Interference processing method, interference processing device and control equipment

Abstract

The embodiments of the present invention provide an interference processing method, an interference processing device and a control device. Among them, the interference processing method includes: performing a channel interference scan on the target frequency band and obtaining the channel interference scanning result; transmitting task data with the movable platform and obtaining the transmission quality information during the transmission process; in response to the channel interference scanning result satisfying the first condition and the transmission quality information satisfying the second condition, performing anti-interference processing. It can be seen that the embodiments of the present invention provide an evaluation index of the interference signal, which comprehensively judges whether the interference signal in the current surrounding environment obviously affects the communication between the control device and the movable platform through the first condition and the second condition, thereby improving the accuracy of the anti-interference processing.

Description

Technical Field

[0001] The present invention relates to the field of signal detection technology, and in particular to an interference processing method, an interference processing device and a control equipment. Background Art

[0002] Mobile platforms (such as unmanned aerial vehicles, robots, etc.) are widely used in image capture, security inspection, agricultural plant protection and other fields due to their flexible operation and ability to work in complex terrain. Due to the complex working environment of mobile platforms, low duty cycle signal interference may exist in some environments. For example, when users operate mobile platforms, the Bluetooth functions of the mobile terminal devices and wearable devices they carry with them may be in working state (such as users using wireless Bluetooth headphones, wearing smart bracelets, etc.), which may affect the data transmission quality of the mobile platform. Summary of the invention

[0003] The embodiments of the present invention provide an interference processing method, an interference processing device and a control device, which can perform interference processing on signals.

[0004] A first aspect of an embodiment of the present invention is to provide an interference processing method, which can be applied to a control device, wherein the control device is used to interact with a mobile platform. The method includes:

[0005] Perform channel interference scanning on the target frequency band and obtain the channel interference scanning results;

[0006] Transmitting mission data with the mobile platform and obtaining transmission quality information during the transmission process;

[0007] In response to the channel interference scanning result satisfying a first condition and the transmission quality information satisfying a second condition, anti-interference processing is performed.

[0008] A second aspect of an embodiment of the present invention is to provide an interference processing device, including:

[0009] An acquisition unit is used to perform channel interference scanning on the target frequency band and obtain the channel interference scanning result; transmit task data with the mobile platform and obtain transmission quality information during the transmission process;

[0010] The processor is configured to perform anti-interference processing in response to the channel interference scanning result satisfying a first condition and the transmission quality information satisfying a second condition.

[0011] A third aspect of an embodiment of the present invention is to provide a control device, the control device being connected to a movable platform, the control device comprising a processor and a memory:

[0012] The memory is used to store computer-readable instructions;

[0013] The processor calls the instruction, and when the instruction is executed, is used to:

[0014] Perform channel interference scanning on the target frequency band and obtain the channel interference scanning results;

[0015] Transmitting mission data with the mobile platform and obtaining transmission quality information during the transmission process;

[0016] In response to the channel interference scanning result satisfying a first condition and the transmission quality information satisfying a second condition, anti-interference processing is performed.

[0017] A fourth aspect of an embodiment of the present invention is to provide a computer-readable storage medium, characterized in that the computer-readable storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by a processor, the processor executes the above-mentioned interference processing method.

[0018] The embodiment of the present invention monitors the strength of the surrounding interference signals (such as Bluetooth interference) by scanning the target frequency band on the one hand, and monitors the transmission quality information (such as the quality of the transmitted pictures or videos) with the mobile platform during the data transmission process on the other hand to comprehensively judge whether the interference signals in the current surrounding environment obviously affect the communication between the control device and the mobile platform, and performs anti-interference processing in response to the interference signals obviously affecting the communication between the control device and the mobile platform. It can be seen that the embodiment of the present invention provides an evaluation index of interference signals, which is used to measure the strength of interference signals (the impact on data transmission), thereby improving the accuracy of anti-interference processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1a A schematic diagram of an interference processing application scenario disclosed in an embodiment of the present invention;

[0020] Figure 1b A waveform diagram of an interference signal disclosed in an embodiment of the present invention;

[0021] Figure 1c A waveform diagram of another interference signal disclosed in an embodiment of the present invention;

[0022] Figure 2 A flowchart of an interference processing method disclosed in an embodiment of the present invention;

[0023] Figure 3 A flowchart of another interference processing method disclosed in an embodiment of the present invention;

[0024] Figure 4 A structural diagram of an interference processing device disclosed in an embodiment of the present invention;

[0025] Figure 5 A structural diagram of a control device disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present invention will be described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0029] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0030] An embodiment of the present invention provides an interference processing method for performing anti-interference processing when it is detected that surrounding interference signals have a significant impact on the data transmission quality of a mobile platform. The following describes the applicable scenarios of the present invention.

[0031] like Figure 1a As shown, the scene includes a control device 101 and a movable platform 102. The control device 101 is a device used by the user. The form of the control device 101 is only used for example. The control device 101 may include but is not limited to: remote controllers, smart phones (such as Android phones, iOS phones, etc.), tablet computers, portable personal computers, mobile Internet devices (Mobile Internet Devices, referred to as MID), and other devices with wireless communication functions. The movable platform 102 is an intelligent device controlled by the control device 101. The form of the mobile platform 102 is only used for example. The mobile platform 102 may include but is not limited to unmanned aerial vehicles, unmanned marine vehicles, unmanned vehicles, robots, and other mobile intelligent devices that can be operated by the control device 101 and perform target actions.

[0032] When the user of the control device 101 uses the control device 101 to control the movable platform 102, he may also be using a wireless communication device, such as a wearable device (smart bracelet, TWS headset, etc.). These wireless communication devices may generate interference signals (such as Bluetooth signals), which may affect the data transmission quality of the movable platform to varying degrees. Figure 1b A waveform diagram of an interference signal provided by an embodiment of the present invention. Figure 1b As shown, the x-axis is used to represent the time line, and the y-axis is used to represent the signal strength of the interference signal, that is, Figure 1b The waveform diagram of the interference signal strength changing with time in 0s-300ms. Figure 1b It can be seen from the waveform diagram that the interference signal is a low duty cycle signal. When the signal strength of the interference signal exceeds the strength threshold (such as -30dBm), it may cause a more obvious impact (interference) on the communication between the control device and the movable platform.

[0033] Figure 1c FIG. 1 is a waveform diagram of another interference signal provided by an embodiment of the present invention. Figure 1c As shown, the x-axis is used to represent the frequency, and the y-axis is used to represent the signal strength of the interference signal. Figure 1c It can be seen that the interference signal will appear (at different frequencies) in different channels of the target frequency band. It can be seen that data transmitted in any channel in the target frequency band may be affected by the interference signal.

[0034] The present invention provides an interference processing method. On the one hand, the control device monitors the strength of the surrounding interference signal (such as Bluetooth interference) by scanning the target frequency band. On the other hand, the control device monitors the transmission quality information (such as the quality of the transmitted picture or video) with the mobile platform during the data transmission process to comprehensively judge whether the interference signal in the current surrounding environment obviously affects the communication between the control device and the mobile platform. In response to the interference signal obviously affecting the communication between the control device and the mobile platform, the control device performs anti-interference processing (such as generating interference prompt information, turning off the Bluetooth of the surrounding environment equipment, etc.). The interference processing method provided by the present invention is described in detail below.

