the malfunction, the carrier is controlled to return to the starting point of the survey line.

[0010] Optionally, moving the carrier along the geographic coordinates of the survey line includes: The carrier is moved at a constant speed along the geographical coordinates of the survey line.

[0011] Optionally, the gravity measuring device further includes a gimbal connected to the carrier, and the mounting cabin is disposed on the gimbal; the step of causing the gravity measuring chip to measure gravity data includes: The gimbal is controlled to adjust the attitude of the mounting cabin, thereby stabilizing the mounting cabin and allowing the gravity measurement chip to measure gravity data while the mounting cabin remains stable.

[0012] Optionally, the number of survey lines is multiple; moving the carrier along the geographical coordinates of the survey lines includes: The carrier is moved along the geographical coordinates of any one of the multiple survey lines, and after the carrier finishes moving along the current survey line, the carrier is moved to another survey line, until the carrier finishes moving along all the survey lines.

[0013] Optionally, controlling the gravity calculation module to calculate the gravity data to obtain a gravity value includes: The gravity calculation module is controlled to extract gravity data at a set frequency and then calculate the extracted gravity data to obtain the gravity value.

[0014] In this embodiment, since the gravity measurement chip is housed in the mounting compartment, the mounting compartment can be detachably connected to the carrier. After connecting the mounting compartment to the carrier, the gravity measurement chip communicates with the carrier, allowing the gravity data measured by the chip to be transmitted to the carrier. Furthermore, since the carrier is equipped with a gravity calculation module and a communication module, the gravity measurement chip can measure the gravity data along the carrier's path in real time during carrier movement. Because the gravity measurement chip communicates with the carrier, it can transmit the measured gravity data to the gravity calculation module within the carrier. The gravity calculation module receives the gravity data, calculates the gravity value, and then transmits the gravity value outwards. Thus, the gravity value can be measured during carrier movement. Additionally, the gravity measurement chip is small in size and requires little power, resulting in low power consumption. This allows the carrier to travel a longer distance using its own electrical energy after mounting the gravity measurement chip. In other words, in this embodiment of the application, by setting an installation compartment on the carrier and setting a gravity measurement chip in the installation compartment, it is equivalent to mounting a gravity measurement chip with low power consumption on the carrier. Compared with the gravity measurement module with high power consumption and large volume set inside the carrier in related technologies, this application can reduce the power consumption of the carrier, so that the carrier can move a greater distance with the same amount of power, which is conducive to measuring more gravity. Attached Figure Description

[0015] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This diagram illustrates a gravity measuring device provided in an embodiment of this application. Figure 2 A flowchart illustrating a gravity measurement method provided in an embodiment of this application; Figure 3 This is a schematic diagram illustrating an electronic device provided in an embodiment of this application.

[0016] Figure label: 10: Carrier; 11: Gravity calculation module; 12: Communication module; 20: Installation cabin; 21: Temperature control module; 30: Gravity measurement chip; 40: Gimbal. Detailed Implementation

[0017] The embodiments of this application will now be described in detail. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0018] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of the features. "At least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships may exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, "at least one of a, b, or c" can represent: a, b, c, a combination of a and b, a combination of a and c, a combination of b and c, or a, b, and c, where a, b, and c can be single or multiple.

[0019] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0020] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0021] This application provides a gravity measuring device, such as... Figure 1 As shown, the gravity measuring device includes: a movable carrier 10, an installation chamber 20, and a gravity measuring chip 30.

[0022] The gravity measurement chip 30 is located in the installation chamber 20, which is detachably connected to the carrier 10, and the gravity measurement chip 30 is communicatively connected to the carrier 10. The carrier 10 is equipped with a gravity calculation module 11 and a communication module 12. The gravity measurement chip 30 is used to measure the gravity data on the path of the carrier 10 in real time during the movement of the carrier 10, and transmit the gravity data to the gravity calculation module 11. The gravity calculation module 11 is used to receive the gravity data and calculate the gravity data into a gravity value. The communication module 12 is used to send the gravity value outward.

