WO2022067493A1 - Interference processing method, interference processing apparatus, and control device - Google Patents

Abstract

Embodiments of the present invention provide an interference processing method, interference processing apparatus, and control device. The interference processing method comprises: performing channel interference scanning of a target frequency band and obtaining a channel interference scanning result; transferring task data with a movable platform, and obtaining information about the quality of transmission during transmission; in response to the channel interference scanning result satisfying a first condition and the transmission quality information satisfying a second condition, performing anti-interference processing. Hence, embodiments of the present invention provide an interference signal evaluation indicator, the first condition and the second condition being combined to determine whether an interference signal in a current surrounding environment significantly affects communication between a control device and a movable platform, thus improving the accuracy of anti-interference processing.

Description

A kind of interference processing method, interference processing device and control device technical field

The present invention relates to the technical field of signal detection, and in particular, to an interference processing method, an interference processing device and a control device.

Background technique

Movable platforms (such as unmanned aerial vehicles, robots, etc.) are widely used in image shooting, 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 the mobile platform, there may be low duty cycle signal interference in some environments. For example, when the user is operating the mobile platform, the Bluetooth function of the mobile terminal device and wearable device may be in working state (for example, the user is using a wireless Bluetooth headset, wearing a smart bracelet, etc.), which may affect the mobile platform. affect the quality of data transmission.

SUMMARY OF THE INVENTION

Embodiments of the present invention provide an interference processing method, an interference processing device, and a control device, which can perform signal interference processing.

A first aspect of the embodiments of the present invention is to provide an interference processing method, which can be applied to a control device, where the control device is used to exchange data with a movable platform, and the method includes:

Perform channel interference scanning on the target frequency band, and obtain channel interference scanning results;

Transmit task data with the mobile platform, and obtain transmission quality information during the transmission process;

In response to the channel interference scan result satisfying the first condition and the transmission quality information satisfying the second condition, anti-interference processing is performed.

A second aspect of the embodiments of the present invention is to provide an interference processing device, including:

The acquisition unit is used to perform channel interference scanning on the target frequency band and obtain the channel interference scanning results; transmit task data with the movable platform, and obtain transmission quality information during the transmission process;

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

A third aspect of the embodiments of the present invention is to provide a control device, the control device is connected to a movable platform, and the control device includes a processor and a memory:

the memory for storing computer-readable instructions;

the processor, calling the instruction, when the instruction is executed, for:

Perform channel interference scanning on the target frequency band, and obtain channel interference scanning results;

Transmit task data with the mobile platform, and obtain transmission quality information during the transmission process;

In response to the channel interference scan result satisfying the first condition and the transmission quality information satisfying the second condition, anti-interference processing is performed.

A fourth aspect of the embodiments of the present invention is to provide a computer-readable storage medium, wherein the computer-readable storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by a processor, causes The processor executes the above interference processing method.

In this embodiment of the present invention, on the one hand, the intensity of surrounding interference signals (such as Bluetooth interference) is monitored by scanning the target frequency band; , to comprehensively judge whether the interference signal in the current surrounding environment significantly affects the communication between the control device and the movable platform, and perform anti-jamming processing in response to the interference signal significantly affecting the communication between the control device and the movable platform. It can be seen that the embodiment of the present invention provides an evaluation index of an interference signal, which is used to measure the strength of the interference signal (influence on data transmission), thereby improving the accuracy of anti-interference processing.

Description of drawings

FIG. 1a is a schematic diagram of an application scenario of interference processing disclosed in an embodiment of the present invention;

FIG. 1b is a schematic diagram of a waveform of an interference signal disclosed in an embodiment of the present invention;

FIG. 1c is a schematic diagram of a waveform of another interference signal disclosed in an embodiment of the present invention;

2 is a schematic flowchart of an interference processing method disclosed in an embodiment of the present invention;

3 is a schematic flowchart of another interference processing method disclosed in an embodiment of the present invention;

4 is a structural diagram of an interference processing apparatus disclosed in an embodiment of the present invention;

FIG. 5 is a structural diagram of a control device disclosed in an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or there may also be a centered component. When a component is considered to be "connected" to another component, it may be directly connected to the other component or there may be a co-existence of an intervening component.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Some embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The embodiments described below and features in the embodiments may be combined with each other without conflict.