[0035] See also Figure 2 , Figure 2 FIG. 1 is a flow chart of an interference processing method disclosed in an embodiment of the present invention. Figure 2 As shown, the interference processing method may include steps 201-203. Among them:

[0036] 201. Control a device to perform channel interference scanning on a target frequency band, and obtain a channel interference scanning result.

[0037] The target frequency band refers to the frequency band in which the control device and the mobile platform transmit task data; for example, the 2.4G frequency band or the 5.8G frequency band. The target frequency band contains multiple channels, and the control device performing channel interference scanning on the target frequency band means that the control device performs interference scanning on a channel in the target frequency band at different time periods. For example, assuming that the target frequency band contains channels 1-3, the control device performs channel interference scanning on channel 1 from the 1st second to the 2nd second, scans channel 3 from the 2nd second to the 3rd second, and performs interference scanning on channel 2 from the 4th second to the 6th second. The channel interference scanning result includes the signal strength of the interference signal scanned in the target frequency band during the channel interference scanning period.

[0038] 202. Control the device to transmit task data to the mobile platform, and obtain transmission quality information during the transmission process.

[0039] The mission data includes the image frame data collected by the mobile platform during operation and the location information of the mobile platform (such as height, distance from the control device, etc.). The transmission quality information is used to measure the quality of the mission data during transmission. The transmission quality information is directly or indirectly calculated by the control device based on the mission data transmitted by the mobile platform. The transmission quality information may include one or more of the following parameters: quality parameters of the image frame data collected by the mobile platform during operation (such as signal-noise ratio (SNR)), retransmission parameters of the image frame data collected by the mobile platform during operation (such as the number of retransmitted image frames (transmission times greater than 1) per unit time), residual error information of the image frame data collected by the mobile platform during operation, etc.

[0040] 203. In response to the channel interference scanning result satisfying the first condition and the transmission quality information satisfying the second condition, the control device performs anti-interference processing.

[0041] Satisfying the first condition means that the channel interference scanning result directly or indirectly indicates that an interference signal with a strength higher than a strength threshold (such as -30 dBm) is scanned during the channel interference scanning process. Furthermore, the duration of the signal strength of the interference signal higher than the strength threshold within a unit time (such as a preset duration, or during the channel interference scanning period) is greater than the duration threshold.

[0042] Meeting the second condition means that the quality of the transmitted task data does not meet the standard (such as unclear transmitted images, jittery transmitted videos, etc.). In one embodiment, meeting the second condition means that one or more parameters in the transmission quality information do not meet the standard (such as the average signal-to-noise ratio of the transmitted image frames is lower than the signal-to-noise ratio threshold, the proportion of retransmitted image frames per unit time is higher than the proportion threshold, etc.).

[0043] Anti-interference processing refers to the control device performing corresponding anti-interference processing according to different actual situations when it determines that the interference signal will obviously affect the transmission of task data between the control device and the mobile platform (that is, the channel interference scanning result meets the first condition and the transmission quality information meets the second condition). Anti-interference processing may include one or more of the following: (1) When the control device is connected to the surrounding environment device (such as the user's mobile terminal device) and detects that the Bluetooth function in the surrounding environment device is turned on, turn off the Bluetooth function in the surrounding environment device. (2) When the control device is connected to the surrounding environment device and detects that the Bluetooth in the surrounding environment device is turned on, send a prompt message to the surrounding environment device, and the prompt message is used to remind the user that the Bluetooth in the surrounding environment device may affect the transmission of task data between the control device and the mobile platform. (3) When the control device is not connected to the surrounding environment device, prompt the user through the control device (such as playing a voice prompt, displaying a prompt message, etc.).

[0044] In the embodiment of the present invention, on the one hand, the control device monitors the strength of the surrounding interference signals (such as Bluetooth interference) by scanning the target frequency band. On the other hand, the control device comprehensively determines whether the interference signals in the current surrounding environment obviously affect the communication between the control device and the mobile platform by monitoring the transmission quality information (such as the clarity and fluency of the transmitted pictures or videos) during the data transmission process with the mobile platform. In response to the interference signal obviously affecting the communication between the control device and the mobile platform, the control device performs anti-interference processing. It can be seen that the embodiment of the present invention provides an evaluation index for interference signals, which determines whether it is necessary to perform anti-interference processing on the interference signal according to the degree of influence of the interference signal on data transmission, thereby improving the accuracy of the anti-interference processing and enhancing the user experience.

[0045] See also Figure 3 , Figure 3 FIG. 1 is a flow chart of another interference processing method disclosed in an embodiment of the present invention. Figure 3 As shown, the interference processing method may include steps 301-307. Among them:

[0046] 301. Control a device to perform channel interference scanning on a target frequency band, and obtain a channel interference scanning result.

[0047] The specific implementation of step 301 can be found in Figure 2 The implementation of step 201 will not be repeated here.

[0048] 302. The control device determines whether there is an interference signal with a signal strength higher than a signal strength threshold in the target channel within a first range of time.

[0049] The target channel may be any channel in the target frequency band. The first range duration may refer to a continuous period (such as 1s, 10s) when the control device scans the target channel, and the first range duration may also be accumulated from multiple discontinuous periods; for example, assuming that the first range duration is 10s, the control device scans the target channel three times from the 10th second to the 12th second of the first minute, from the 47th second to the 51st second of the first minute, and from the 7th second to the 11th second of the second minute, then the first range duration is accumulated from three discontinuous periods. If the control device scans an interference signal with a signal strength higher than a strength threshold (such as -30dBm) during the target channel interference scan, it is determined that there is an interference signal, and step 303 is continued; for example, assuming that the strength threshold is -30dBm, the control device scans the target channel signal 1 within the first range duration to a strength threshold of -20dBm, then the control device determines that there is an interference signal in the target channel. If the control device does not scan an interference signal with a signal strength higher than the strength threshold during the target channel interference scan, it is determined that there is no interference signal.

[0050] 303. If an interference signal with a signal strength higher than a signal strength threshold exists in the target channel within the first range of duration, the control device determines whether the duration ratio is greater than a duration ratio threshold.

[0051] The duration ratio refers to the ratio of the duration of existence of the interference signal (signal with signal strength higher than the strength threshold) in the channel interference scanning result to the duration of the first range. It is understandable that, assuming that the signal strength of signal 1 is higher than the strength threshold from the 1st second to the 5th second, and the signal strength is lower than the strength threshold from the 5th second to the 10th second, the control device determines that signal 1 is an interference signal from the 1st second to the 5th second, and is not an interference signal from the 5th second to the 10th second. The control device determines whether the duration ratio is greater than the duration ratio threshold, which means: the control device determines the length of time the interference signal exists within the first range of duration. It is understandable that the shorter the time the interference signal exists within the first range of duration, the smaller the impact on the task data transmission; the longer the interference signal exists within the first range of duration, the greater the impact on the task data transmission.

[0052] Correspondingly, if there is no interference signal with a signal strength higher than the signal strength threshold in the target channel within the first range of duration, or the duration ratio is less than the duration ratio threshold, the control device ends the interference processing.

[0053] 304. If the duration ratio is greater than the duration ratio threshold, the control device determines that the channel interference scanning result meets the first condition.