[0023] In this embodiment, since the gravity measurement chip 30 is located in the mounting compartment 20, the mounting compartment 20 can be detachably connected to the carrier 10. After the mounting compartment 20 is connected to the carrier 10, the gravity measurement chip 30 communicates with the carrier 10, allowing the gravity data measured by the gravity measurement chip 30 to be transmitted to the carrier 10. Furthermore, since the carrier 10 is equipped with a gravity calculation module 11 and a communication module 12, the gravity measurement chip 30 can measure the gravity data along the path of the carrier 10 in real time during its movement. Since the gravity measurement chip 30 communicates with the carrier 10, it can transmit the measured gravity data to the gravity calculation module 11 in the carrier 10. The gravity calculation module 11 can receive the gravity data and calculate the gravity value. The communication module 12 can then transmit the gravity value, thus allowing the gravity value to be measured during the movement of the carrier 10. Furthermore, the gravity measurement chip 30 is small in size and requires little power, resulting in low power consumption. This allows the carrier 10 to move a longer distance using its own electrical energy after the gravity measurement chip 30 is mounted on it. In other words, in this embodiment, by providing a mounting compartment 20 on the carrier 10 and housing the gravity measurement chip 30 within it, it is equivalent to mounting a low-power gravity measurement chip 30 on the carrier 10. Compared to related technologies that involve mounting a larger, more power-consuming gravity measurement module inside the carrier 10, this application reduces the power consumption of the carrier 1, allowing the carrier 10 to move a greater distance with the same amount of power, which is beneficial for measuring gravity more extensively.

[0024] It should be noted that in this embodiment, the carrier 10 can be a drone. In this case, it is equivalent to connecting the mounting compartment 20 to the drone, i.e., connecting the gravity measurement chip 30 to the drone, so that the gravity measurement chip 30 measures gravity data in real time during the drone's flight and transmits the measured gravity data to the drone. The mounting compartment 20 can be located outside the drone. Of course, the carrier 10 can also be other types. For example, the carrier 10 can be an unmanned surface vessel (USV). In this case, the mounting compartment 20 can be connected to the USV, allowing the USV to navigate on the sea or river surface, and the gravity measurement chip 30 in the mounting compartment 20 can measure gravity data in real time. Another example is that the carrier 10 can be a submersible. In this case, the mounting compartment 20 can be connected to the submersible, allowing the submersible to move below the sea or river surface, and the gravity measurement chip 30 in the submersible can measure gravity data in real time. Yet another example is that the carrier 10 can be a device capable of moving underground. In this case, the mounting compartment 20 can be connected to this device to measure gravity below the ground. The specific type of carrier 10 is not limited in this embodiment.

[0025] In addition, in this embodiment, the carrier 10 may be provided with a plug-in interface, and the mounting compartment 20 may be provided with a plug that matches the plug-in interface. By inserting the plug into the plug-in interface, the mounting compartment 20 is connected to the carrier 10, and the gravity measuring chip 30 inside the mounting compartment 20 can communicate with the carrier 10. The mounting compartment 20 may be provided with wiring, which is electrically connected to the connector of the mounting compartment 20 and to the gravity measuring chip 30. Therefore, after inserting the plug into the plug-in interface of the carrier 10, not only can the gravity measuring chip 30 communicate with the carrier 10, but the carrier 10 can also supply power to the gravity measuring chip 30, enabling the gravity measuring chip 30 to operate normally.

[0026] In addition, in this embodiment, the gravity measurement chip 30 can be MEMS-level, which makes the gravity measurement chip 30 consume less power.

[0027] In addition, in this embodiment of the application, the carrier 10 may be provided with a navigation module. The navigation module is used to navigate the carrier 10 during its movement, so that the carrier 10 can move according to the set survey line.

[0028] In addition, in this embodiment, the carrier 10 may have a storage module internally. The storage module is electrically connected to the gravity measurement chip 30, so that the gravity data measured by the gravity measurement chip 30 can be transmitted to the storage module for storage. The storage module is electrically connected to the gravity calculation module 11, so that the gravity calculation module 11 can obtain the gravity data from the storage module and calculate the gravity value from the gravity data. The gravity calculation module 11 can be a gravity calculation module 11 in related technologies. For example, when the carrier 10 is a drone, the gravity calculation module 11 is the gravity calculation module 11 in a drone in related technologies. Alternatively, the storage module can be an SD memory card, or other devices with storage functions, such as a hard disk. The specific type of storage module is not limited in this embodiment.

[0029] In addition, in this embodiment, the communication module 12 can be a wireless communication module 12, for example, a WiFi module, or even a 4G communication module 12. The specific type of the communication module 12 is not limited in this embodiment.

[0030] In addition, in this embodiment, the carrier 10 may be provided with an interaction module, which is used to receive setting information for the carrier 10. For example, the operator can input the coordinates of the survey line to the carrier 10 through the interaction module.