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

As shown in FIG. 1 a , the scene includes a control device 101 and a movable platform 102 . The control device 101 is the device used by the user, and the form of the control device 101 is only used for example. The control device 101 may include, but is not limited to, a remote control, a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a portable Devices with wireless communication functions, such as personal computers and mobile internet devices (Mobile Internet Devices, MID for short). The movable platform 102 is an intelligent device controlled by the control device 101. The shape of the movable platform 102 is only used for example. A movable smart device that is operated by the control device 101 and performs a target action.

When the user of the control device 101 controls the movable platform 102 using the control device 101, he may also use a wireless communication device; for example, a wearable device (smart bracelet, TWS headset, etc.). These wireless communication devices may generate interfering signals (such as Bluetooth signals), which may affect the quality of data transmission on the mobile platform to varying degrees. FIG. 1b is a schematic diagram of a waveform of an interference signal according to an embodiment of the present invention. As shown in Figure 1b, 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 is a waveform diagram of the change of the signal strength of the interference signal over time within 0s-300ms. From the waveform shown in Figure 1b, it can be seen 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 affect the communication between the control device and the movable platform. The communication between them causes a more obvious impact (interference).

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

The invention provides an interference processing method. On the one hand, the control device monitors the intensity of surrounding interference signals (such as Bluetooth interference) by scanning the target frequency band, and on the other hand, the control device monitors the transmission quality information with the mobile platform during the data transmission process. (such as the quality of the transmitted picture or video), to comprehensively judge whether the interference signal in the current surrounding environment obviously affects the communication between the control device and the movable platform, and in response to the interference signal, it obviously affects the communication between the control device and the movable platform. , control the device to perform anti-interference processing (such as generating interference prompt information, turning off the Bluetooth of surrounding devices, etc.). The interference processing method provided by the present invention will be described in detail below.

Please refer to FIG. 2 , which is a schematic flowchart of an interference processing method disclosed in an embodiment of the present invention. As shown in FIG. 2 , the interference processing method may include steps 201-203. in:

201. The control device performs channel interference scanning on the target frequency band, and obtains channel interference scanning results.

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 performs channel interference scanning on the target frequency band means that the control device performs interference scanning on a channel in the target frequency band in different time periods. For example, assuming that the target frequency band includes channel 1-channel 3, the control device scans channel 1 for channel interference from the 1st second to the 2nd second, scans the channel 3 from the 2nd second to the 3rd second, and scans the channel 3 from the 4th second to the 4th second- Interference scanning is performed on channel 2 in the 6th second. The channel interference scan result includes the signal strength of the interference signal scanned in the target frequency band during the channel interference scan.

202. The control device and the movable platform transmit task data, and acquire transmission quality information during the transmission process.

The task data includes the image frame data collected during the operation of the movable platform and the position information of the movable platform (such as height, distance from the control device, etc.). The transmission quality information is used to measure the quality of the task data during the transmission process, and the transmission quality information is directly or indirectly calculated by the control device according to the task data transmitted by the movable platform. The transmission quality information may include one or more of the following parameters: quality parameters (such as signal-noise ratio (SNR)) of the image frame data collected by the movable platform during operation; The retransmission parameters of the image frame data (such as the number of image frames retransmitted per unit time (the number of transmissions is greater than 1)), the residual error information of the image frame data collected by the movable platform during operation, etc.

203. In response to the channel interference scanning result meeting the first condition and the transmission quality information meeting the second condition, control the device to perform anti-interference processing.

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 (eg -30 dBm) is scanned during the channel interference scanning process. Further, in a unit time (eg, a preset duration, or a channel interference scanning period), the signal strength of the interference signal is higher than the strength threshold for a duration greater than the duration threshold.

Satisfying the second condition means that the quality of the transmitted task data does not meet the standard (eg, the transmitted image is not clear, the transmitted video is stuck, etc.). In one embodiment, satisfying the second condition means that one or more parameters in the transmission quality information are not up to standard (for example, the average signal-to-noise ratio of the transmitted image frame is lower than the signal-to-noise ratio threshold, and the image frame is retransmitted per unit time). proportion is higher than the proportion threshold, etc.).