[0054] In one embodiment, the signal strength threshold includes a first strength threshold and a second strength threshold, and the duration ratio threshold includes a first ratio threshold and a second ratio threshold. If there is an interference signal in the target channel with a signal strength higher than the first strength threshold and the duration ratio is greater than the first ratio threshold, then there is in-channel interference in the target channel, and it is determined that the channel interference scanning result meets the first condition. If there is an interference signal in the target channel with a signal strength higher than the second strength threshold and the duration ratio is greater than the second ratio threshold, then there is out-of-channel interference in the target channel (i.e., there is an interference signal in other channels outside the target channel with a strength higher than the strength threshold), and it is determined that the channel interference scanning result meets the first condition. Among them, the first strength threshold is greater than the second strength threshold, and the first ratio threshold is less than the second ratio threshold. For example, assuming that directly scanning an interference signal during the target channel interference scanning means that there is a probability of >a% of scanning an interference signal with a strength higher than A dBm in the target frequency band within the cumulative time of T0, then indirectly scanning an interference signal during the target channel interference scanning means that there is a probability of >b% of scanning an interference signal with a strength higher than B dBm in the target frequency band within the cumulative time of T0, where b > a and B < A. In one embodiment, the value of a can be 1, the value of A can be -50 dBm, the value of b can be 5, the value of B can be -80 dBm, and the value of T0 can be 20 s.

[0055] 305. In response to the channel interference scanning result meeting the first condition, the control device sets an interference flag bit.

[0056] The interference flag bit is used to indicate that the channel interference scanning result meets the first condition. The interference flag bit can be explicit, such as an indicator light corresponding to the interference flag bit on the control device; the interference flag bit can also be implicit, such as the field corresponding to the interference flag bit.

[0057] In one embodiment, if the channel interference scanning result does not meet the first condition within a predetermined duration (such as 5 minutes) after setting the interference flag bit; or the control device is restarted, then the setting of the interference flag bit is cancelled (such as turning off the indicator light of the interference flag bit, configuring the field corresponding to the interference flag bit as an invalid value, etc.).

[0058] 306. The control device transmits task data with the movable platform and obtains the transmission quality information during the transmission process.

[0059] The transmission quality information includes at least one of the following: information about the frequency band to which the transmission channel of the task data belongs (i.e., the transmission frequency band of the task data), the transmission distance of the task data, the quality parameters of the target image frame, the historical signal-to-noise ratio, the number of transmissions of each image frame in the task data, and the residual error information. Among them, the transmission distance of the task data refers to the distance between the current control device and the movable platform; the target image frame is an image frame whose signal-to-noise ratio is lower than the signal-to-noise ratio threshold within the second range (e.g., 1 minute) (i.e., an image frame with unqualified image quality); the residual error information is used to indicate an image frame that still fails to transmit after multiple transmissions.

[0060] In one embodiment, the signal-to-noise ratio threshold is calculated based on the average signal-to-noise ratio of the image frames in the task data within the second range duration; for example, assuming that the average signal-to-noise ratio of the image frames in the task data within the second range duration is 30 dB, the signal-to-noise ratio threshold = 30-C, C>0. For another example, in the past end time T1, d% of the downlink frames have a signal-to-noise ratio that is lower than the average signal-to-noise ratio by more than D dB, where a and b correspond to the above-mentioned probability of >a% scanning an interference signal with an intensity higher than A dBm in the target frequency band within the cumulative time T0, and the probability of >b% scanning an interference signal with an intensity higher than B dBm in the target frequency band within the cumulative time T0. In one embodiment, it is required that d>=(a+b), so d can be taken as 6 and D can be taken as 5.

[0061] 307. In response to the channel interference scanning result satisfying the first condition and the transmission quality information satisfying the second condition, the control device performs anti-interference processing.

[0062] The first sub-condition of the second condition is: the frequency band information of the transmission channel of the task data matches the target frequency band (that is, the task data is transmitted in the target frequency band, for example, it can be the 2.4G frequency band), and the current transmission distance is greater than the distance threshold (such as 100 meters, 200 meters, etc.).

[0063] The second sub-condition of the second condition is: the quality parameter of the target image frame within the second range duration is greater than the first parameter threshold. Wherein, the quality parameter of the target image frame includes the ratio of the number of target image frames within the second range duration to the number of image frames transmitted within the second range duration (i.e., the proportion of the target image frame within the second range duration). In one embodiment, the quality parameter of the target image frame within the second range duration is greater than the first parameter threshold, which means that the proportion of the target image frame within the second range duration exceeds the proportion threshold; for example, assuming that the first parameter threshold is 10%, the number of target image frames within the second range duration is 15, and the number of image frames transmitted within the second range duration is 100, then the proportion of the target image frame within the second range duration is 15%>10%, and the control device determines that the transmission quality information meets the second sub-condition of the second condition.

[0064] The third sub-condition of the second condition is: the retransmission parameter of the retransmitted image frame determined within the third range duration is greater than the second parameter threshold. Wherein, the retransmitted image frame refers to an image frame that is transmitted more than once within the third range duration. In one embodiment, the retransmission parameter of the retransmitted image frame includes the number of retransmitted image frames, and the retransmission parameter of the retransmitted image frame determined within the third range duration is greater than the second parameter threshold, which means that the number of retransmitted image frames within the third range duration exceeds the specified number (such as 10 frames). In another embodiment, the retransmission parameter of the retransmitted image frame includes the ratio of the number of retransmitted image frames within the third range duration to the number of image frames transmitted within the third range duration (that is, the proportion of retransmitted image frames within the third range duration). The retransmission parameter of the retransmitted image frame determined within the third range duration is greater than the second parameter threshold, which means that the proportion of retransmitted image frames exceeds the specified proportion (such as 12% of downlink frames have been retransmitted within 200ms). In another embodiment, the retransmitted image frame is a key frame, and the retransmission parameter includes the number of key frame requests. The retransmission parameter of the retransmitted image frame determined within the third range of duration being greater than the second parameter threshold means that the number of key frame requests within the third range of duration exceeds a prescribed number (eg, 1 key frame request).

[0065] The fourth sub-condition of the second condition is: the control device determines that there are image frames with failed transmission within a fourth range of duration based on the residual error information; for example, the fourth range of duration is from the 10th second to the 20th second, and the control device determines that a transmission residual error occurs in image frame 1 at the 18th second based on the residual error information, then the control device determines that the transmission quality information meets the fourth sub-condition of the second condition.

[0066] It should be noted that the transmission quality information satisfies the second condition, which may mean that: the transmission quality information satisfies the first sub-condition of the second condition; or the transmission quality information satisfies the first and second sub-conditions of the second condition; or the transmission quality information satisfies the first and third sub-conditions of the second condition; or the transmission quality information satisfies the first and fourth sub-conditions of the second condition; or the transmission quality information satisfies the first, second and third sub-conditions of the second condition; or the transmission quality information satisfies the first, second and fourth sub-conditions of the second condition; or the transmission quality information satisfies the first, third and fourth sub-conditions of the second condition; or the transmission quality information satisfies the first, second, third and fourth sub-conditions of the second condition.

[0067] In one embodiment, the mobile platform is performing a task of general importance (such as agricultural plant protection, etc.), and the control device is connected to the associated devices in the surrounding environment in a direct or indirect manner (such as the control device is directly connected to the user's mobile phone, and the user's mobile phone is connected to one or more wearable devices). The associated devices in the surrounding environment include: mobile terminal devices (such as mobile phones, laptops, etc.), wireless headphones, smart bracelets, VR glasses, etc. The control device performs anti-interference processing means: the control device obtains the Bluetooth status information of the associated devices in the surrounding environment. If the Bluetooth status information of the associated devices in the surrounding environment indicates that the Bluetooth of the device is in the on state, the control device performs a prompt operation (such as playing a prompt voice, displaying a prompt message, etc.), or sends a prompt message to the associated devices in the surrounding environment. The above-mentioned prompt voice and prompt message are used to prompt the user to turn off the Bluetooth function of the associated devices in the surrounding environment to improve the transmission quality of the task data.