[0031] In some embodiments, the gravity measuring device also includes a gimbal 40; the gimbal 40 is connected to the carrier 10, and the mounting compartment 20 is disposed on the gimbal 40, the gimbal 40 being used to stabilize the mounting compartment 20 during the movement of the carrier 10.

[0032] Since the gimbal 40 is connected to the carrier 10 and the mounting cabin 20 is mounted on the gimbal 40, the gimbal 40 can perform real-time reverse compensation on the attitude of the mounting cabin 20 during the movement of the carrier 10. This ensures the stability of the mounting cabin 20 during the movement of the carrier 10. Specifically, when the attitude of the carrier 10 changes slightly, the gimbal 40 can compensate for the attitude of the mounting cabin 20, ensuring its stability. This also ensures the stability of the gravity measurement chip 30 during the movement of the carrier 10, which is beneficial for the gravity measurement chip 30 to measure gravity data more accurately. In other words, by setting up the gimbal 40, the attitude of the mounting cabin 20 can be compensated in real time, thus compensating for the attitude of the gravity measurement chip 30. This ensures the stability of the gravity measurement chip 30 during the movement of the carrier 10, minimizing or eliminating the impact of changes in the attitude of the carrier 10, and enabling the gravity measurement chip 30 to measure gravity data more accurately. By setting the gimbal 40, the measurement deviation of the gravity measurement chip 30 caused by the change of the carrier 10's attitude can be avoided, which is conducive to improving the measurement accuracy of the gravity measurement chip 30.

[0033] It should be noted that the specific structure of the gimbal 40 can be referenced from the structure of the gimbal 40 in related technologies. Furthermore, the position of the gimbal 40 relative to the mounting compartment 20 can be set according to actual needs. For example, the gimbal 40 can be located on the side of the mounting compartment 20 away from the carrier 10, or the gimbal 40 can be located between the mounting compartment 20 and the carrier 10. It is only necessary to ensure that the gimbal 40 is connected to the carrier 10 and that the mounting compartment 20 is located above the gimbal 40.

[0034] In addition, in some embodiments, the installation chamber 20 is provided with a temperature control module 21, and the gravity measurement chip 30 cooperates with the temperature control module 21. The temperature control module 21 is used to keep the temperature of the gravity measurement chip 30 stable.

[0035] Because the installation chamber 20 is equipped with a temperature control module 21, and the gravity measurement chip 30 works in conjunction with the temperature control module 21, the temperature control module 21 can ensure that the temperature of the gravity measurement chip 30 remains stable during the movement of the carrier 10. This ensures that the temperature of the gravity measurement chip 30 is kept within a suitable temperature range, thus preventing temperature changes from affecting the accuracy of the gravity measurement chip 30. In other words, by setting up the temperature control module 21, the gravity measurement chip 30 can be kept at a suitable temperature, thereby eliminating the influence of temperature on the gravity measurement chip 30, allowing the carrier 10 to move in various scenarios while the gravity measurement chip 30 performs measurements.

[0036] It should be noted that the temperature control module 21 works in conjunction with the gravity measurement chip 30. This allows the temperature control module 21 to cool the gravity measurement chip 30 when the ambient temperature is high and to heat it when the ambient temperature is low, thus maintaining the gravity measurement chip 30 at a suitable temperature. Furthermore, the temperature control module 21 can also cool the gravity measurement chip 30 when its own temperature is high and heat it when its own temperature is low. This allows the carrier 10 to move in both high and low temperature environments, while the gravity measurement chip 30 can perform gravity measurements relatively accurately in both cases.

[0037] This application also provides a gravity measurement method, which can be applied to the gravity measurement device in any of the above embodiments, such as... Figure 2 As shown, the gravity measurement method includes: Step 101: Determine the geographical coordinates of the survey line.

[0038] The geographical coordinates of the survey line can be stored in advance, so that when gravity measurement is required, the geographical coordinates of the survey line can be directly obtained from the storage device and the geographical coordinates of the survey line can be determined.

[0039] In addition, the survey line refers to the set route. The movement of the carrier along the survey line is equivalent to the carrier moving along the set route.

[0040] Step 102: Move the carrier along the geographical coordinates of the survey line and have the gravity measurement chip measure gravity data.

[0041] The carrier can be equipped with an interactive module, allowing operators to transmit the geographic coordinates of the survey line to the carrier. The carrier then receives these coordinates. After transmission, the carrier can move along the survey line, and during this movement, the gravity measurement chip measures gravity data.