[0068] Further, if the control device still detects that the Bluetooth of the device is turned on within the target period (such as 5 minutes after sending the prompt message) after sending the prompt message to the associated device in the surrounding environment, and the interference scanning result meets the first condition, and the transmission quality information meets the second condition, the control device sends the prompt message to the associated device in the surrounding environment again. Optionally, after sending the prompt message N times, the control device no longer sends the prompt message, where N is a positive integer and N≥2.

[0069] In another embodiment, the control device is connected to the associated device in the surrounding environment in a direct or indirect manner. In response to the channel interference scanning result satisfying the first condition and the transmission quality information satisfying the second condition, the control device generates interference prompt information, and the interference prompt information is used to prompt that there is signal (such as Bluetooth) interference in the current environment. The control device performs anti-interference processing means: the control device obtains the Bluetooth status information of the associated device in the surrounding environment, and if the Bluetooth status information of the associated device in the surrounding environment indicates that the Bluetooth of the device is in the off state, the control device discards the interference prompt information.

[0070] In another embodiment, the mobile platform is performing a task of high importance (such as forest fire fighting, live broadcasting, etc.), and the control device is connected to the associated devices in the surrounding environment in a direct or indirect manner. The control device performs anti-interference processing means: the control device obtains the Bluetooth status information of the associated devices in the surrounding environment, and if the Bluetooth status information of the associated devices in the surrounding environment indicates that the Bluetooth of the device is in the on state, the control device sends a Bluetooth off instruction to the device.

[0071] In yet another embodiment, the transmission quality information includes the task data transmission quality level; for example, the transmission quality level is determined based on the average signal-to-noise ratio of image frames per unit time. When the average signal-to-noise ratio < p, the transmission quality level is determined to be poor; when p ≤ average signal-to-noise ratio < q, the transmission quality level is determined to be average; when q ≤ average signal-to-noise ratio, the transmission quality level is determined to be good. The control device is connected to the associated devices in the surrounding environment directly or indirectly. The anti-interference processing performed by the control device means that the control device obtains the Bluetooth status information of the associated devices in the surrounding environment. If the Bluetooth status information of the associated devices in the surrounding environment indicates that the Bluetooth of the device is in the on state, the control device performs corresponding anti-interference processing according to the data transmission quality level. Specifically, when the transmission quality information does not meet the third condition (such as the transmission level is poor), the control device sends a prompt message to the associated devices in the surrounding environment, and this prompt message is used to prompt the user to turn off the Bluetooth function of the associated devices in the surrounding environment; when the transmission quality information meets the third condition, the control device sends a Bluetooth off command to the associated devices in the surrounding environment. For example, when the transmission quality level is average, the control device sends a prompt message to the associated devices in the surrounding environment, and when the transmission quality level is poor, the control device sends a Bluetooth off command to the associated devices in the surrounding environment.

[0072] In another embodiment, the identifiers of the task data are classified according to the importance of the task data; for example, the identifiers in the first set are important task data, and the identifiers in the second set are general task data. The transmission quality information includes the identifier of the task data, and the control device is connected to the associated devices in the surrounding environment directly or indirectly. The anti-interference processing performed by the control device means that the control device obtains the Bluetooth status information of the associated devices in the surrounding environment. If the Bluetooth status information of the associated devices in the surrounding environment indicates that the Bluetooth of the device is in the on state, and the identifier of the task data matches the target identifier (i.e., the identifier of the important task data), the control device sends a Bluetooth off command to the device. If the Bluetooth status information of the associated devices in the surrounding environment indicates that the Bluetooth of the device is in the on state, and the identifier of the task data does not match the target identifier, the control device sends a prompt message to the device, and this prompt message is used to prompt the user to turn off the Bluetooth function of the associated devices in the surrounding environment.

[0073] The embodiment of the present invention determines whether the interference scanning result meets the first condition by the strength of the interference signal and the proportion of its existence time, provides a variety of second condition judgment methods for different transmission quality information, comprehensively judges whether the interference signal in the current surrounding environment obviously affects the communication between the control device and the movable platform through the first condition and the second condition, and provides different anti-interference processing methods for different application scenarios. It can be seen that on the one hand, the embodiment of the present invention provides a corresponding method for measuring the degree of influence of interference signals for different transmission quality information, and then determines whether it is necessary to perform anti-interference processing on the interference signal according to the measurement result, thereby improving the accuracy of anti-interference processing and enhancing user experience; on the other hand, different anti-interference processing methods are proposed for different application scenarios, thereby improving the flexibility of anti-interference processing.

[0074] An embodiment of the present invention provides an interference processing device, which can be mounted on a control device of a mobile platform, such as Figure 1a The control device 101 in. Figure 4 A structural diagram of an interference processing device provided by an embodiment of the present invention, such as Figure 4 As shown, the interference processing device 400 includes an acquisition unit 401 and a processor 402 . Figure 4 The interference processing device shown can be used to perform the above Figure 2 or Figure 3 Part or all of the functions of the method embodiment described. The detailed description of each unit is as follows:

[0075] An acquisition unit is used to perform channel interference scanning on the target frequency band and obtain the channel interference scanning result; transmit task data with the mobile platform and obtain transmission quality information during the transmission process;

[0076] The processor is configured to perform anti-interference processing in response to the channel interference scanning result satisfying a first condition and the transmission quality information satisfying a second condition.

[0077] In one implementation, the processor 402 further performs the following operations:

[0078] According to the channel interference scanning result, determining whether there is an interference signal with a signal strength higher than a signal strength threshold in the target channel within a first range of duration;

[0079] If so, determining whether the duration ratio is greater than the duration ratio threshold, the duration ratio comprising: the ratio of the duration of existence of the interference signal in the channel interference scanning result to the duration of the first range;

[0080] If the duration ratio is greater than the duration ratio threshold, it is determined that the channel interference scanning result meets the first condition.

[0081] In one implementation, the signal strength threshold that is set includes a first strength threshold and a second strength threshold, and the duration ratio threshold that is set includes a first ratio threshold and a second ratio threshold;

[0082] If there is an interference signal in the target channel whose signal strength is higher than the first strength threshold, and the duration ratio is greater than the first ratio threshold, there is intra-channel interference in the target channel, and it is determined that the channel interference scanning result meets the first condition; and / or

[0083] If there is an interference signal in the target channel whose signal strength is higher than the second strength threshold, and the duration ratio is greater than the second ratio threshold, there is out-of-channel interference in the target channel, and it is determined that the channel interference scanning result meets the first condition;

[0084] The first intensity threshold is greater than the second intensity threshold, and the first ratio threshold is less than the second ratio threshold.

[0085] In one implementation, the processor 402 further performs the following operations:

[0086] In response to the channel interference scanning result satisfying the first condition, an interference flag is set, and the set interference flag is used to prompt that interference exists in the current channel.

[0087] In one implementation, the processor 402 further performs the following operations:

[0088] If it is determined that within a predetermined period of time after the channel interference scanning result satisfies the first condition, the channel interference scanning result does not satisfy the first condition, or the control device is restarted, the setting of the interference flag is cancelled.

[0089] In one implementation, the transmission quality information includes frequency band information of a transmission channel of the task data and a transmission distance of the task data; the transmission quality information satisfies the second condition including:

[0090] The frequency band information of the transmission channel of the task data matches the target frequency band, and the transmission distance is greater than a distance threshold.