[0042] In addition, when the carrier is an underground mobile device, the underground mobile device is usually moved by a mobile device, which allows the mobile device to obtain the geographical coordinates of the survey line. The mobile device moves according to the geographical coordinates of the survey line, and thus the mobile device can drive the carrier to move along the geographical coordinates of the survey line.

[0043] In some implementations, the movement of the carrier along the geographic coordinates of the survey line can be achieved by moving the carrier at a constant speed along the geographic coordinates of the survey line. That is, when the carrier moves along the geographic coordinates of the survey line, it moves at a constant speed. This ensures that the gravity measurement chip moves at a constant speed during the carrier's movement, allowing it to perform gravity measurements more evenly along the survey line. This avoids the problem of large changes in the carrier's speed affecting the continuity of the gravity measurement data.

[0044] It should be noted that in the embodiments of this application, the carrier can move at a low speed along the geographical coordinates of the survey line. Different types of carriers can move at different low speeds according to their type, so that the carrier moves relatively slowly and the gravity measurement chip can measure gravity more accurately.

[0045] In addition, in some implementations, the gravity measuring device also includes a gimbal, which is connected to the carrier and the mounting cabin is located on the gimbal. The gravity measuring chip can measure gravity data by controlling the gimbal to adjust the attitude of the mounting cabin and keep the mounting cabin stable, so that the gravity measuring chip can measure gravity data when the mounting cabin is stable.

[0046] During the movement of the carrier, changes in the carrier's attitude will cause changes in the attitude of the mounting cabin, which in turn will cause changes in the attitude of the gravity measurement chip. By controlling the gimbal, the gimbal can adjust the attitude of the mounting cabin, that is, the gimbal can adjust the attitude of the mounting cabin in the opposite direction, so that the mounting cabin is less affected by the attitude changes of the carrier, and the mounting cabin remains stable during the movement of the carrier. This ensures that the gravity measurement chip remains stable during the movement of the carrier, which can effectively improve the accuracy of the gravity measurement chip and avoid the problem of measurement deviation caused by the attitude changes of the gravity measurement chip.

[0047] In addition, in some implementations, there are multiple survey lines; the way to move the carrier along the geographical coordinates of the survey lines can be: to move the carrier along the geographical coordinates of any one of the multiple survey lines, and after the carrier finishes moving along the current survey line, to move the carrier to another survey line, until the carrier finishes moving along all the survey lines.

[0048] When there are multiple measurement lines, the carrier can move along the geographical coordinates of any one of the measurement lines. That is, the carrier moves along a selected measurement line. After the carrier finishes moving along the current measurement line, that is, after the carrier has moved from the starting point to the ending point of the current measurement line, the carrier can move to another measurement line, that is, the carrier changes lines. By making the carrier move to another measurement line after finishing moving along one measurement line, the carrier can move on all measurement lines. Thus, the gravity measurement chip can perform gravity measurement on all measurement lines to obtain gravity data.

[0049] It should be noted that when the carrier moves to another survey line after finishing its current survey line movement, the carrier's speed can be controlled to allow it to move at a lower speed. This avoids the problem of the carrier moving too fast, which could lead to unstable movement.

[0050] Of course, in this embodiment, the number of measuring lines can also be one. In this case, the carrier moves only along the measuring line, and the gravity data can be measured after the carrier finishes moving.

[0051] Furthermore, in this embodiment, the specific number of test lines can be set according to actual needs. For example, the number of test lines can be 20, with the 20 test lines intersecting each other; or, for example, the number of test lines can be 25, with the 25 test lines intersecting each other. This embodiment does not limit the specific number of test lines. Additionally, in this embodiment, "multiple lines" refers to two or more lines.

[0052] Step 103: Control the gravity calculation module to calculate the gravity data to obtain the gravity value.

[0053] During the movement of the carrier, the gravity measurement chip can measure gravity data in real time, thereby controlling the gravity calculation module. This allows the gravity calculation module to acquire the gravity data measured by the gravity measurement chip and calculate the gravity data to obtain the gravity value.

[0054] It should be noted that when the carrier is equipped with a storage module, the gravity data measured by the gravity measurement chip can be transmitted to the storage module, which can then control the gravity calculation module to obtain the gravity data from the storage module. The gravity calculation module can then calculate the gravity value from the gravity data.