[0091] In one implementation, the transmission quality information includes a quality parameter of a target image frame, where the target image frame is an image frame whose signal-to-noise ratio is lower than a signal-to-noise ratio threshold within a second range of duration; the transmission quality information satisfies the second condition and further includes:

[0092] The quality parameter of the target image frame within the second range of duration is greater than the first parameter threshold.

[0093] In one implementation, the transmission quality information further includes a historical signal-to-noise ratio, and the signal-to-noise ratio threshold is obtained by calculating an average signal-to-noise ratio of image frames in the task data within the second range of duration and the historical signal-to-noise ratio.

[0094] In one implementation, the transmission quality information includes the number of transmissions of each image frame in the task data; the transmission quality information satisfies the second condition and further includes:

[0095] The retransmission parameter of the retransmitted image frame determined within the third range duration is greater than the second parameter threshold.

[0096] In one implementation, the retransmission parameters of the retransmitted image frames include: the number of the retransmitted image frames or the ratio of the retransmitted image frames to the image frames within the third range of duration.

[0097] In one implementation, the retransmitted image frame is a key frame, and the retransmission parameter includes: the number of the key frame requests.

[0098] In one implementation manner, the transmission quality information includes residual error information; and the transmission quality information satisfies the second condition further comprising:

[0099] It is determined that there are image frames that have failed transmission within a fourth range of duration according to the residual error information.

[0100] In one implementation, when the processor 402 performs anti-interference processing, the processor 402 performs the following operations:

[0101] Acquiring Bluetooth status information of associated devices in the surrounding environment of the control device through the acquisition unit 401;

[0102] If the Bluetooth status information indicates that the Bluetooth of the associated device is in an on state, interference prompt information is sent to the associated device.

[0103] In one implementation, when the processor 402 performs anti-interference processing, the processor 402 performs the following operations:

[0104] Generate interference prompt information, where the interference prompt information is used to prompt that Bluetooth interference exists in the current environment;

[0105] Acquiring Bluetooth status information of associated devices in the surrounding environment of the control device through the acquisition unit 401;

[0106] If the Bluetooth status information indicates that the Bluetooth of the associated device is in a turned-off state, the interference prompt information is discarded.

[0107] In one implementation, when the processor 402 performs anti-interference processing, the processor 402 performs the following operations:

[0108] Acquiring Bluetooth status information of associated devices in the surrounding environment of the control device through the acquisition unit 401;

[0109] If the Bluetooth status information indicates that the Bluetooth of the associated device is in an on state, a Bluetooth off instruction is sent to the associated device.

[0110] In one implementation, the transmission quality information includes the task data transmission quality level; when the processor 402 performs anti-interference processing, the processor 402 performs the following operations:

[0111] Acquiring Bluetooth status information of associated devices in the surrounding environment of the control device through the acquisition unit 401;

[0112] If the Bluetooth status information indicates that the Bluetooth of the associated device is in an on state, and the transmission quality information satisfies a third condition, a Bluetooth off instruction is sent to the associated device.

[0113] In one implementation, the transmission quality information includes an identifier of the task data; when the processor 402 performs anti-interference processing, the processor 402 performs the following operations:

[0114] Acquiring Bluetooth status information of associated devices in the surrounding environment of the control device through the acquisition unit 401;

[0115] If the Bluetooth status information indicates that the Bluetooth of the associated device is in an on state, and the identifier of the task data matches the target identifier, a Bluetooth off instruction is sent to the associated device.

[0116] According to one embodiment of the present invention, Figure 4 The various units in the interference processing device shown can be individually or completely combined into one or several other units to form, or one (some) of the units can be further divided into multiple functionally smaller units to form, which can achieve the same operation without affecting the realization of the technical effects of the embodiments of the present invention. The above-mentioned units are divided based on logical functions. In practical applications, the function of one unit can also be implemented by multiple units, or the functions of multiple units can be implemented by one unit. In other embodiments of the present invention, the point interference processing device may also include other units. In practical applications, these functions can also be implemented with the assistance of other units, and can be implemented by the collaboration of multiple units. According to another embodiment of the present invention, it can be executed by running on a general computing device such as a computer including processing elements and storage elements such as a central processing unit (CPU), a random access storage medium (RAM), and a read-only storage medium (ROM). Figure 2 or Figure 3A computer program (including program instructions) for each step involved in the corresponding method shown in FIG. Figure 4 The interference processing device shown in the figure is used to implement the interference processing method of the embodiment of the present invention. The above computer program can be recorded on a computer-readable recording medium, for example, and loaded into the above computing device through the computer-readable recording medium and run therein.

[0117] Based on the same inventive concept, the principles and beneficial effects of solving the problems by the interference processing device provided in the embodiment of the present invention are similar to the principles and beneficial effects of solving the problems by the interference processing method in the method embodiment of the present invention. Please refer to the principles and beneficial effects of the implementation of the method. For the sake of concise description, they will not be repeated here.

[0118] An embodiment of the present invention provides a control device. Figure 5 is a structural diagram of a control device provided by an embodiment of the present invention, such as Figure 5 As shown, the control device 500 at least includes a processor 501 and a memory 502, wherein the memory 502 stores program instructions, and the processor 501 calls the program instructions in the memory 502. When the program instructions are executed, the processor 501 performs the following operations:

[0119] Perform channel interference scanning on the target frequency band and obtain the channel interference scanning results;

[0120] Transmitting mission data with the mobile platform and obtaining transmission quality information during the transmission process;

[0121] In response to the channel interference scanning result satisfying a first condition and the transmission quality information satisfying a second condition, anti-interference processing is performed.

[0122] Optionally, when the instruction is executed, the processor 501 further performs the following operations:

[0123] According to the channel interference scanning result, determining whether there is an interference signal with a signal strength higher than a signal strength threshold in the target channel within a first range of duration;

[0124] If so, determining whether the duration ratio is greater than the duration ratio threshold, the duration ratio comprising: a ratio of the duration of existence of the interference signal in the channel interference scanning result to the duration of the first range;

[0125] If the duration ratio is greater than the duration ratio threshold, it is determined that the channel interference scanning result meets the first condition.

[0126] Optionally, the signal strength threshold that is set includes a first strength threshold and a second strength threshold, and the duration ratio threshold that is set includes a first ratio threshold and a second ratio threshold;

[0127] If there is an interference signal in the target channel whose signal strength is higher than the first strength threshold, and the duration ratio is greater than the first ratio threshold, there is intra-channel interference in the target channel, and it is determined that the channel interference scanning result meets the first condition; and / or

[0128] If there is an interference signal in the target channel whose signal strength is higher than the second strength threshold, and the duration ratio is greater than the second ratio threshold, there is out-of-channel interference in the target channel, and it is determined that the channel interference scanning result meets the first condition;

[0129] The first intensity threshold is greater than the second intensity threshold, and the first ratio threshold is less than the second ratio threshold.

[0130] Optionally, when the instruction is executed, the processor 501 further performs the following operations:

[0131] In response to the channel interference scanning result satisfying the first condition, an interference flag is set, and the set interference flag is used to prompt that interference exists in the current channel.

[0132] Optionally, when the instruction is executed, the processor 501 further performs the following operations:

[0133] If it is determined that within a predetermined period of time after the channel interference scanning result satisfies the first condition, the channel interference scanning result does not satisfy the first condition, or the control device is restarted, the setting of the interference flag is cancelled.