[0055] In some implementations, step 103 can be implemented by controlling the gravity calculation module to extract gravity data at a set frequency and calculating the extracted gravity data to obtain the gravity value.

[0056] Once the gravity measurement chip obtains gravity data, this data can be stored. The gravity calculation module can then extract gravity data at a set frequency. Once the gravity calculation module has extracted the data, it can calculate the gravity value. Furthermore, extracting gravity data at a set frequency ensures that the gravity calculation module can effectively calculate the gravity data, avoiding the situation where a high measurement frequency from the gravity measurement chip would prevent the gravity calculation module from effectively calculating the gravity data.

[0057] It should be noted that the carrier may be equipped with a storage module. The gravity data measured by the gravity measurement chip can be stored in the storage module, so that the gravity calculation module can extract gravity data from the storage module at a set frequency.

[0058] Furthermore, in this embodiment, the set frequency can be set according to actual needs. For example, the set frequency can be 1Hz, while the gravity measurement chip typically collects gravity data at 1000Hz. That is, the gravity measurement chip measures gravity data at a frequency of 1000Hz. By setting the frequency to 1Hz, the gravity calculation module can extract gravity data at 1Hz for calculation, ensuring that the gravity calculation module can effectively calculate the gravity data. Of course, the set frequency can also be other values, such as 2Hz, or even 3Hz. The specific value of the set frequency is not limited in this embodiment.

[0059] Step 104: Receive the gravity value sent by the communication module.

[0060] After the gravity calculation module calculates the gravity value, it can transmit the gravity value to the communication module. The communication module can then send the gravity value outward, and the communication module can receive the gravity value sent by the communication module.

[0061] It should be noted that, in this embodiment of the application, after receiving the gravity value sent by the communication module, the gravity value can also be displayed. Specifically, the gravity value can be displayed as a "time-gravity value" curve, that is, with time as the X-axis and gravity value as the Y-axis, a curve is formed, and the gravity value is displayed in the form of a curve, so that the gravity value can be observed more intuitively.

[0062] In some implementations, after step 104, the gravity measurement method further includes: monitoring whether the gravity value is abnormal; if the gravity value is abnormal, issuing a prompt message to prompt the operator to find the cause of the fault.

[0063] After receiving the gravity value, the system can also determine if the received gravity value is abnormal. An abnormal gravity value refers to a sudden change in the gravity value, meaning that the change in gravity value between two adjacent time points exceeds a set threshold. For example, if two adjacent time points are the 30th second and the 35th second, the gravity value at the 30th second is 979833.42 milligals, and the gravity value at the 35th second is 979836.42 milligals, the change in gravity value is 979836.42 - 979833.42, which equals 3. With a set threshold of 2, an abnormal gravity value is determined. Once an abnormal gravity value is determined, a prompt message is issued to the operator, prompting them to investigate the cause of the malfunction.

[0064] It should be noted that changes in gravity values ​​are usually relatively slow, meaning that gravity values ​​within a region are generally relatively stable. Once a sudden change occurs in the gravity value, it indicates an anomaly. In this case, components such as the carrier or gravity measurement chip may be malfunctioning, and operators need to find the cause of the malfunction, that is, find the reason for the abnormal received gravity value.

[0065] In some implementations, the gravity measurement method also includes controlling the carrier to return to the starting point of the measurement line if the operator fails to find the cause of the malfunction.

[0066] If the operator cannot find the cause of the fault, abnormal gravity values ​​may continue to be received. At this time, it is no longer meaningful to continue to measure the gravity value through the gravity measurement chip. Therefore, the carrier can be controlled to return to the starting point of the measurement line, end the measurement, or find the cause of the fault again.

[0067] Furthermore, in this embodiment, if there are multiple measuring lines, the gravity values ​​received from different measuring lines can be displayed in different colors. For example, when there are three measuring lines, namely measuring line 1, measuring line 2, and measuring line 3, when the carrier moves along measuring line 1 to measure the gravity of measuring line 1, the gravity value of measuring line 1 is received and displayed as a "time-gravity value" curve, and the color of this curve can be red; when the carrier moves along measuring line 2 to measure the gravity of measuring line 2, the gravity value of measuring line 2 is received and displayed as a "time-gravity value" curve, and the color of this curve can be yellow; when the carrier moves along measuring line 3 to measure the gravity of measuring line 3, the gravity value of measuring line 3 is received and displayed as a "time-gravity value" curve, and the color of this curve can be blue.