[0134] Optionally, the transmission quality information includes frequency band information of a transmission channel of the task data and a transmission distance of the task data; the transmission quality information meeting the second condition includes:

[0135] The frequency band information of the transmission channel of the task data matches the target frequency band, and the transmission distance is greater than a distance threshold.

[0136] Optionally, the transmission quality information includes a quality parameter of a target image frame, and the target image frame is an image frame whose signal-to-noise ratio is lower than a signal-to-noise ratio threshold within a second range of duration; the transmission quality information meeting the second condition further includes:

[0137] The quality parameter of the target image frame within the second range of duration is greater than the first parameter threshold.

[0138] Optionally, the transmission quality information further includes a historical signal-to-noise ratio, and the signal-to-noise ratio threshold is obtained by calculating an average signal-to-noise ratio of image frames in the task data within the second range of duration and the historical signal-to-noise ratio.

[0139] Optionally, the transmission quality information includes the number of transmissions of each image frame in the task data; and the transmission quality information satisfies the second condition and further includes:

[0140] The retransmission parameter of the retransmitted image frame determined within the third range duration is greater than the second parameter threshold.

[0141] Optionally, the retransmission parameters of the retransmitted image frames include: the number of the retransmitted image frames or the ratio of the retransmitted image frames to the image frames within the third range of duration.

[0142] Optionally, the retransmitted image frame is a key frame, and the retransmission parameter includes: the number of the key frame requests.

[0143] Optionally, the transmission quality information includes residual error information; and the transmission quality information satisfies the second condition further comprising:

[0144] It is determined that there are image frames that have failed transmission within a fourth range of duration according to the residual error information.

[0145] Optionally, when the instruction is executed, the specific implementation of the processor 501 performing anti-interference processing is:

[0146] Obtaining Bluetooth status information of associated devices of the surrounding environment of the control device;

[0147] If the Bluetooth status information indicates that the Bluetooth of the associated device is in an on state, interference prompt information is sent to the associated device.

[0148] Optionally, when the instruction is executed, the specific implementation of the processor 501 performing anti-interference processing is:

[0149] Generate interference prompt information, where the interference prompt information is used to prompt that Bluetooth interference exists in the current environment;

[0150] Obtaining Bluetooth status information of associated devices of the surrounding environment of the control device;

[0151] If the Bluetooth status information indicates that the Bluetooth of the associated device is in a turned-off state, the interference prompt information is discarded.

[0152] Optionally, when the instruction is executed, the specific implementation of the processor 501 performing anti-interference processing is:

[0153] Obtaining Bluetooth status information of associated devices of the surrounding environment of the control device;

[0154] If the Bluetooth status information indicates that the Bluetooth of the associated device is in an on state, a Bluetooth off instruction is sent to the associated device.

[0155] Optionally, the transmission quality information includes the task data transmission quality level; when the instruction is executed, the specific implementation method of the processor 501 performing anti-interference processing is:

[0156] Obtaining Bluetooth status information of associated devices of the surrounding environment of the control device;

[0157] If the Bluetooth status information indicates that the Bluetooth of the associated device is in an on state, and the transmission quality information satisfies a third condition, a Bluetooth off instruction is sent to the associated device.

[0158] Optionally, the transmission quality information includes an identifier of the task data; when the instruction is executed, the specific implementation of the processor 501 performing anti-interference processing is:

[0159] Obtaining Bluetooth status information of associated devices of the surrounding environment of the control device;

[0160] If the Bluetooth status information indicates that the Bluetooth of the associated device is in an on state, and the identifier of the task data matches the target identifier, a Bluetooth off instruction is sent to the associated device.

[0161] The control device provided in this embodiment can execute the interference processing method provided in the above-mentioned embodiment. Its execution method and beneficial effects are similar and will not be described in detail here.

[0162] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0163] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0164] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0165] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform some steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, and other media that can store program instructions.

[0166] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0167] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An interference processing method, characterized in that: Applied to a control device, the control device is used to interact with a mobile platform for data, the method comprising: Perform channel interference scanning on the target frequency band and obtain the channel interference scanning results; Transmitting mission data with the mobile platform and obtaining transmission quality information during the transmission process; In response to the channel interference scanning result satisfying a first condition and the transmission quality information satisfying a second condition, anti-interference processing is performed, wherein the first condition includes that the channel interference scanning result directly or indirectly indicates that an interference signal with an intensity higher than a strength threshold is scanned during the channel interference scanning process, and the second condition includes that one or more parameters in the transmission quality information do not meet the standard.

2. The method according to claim 1, characterized in that: In response to obtaining the channel interference scanning result, the method further includes: According to the channel interference scanning result, determining whether there is an interference signal with a signal strength higher than a signal strength threshold in the target channel within the first range duration; If it exists, it is determined whether the duration ratio is greater than the duration ratio threshold, the duration ratio comprising: the ratio of the duration of existence of the interference signal in the channel interference scanning result to the duration of the first range; When the duration ratio is greater than the duration ratio threshold, it is determined that the channel interference scanning result meets the first condition.

3. The method according to claim 2, characterized in that The signal strength threshold that is set includes a first strength threshold and a second strength threshold, and the duration ratio threshold that is set includes a first ratio threshold and a second ratio threshold; When there is an interference signal with a signal strength higher than the first strength threshold in the target channel, and the duration ratio is greater than the first ratio threshold, there is intra-channel interference in the target channel, and it is determined that the channel interference scanning result meets the first condition; and / or When there is an interference signal with a signal strength higher than the second strength threshold in the target channel, and the duration ratio is greater than the second ratio threshold, there is out-of-channel interference in the target channel, and it is determined that the channel interference scanning result meets the first condition; The first intensity threshold is greater than the second intensity threshold, and the first ratio threshold is less than the second ratio threshold.

4. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: In response to the channel interference scanning result satisfying the first condition, an interference flag is set, and the set interference flag is used to prompt that interference exists in the current channel.

5. The method according to claim 4, characterized in that The method further comprises: When the channel interference scanning results do not meet the first condition within a predetermined time period after it is determined that the channel interference scanning results meet the first condition, or the control device is restarted, the setting of the interference flag is eliminated.

6. The method according to claim 1, characterized in that The transmission quality information includes the frequency band information of the transmission channel of the task data and the transmission distance of the task data; the transmission quality information meeting the second condition includes: The frequency band information of the transmission channel of the task data matches the target frequency band, and the transmission distance is greater than a distance threshold.

7. The method according to claim 6, characterized in that The transmission quality information includes a quality parameter of a target image frame, and the target image frame is an image frame whose signal-to-noise ratio is lower than a signal-to-noise ratio threshold within a second range of duration; The transmission quality information also satisfies the second condition: The quality parameter of the target image frame within the second range of duration is greater than the first parameter threshold.

8. The method according to claim 7, characterized in that The transmission quality information also includes a historical signal-to-noise ratio, and the signal-to-noise ratio threshold is obtained by calculating an average signal-to-noise ratio of image frames in the task data within the second range of duration and the historical signal-to-noise ratio.

9. The method according to any one of claims 6 to 8, characterized in that: The transmission quality information includes the transmission times of each image frame in the task data; The transmission quality information also satisfies the second condition: The retransmission parameter of the retransmitted image frame determined within the third range duration is greater than the second parameter threshold.

10. The method according to claim 9, characterized in that The retransmission parameters of the retransmitted image frames include: the number of the retransmitted image frames or the ratio of the retransmitted image frames to the image frames within the third range of duration.

11. The method according to claim 9, characterized in that The retransmitted image frame is a key frame, and the retransmission parameter includes: the number of the key frame requests.

12. The method according to any one of claims 6-8 or 10-11, characterized in that: The transmission quality information includes residual error information; and the transmission quality information meeting the second condition further includes: It is determined that there are image frames that have failed transmission within a fourth range of duration according to the residual error information.

13. The method according to claim 9, characterized in that The transmission quality information includes residual error information; and the transmission quality information meeting the second condition further includes: It is determined that there are image frames that have failed transmission within a fourth range of duration according to the residual error information.

14. The method according to claim 1, characterized in that The anti-interference processing comprises: Obtaining Bluetooth status information of associated devices of the surrounding environment of the control device; When the Bluetooth status information indicates that the Bluetooth of the associated device is in an on state, interference prompt information is sent to the associated device.

15. The method according to claim 1, characterized in that The anti-interference processing comprises: Generate interference prompt information, where the interference prompt information is used to prompt that Bluetooth interference exists in the current environment; Obtaining Bluetooth status information of associated devices of the surrounding environment of the control device; When the Bluetooth status information indicates that the Bluetooth of the associated device is in a turned-off state, the interference prompt information is discarded.

16. The method according to claim 1, characterized in that The anti-interference processing comprises: Obtaining Bluetooth status information of associated devices of the surrounding environment of the control device; When the Bluetooth status information indicates that the Bluetooth of the associated device is in an on state, a Bluetooth off instruction is sent to the associated device.

17. The method according to claim 1, characterized in that The transmission quality information includes the task data transmission quality level; the anti-interference processing includes: Obtaining Bluetooth status information of associated devices of the surrounding environment of the control device; When the Bluetooth status information indicates that the Bluetooth of the associated device is in an on state and the transmission quality information satisfies a third condition, a Bluetooth off instruction is sent to the associated device.

18. The method according to claim 1, characterized in that The transmission quality information includes an identifier of the task data; and the anti-interference processing includes: Obtaining Bluetooth status information of associated devices of the surrounding environment of the control device; When the Bluetooth status information indicates that the Bluetooth of the associated device is in an on state and the identifier of the task data matches the target identifier, a Bluetooth off instruction is sent to the associated device.

19. An interference processing device, characterized in that: include: An acquisition unit is used to perform channel interference scanning on the target frequency band and obtain the channel interference scanning result; transmit task data with the mobile platform and obtain transmission quality information during the transmission process; A processor, configured to perform anti-interference processing in response to the channel interference scanning result satisfying a first condition and the transmission quality information satisfying a second condition, wherein the first condition includes that the channel interference scanning result directly or indirectly indicates that an interference signal with an intensity higher than a strength threshold is scanned during the channel interference scanning process, and the second condition includes that one or more parameters in the transmission quality information do not meet the standard.

20. The device according to claim 19, characterized in that The processor also performs the following operations: According to the channel interference scanning result, determining whether there is an interference signal with a signal strength higher than a signal strength threshold in the target channel within the first range duration; If it exists, it is determined whether the duration ratio is greater than the duration ratio threshold, the duration ratio comprising: the ratio of the duration of existence of the interference signal in the channel interference scanning result to the duration of the first range; When the duration ratio is greater than the duration ratio threshold, it is determined that the channel interference scanning result meets the first condition.

21. The device according to claim 20, characterized in that The signal strength threshold that is set includes a first strength threshold and a second strength threshold, and the duration ratio threshold that is set includes a first ratio threshold and a second ratio threshold; When there is an interference signal with a signal strength higher than the first strength threshold in the target channel, and the duration ratio is greater than the first ratio threshold, there is intra-channel interference in the target channel, and it is determined that the channel interference scanning result meets the first condition; and / or When there is an interference signal with a signal strength higher than the second strength threshold in the target channel, and the duration ratio is greater than the second ratio threshold, there is out-of-channel interference in the target channel, and it is determined that the channel interference scanning result meets the first condition; The first intensity threshold is greater than the second intensity threshold, and the first ratio threshold is less than the second ratio threshold.

22. The device according to any one of claims 19 to 21, characterized in that The processor also performs the following operations: In response to the channel interference scanning result satisfying the first condition, an interference flag is set, and the set interference flag is used to prompt that interference exists in the current channel.

23. The device according to claim 22, characterized in that The processor also performs the following operations: When it is determined that the channel interference scanning results do not meet the first condition within a predetermined time period after the channel interference scanning results meet the first condition, or the control device is restarted, the setting of the interference flag is eliminated, wherein the interference processing device is applied to the control device.

24. The device according to claim 19, characterized in that The transmission quality information includes the frequency band information of the transmission channel of the task data and the transmission distance of the task data; the transmission quality information meeting the second condition includes: The frequency band information of the transmission channel of the task data matches the target frequency band, and the transmission distance is greater than a distance threshold.

25. The device according to claim 24, characterized in that The transmission quality information includes a quality parameter of a target image frame, and the target image frame is an image frame whose signal-to-noise ratio is lower than a signal-to-noise ratio threshold within a second range of duration; The transmission quality information also satisfies the second condition: The quality parameter of the target image frame within the second range of duration is greater than the first parameter threshold.

26. The device according to claim 25, characterized in that The transmission quality information also includes a historical signal-to-noise ratio, and the signal-to-noise ratio threshold is obtained by calculating an average signal-to-noise ratio of image frames in the task data within the second range of duration and the historical signal-to-noise ratio.

27. The device according to any one of claims 24 to 26, characterized in that The transmission quality information includes the transmission times of each image frame in the task data; The transmission quality information also satisfies the second condition: The retransmission parameter of the retransmitted image frame determined within the third range duration is greater than the second parameter threshold.

28. The device according to claim 27, characterized in that The retransmission parameters of the retransmitted image frames include: the number of the retransmitted image frames or the ratio of the retransmitted image frames to the image frames within the third range of duration.

29. The device according to claim 27, characterized in that The retransmitted image frame is a key frame, and the retransmission parameter includes: the number of the key frame requests.

30. The device according to any one of claims 24-26 or 28-29, characterized in that The transmission quality information includes residual error information; and the transmission quality information meeting the second condition further includes: It is determined that there are image frames that have failed transmission within a fourth range of duration according to the residual error information.

31. The device according to claim 27, characterized in that The transmission quality information includes residual error information; and the transmission quality information meeting the second condition further includes: It is determined that there are image frames that have failed transmission within a fourth range of duration according to the residual error information.

32. The device according to claim 19, characterized in that When the processor performs anti-interference processing, the following operations are performed: acquiring Bluetooth status information of associated devices in the surrounding environment of the control device through the acquisition unit, wherein the interference processing device is applied to the control device; When the Bluetooth status information indicates that the Bluetooth of the associated device is in an on state, interference prompt information is sent to the associated device.

33. The device according to claim 19, characterized in that When the processor performs anti-interference processing, the following operations are performed: Generate interference prompt information, where the interference prompt information is used to prompt that Bluetooth interference exists in the current environment; acquiring Bluetooth status information of associated devices in the surrounding environment of the control device through the acquisition unit, wherein the interference processing device is applied to the control device; When the Bluetooth status information indicates that the Bluetooth of the associated device is in a turned-off state, the interference prompt information is discarded.