[0068] In addition, in this embodiment of the application, after receiving the gravity value, the gravity value can be archived, and the archived data can be archived later.

[0069] In this embodiment, the geographical coordinates of the survey line are determined; these coordinates are transmitted to the carrier, causing the carrier to move along the coordinates of the survey line, and a gravity measurement chip measures gravity data; a gravity calculation module is controlled to calculate the gravity data to obtain a gravity value; and the gravity value sent by the communication module is received. That is, in this embodiment, using a gravity measurement chip with low power consumption external to the carrier to measure gravity data reduces the carrier's power consumption, which is beneficial for increasing the distance the carrier can move, and thus facilitates more gravity measurements.

[0070] Optionally, such as Figure 3 As shown, this application embodiment also provides an electronic device 100, including a processor 110 and a memory 109. The memory 109 stores a program or instructions that can run on the processor 110. When the program or instructions are executed by the processor 110, they implement the various steps of the above-described gravity measurement method embodiment and can achieve the same technical effect. To avoid repetition, they will not be described again here.

[0071] It should be noted that the electronic devices in the embodiments of this application include the mobile electronic devices and non-mobile electronic devices described above.

[0072] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described gravity measurement method embodiments and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0073] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0074] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described gravity measurement method embodiments and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0075] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0076] This application provides a computer program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the gravity measurement method embodiment described above, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0077] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0078] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0079] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A gravity measuring device, characterized in that, The gravity measuring device includes: a movable carrier, an installation cabin, and a gravity measuring chip; The gravity measuring chip is located in the mounting compartment, which is detachably connected to the carrier, and the gravity measuring chip is communicatively connected to the carrier. The carrier is equipped with a gravity calculation module and a communication module. The gravity measurement chip is used to measure the gravity data along the path of the carrier in real time during the movement of the carrier, and transmit the gravity data to the gravity calculation module. The gravity calculation module is used to receive the gravity data and calculate the gravity data into a gravity value. The communication module is used to send the gravity value outward.

2. The gravity measuring device according to claim 1, characterized in that, The gravity measuring device also includes a gimbal; The gimbal is connected to the carrier, and the mounting cabin is located on the gimbal. The gimbal is used to stabilize the mounting cabin during the movement of the carrier.

3. The gravity measuring device according to claim 1, characterized in that, The installation chamber is equipped with a temperature control module, and the gravity measurement chip works in conjunction with the temperature control module to keep the temperature of the gravity measurement chip stable.

4. A gravity measurement method, characterized in that, The gravity measurement method, applied in any one of claims 1-3, comprises: Determine the geographic coordinates of the survey line; The carrier is moved along the geographical coordinates of the survey line, and the gravity measurement chip measures gravity data. The gravity calculation module is controlled to calculate the gravity data to obtain the gravity value; Receive the gravity value sent by the communication module.

5. The gravity measurement method according to claim 4, characterized in that, After receiving the gravity value sent by the communication module, the gravity measurement method further includes: Monitor whether the gravity value is abnormal; If the gravity value is abnormal, a prompt message will be issued to prompt the operator to find the cause of the malfunction.

6. The gravity measurement method according to claim 5, characterized in that, The gravity measurement method further includes: If the operator fails to find the cause of the malfunction, the carrier is controlled to return to the starting point of the survey line.

7. The gravity measurement method according to claim 4, characterized in that, Moving the carrier along the geographic coordinates of the survey line includes: The carrier is moved at a constant speed along the geographical coordinates of the survey line.

8. The gravity measurement method according to claim 4, characterized in that, The gravity measuring device further includes a gimbal, which is connected to the carrier, and the mounting cabin is disposed on the gimbal; the step of having the gravity measuring chip measure gravity data includes: The gimbal is controlled to adjust the attitude of the mounting cabin, thereby stabilizing the mounting cabin and allowing the gravity measurement chip to measure gravity data while the mounting cabin remains stable.

9. The gravity measurement method according to claim 4, characterized in that, The number of survey lines is multiple; moving the carrier along the geographical coordinates of the survey lines includes: The carrier is moved along the geographical coordinates of any one of the multiple survey lines, and after the carrier finishes moving along the current survey line, the carrier is moved to another survey line, until the carrier finishes moving along all the survey lines.

10. The gravity measurement method according to claim 4, characterized in that, The control of the gravity calculation module to calculate the gravity data to obtain the gravity value includes: The gravity calculation module is controlled to extract gravity data at a set frequency and then calculate the extracted gravity data to obtain the gravity value.

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