34. The device according to claim 19, characterized in that When the processor performs anti-interference processing, the following operations are performed: acquiring Bluetooth status information of associated devices in the surrounding environment of the control device through the acquisition unit, wherein the interference processing device is applied to the control device; When the Bluetooth status information indicates that the Bluetooth of the associated device is in an on state, a Bluetooth off instruction is sent to the associated device.

35. The device according to claim 19, characterized in that The transmission quality information includes the task data transmission quality level; when the processor performs anti-interference processing, the processor performs the following operations: acquiring Bluetooth status information of associated devices in the surrounding environment of the control device through the acquisition unit, wherein the interference processing device is applied to the control device; When the Bluetooth status information indicates that the Bluetooth of the associated device is in an on state and the transmission quality information satisfies a third condition, a Bluetooth off instruction is sent to the associated device.

36. The device according to claim 19, characterized in that The transmission quality information includes the identifier of the task data; when the processor performs anti-interference processing, the processor performs the following operations: acquiring Bluetooth status information of associated devices in the surrounding environment of the control device through the acquisition unit, wherein the interference processing device is applied to the control device; When the Bluetooth status information indicates that the Bluetooth of the associated device is in an on state and the identifier of the task data matches the target identifier, a Bluetooth off instruction is sent to the associated device.

37. A control device, characterized in that: The control device is connected to the movable platform, and the control device includes a processor and a memory: The memory is used to store computer-readable instructions; The processor calls the instruction, and when the instruction is executed, is used to: Perform channel interference scanning on the target frequency band and obtain the channel interference scanning results; Transmitting mission data with the mobile platform and obtaining transmission quality information during the transmission process; In response to the channel interference scanning result satisfying a first condition and the transmission quality information satisfying a second condition, anti-interference processing is performed, wherein the first condition includes that the channel interference scanning result directly or indirectly indicates that an interference signal with an intensity higher than a strength threshold is scanned during the channel interference scanning process, and the second condition includes that one or more parameters in the transmission quality information do not meet the standard.

38. The device according to claim 37, characterized in that When the instructions are executed, the processor is further configured to: According to the channel interference scanning result, determining whether there is an interference signal with a signal strength higher than a signal strength threshold in the target channel within the first range duration; If it exists, it is determined whether the duration ratio is greater than the duration ratio threshold, the duration ratio comprising: the ratio of the duration of existence of the interference signal in the channel interference scanning result to the duration of the first range; When the duration ratio is greater than the duration ratio threshold, it is determined that the channel interference scanning result meets the first condition.

39. The device according to claim 38, characterized in that The signal strength threshold that is set includes a first strength threshold and a second strength threshold, and the duration ratio threshold that is set includes a first ratio threshold and a second ratio threshold; When there is an interference signal with a signal strength higher than the first strength threshold in the target channel, and the duration ratio is greater than the first ratio threshold, there is intra-channel interference in the target channel, and it is determined that the channel interference scanning result meets the first condition; and / or When there is an interference signal with a signal strength higher than the second strength threshold in the target channel, and the duration ratio is greater than the second ratio threshold, there is out-of-channel interference in the target channel, and it is determined that the channel interference scanning result meets the first condition; The first intensity threshold is greater than the second intensity threshold, and the first ratio threshold is less than the second ratio threshold.

40. The device according to any one of claims 37 to 39, characterized in that When the instructions are executed, the processor is further configured to: In response to the channel interference scanning result satisfying the first condition, an interference flag is set, and the set interference flag is used to prompt that interference exists in the current channel.

41. The device according to claim 40, characterized in that When the instructions are executed, the processor is further configured to: When the channel interference scanning results do not meet the first condition within a predetermined time period after it is determined that the channel interference scanning results meet the first condition, or the control device is restarted, the setting of the interference flag is eliminated.

42. The apparatus according to claim 37, characterized in that The transmission quality information includes the frequency band information of the transmission channel of the task data and the transmission distance of the task data; the transmission quality information meeting the second condition includes: The frequency band information of the transmission channel of the task data matches the target frequency band, and the transmission distance is greater than a distance threshold.

43. The device according to claim 42, characterized in that The transmission quality information includes a quality parameter of a target image frame, and the target image frame is an image frame whose signal-to-noise ratio is lower than a signal-to-noise ratio threshold within a second range of duration; The transmission quality information also satisfies the second condition: The quality parameter of the target image frame within the second range of duration is greater than the first parameter threshold.

44. The device according to claim 43, characterized in that The transmission quality information also includes a historical signal-to-noise ratio, and the signal-to-noise ratio threshold is obtained by calculating an average signal-to-noise ratio of image frames in the task data within the second range of duration and the historical signal-to-noise ratio.

45. The device according to any one of claims 42 to 44, characterized in that The transmission quality information includes the transmission times of each image frame in the task data; The transmission quality information also satisfies the second condition: The retransmission parameter of the retransmitted image frame determined within the third range duration is greater than the second parameter threshold.

46. ​​The device according to claim 45, characterized in that The retransmission parameters of the retransmitted image frames include: the number of the retransmitted image frames or the ratio of the retransmitted image frames to the image frames within the third range of duration.

47. The device according to claim 45, characterized in that The retransmitted image frame is a key frame, and the retransmission parameter includes: the number of the key frame requests.

48. The device according to any one of claims 42-44 or 46-47, characterized in that The transmission quality information includes residual error information; and the transmission quality information meeting the second condition further includes: It is determined that there are image frames that have failed transmission within a fourth range of duration according to the residual error information.

49. The device according to claim 45, characterized in that The transmission quality information includes residual error information; and the transmission quality information meeting the second condition further includes: It is determined that there are image frames that have failed transmission within a fourth range of duration according to the residual error information.

50. The apparatus of claim 37, wherein: The specific implementation method of the processor performing anti-interference processing is as follows: Obtaining Bluetooth status information of associated devices of the surrounding environment of the control device; When the Bluetooth status information indicates that the Bluetooth of the associated device is in an on state, interference prompt information is sent to the associated device.

51. The apparatus according to claim 37, characterized in that The specific implementation method of the processor performing anti-interference processing is as follows: Generate interference prompt information, where the interference prompt information is used to prompt that Bluetooth interference exists in the current environment; Obtaining Bluetooth status information of associated devices of the surrounding environment of the control device; When the Bluetooth status information indicates that the Bluetooth of the associated device is in a turned-off state, the interference prompt information is discarded.

52. The apparatus according to claim 37, characterized in that The specific implementation method of the processor performing anti-interference processing is as follows: Obtaining Bluetooth status information of associated devices of the surrounding environment of the control device; When the Bluetooth status information indicates that the Bluetooth of the associated device is in an on state, a Bluetooth off instruction is sent to the associated device.

53. The apparatus according to claim 37, characterized in that The transmission quality information includes the task data transmission quality level; the specific implementation method of the processor performing anti-interference processing is: Obtaining Bluetooth status information of associated devices of the surrounding environment of the control device; When the Bluetooth status information indicates that the Bluetooth of the associated device is in an on state and the transmission quality information satisfies a third condition, a Bluetooth off instruction is sent to the associated device.

54. The apparatus according to claim 37, characterized in that The transmission quality information includes the identifier of the task data; the specific implementation method of the processor performing anti-interference processing is: Obtaining Bluetooth status information of associated devices of the surrounding environment of the control device; When the Bluetooth status information indicates that the Bluetooth of the associated device is in an on state and the identifier of the task data matches the target identifier, a Bluetooth off instruction is sent to the associated device.

55. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by a processor, the processor executes the interference processing method according to any one of claims 1 to 18.

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