Anti-interference processing means that when the control device determines that the interference signal will significantly affect the transmission of task data between the control device and the mobile platform (that is, the channel interference scan result satisfies the first condition, and the transmission quality information satisfies the second condition), for different actual situations. Perform corresponding anti-interference processing. The anti-interference processing may include one or more of the following: (1) When the control device is in a connected state with a surrounding device (such as a user's mobile terminal device), and it is detected that the Bluetooth function in the surrounding device is in an on state, turn off the Bluetooth capabilities in ambient devices. (2) When the control device is in a connected state with the surrounding equipment and detects that the Bluetooth in the surrounding equipment is turned on, send a prompt message to the surrounding equipment, and the prompt information is used to prompt the user that the Bluetooth in the surrounding equipment Affects the transmission of mission data between the control device and the movable platform. (3) When the control device is not connected to the surrounding environment device, prompt the user through the control device (eg play a voice prompt, display prompt information, etc.).

In the embodiment of the present invention, on the one hand, the control device monitors the intensity of surrounding interference signals (such as Bluetooth interference) by scanning the target frequency band; or video clarity, fluency, etc.), to comprehensively judge whether the interference signal in the current surrounding environment significantly affects the communication between the control device and the movable platform, and in response to the interference signal significantly affects the communication between the control device and the movable platform. Communication, control equipment for anti-jamming processing. It can be seen that the embodiment of the present invention provides an evaluation index of an interference signal, and 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 improving the user experience. .

Please refer to FIG. 3 , which is a schematic flowchart of another interference processing method disclosed in an embodiment of the present invention. As shown in FIG. 3 , the interference processing method may include steps 301-307. in:

301. The control device performs a channel interference scan on the target frequency band, and obtains a channel interference scan result.

For the specific implementation of step 301 , reference may be made to the implementation of step 201 in FIG. 2 , which will not be repeated here.

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 the first range time period.

The target channel can 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 time periods; for example, suppose The duration of the first range is 10s, and the control device conducts the target channel at the 10th-12th second of the first minute, the 47th-51st second of the first minute, and the 7th-11th second of the second minute. If three scans are performed, the first range duration is accumulated from three discontinuous time periods. If the control device scans an interference signal whose signal strength is higher than the strength threshold (such as -30dBm) during the target channel interference scan, it determines that there is an interference signal, and proceeds to step 303; for example, assuming that the strength threshold is -30dBm, the control device is The intensity threshold of the target channel signal 1 is -20dBm within a range of time, and the control device determines that there is an interfering signal in the target channel. If the control device does not scan the interference signal whose signal strength is higher than the strength threshold during the interference scanning of the target channel, it is determined that there is no interference signal.

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

The duration ratio refers to the ratio of the existence duration of the interference signal (signal whose signal strength is higher than the strength threshold) to the duration of the first range in the channel interference scanning result. It can be understood that, assuming that the signal strength of signal 1 is higher than the strength threshold in the 1st-5th second, and the signal strength is lower than the strength threshold in the 5th-10th second, the control device determines that the signal 1 is in the 1st-10th second. 5 seconds is an interference signal, and it is not an interference signal from the 5th to the 10th second. The control device judging whether the duration ratio is greater than the duration ratio threshold refers to the control device judging the length of time that the interference signal exists within the first range of duration. It can be understood that the shorter the duration of the interference signal in the first range, the smaller the impact on the task data transmission; the longer the interference signal exists in the first range duration, the greater the impact on the task data transmission. .

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 duration, or the duration ratio is smaller than the duration ratio threshold, the control device ends the current interference processing.

304. If the duration ratio is greater than the duration ratio threshold, the control device determines that the channel interference scan result satisfies the first condition.

In one embodiment, the signal strength threshold includes a first strength threshold and a second strength threshold, and the duration proportional threshold includes a first proportional threshold and a second proportional threshold. If 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 proportional threshold, the target channel has intra-channel interference, and it is determined that the channel interference scan result satisfies the first condition. If there is an interference signal with a signal strength higher than the second strength threshold in the target channel, and the time-to-length ratio is greater than the second proportional threshold, then the target channel has out-of-channel interference (that is, other channels other than the target channel have interference signals with a strength higher than the strength threshold). ), it is determined that the channel interference scan result satisfies the first condition. Wherein, the first intensity threshold is greater than the second intensity threshold, and the first proportional threshold is smaller than the second proportional threshold. For example, assuming that the interference signal is directly scanned in the target channel interference scanning process, it means that there is a probability >a% that the interference signal with a strength higher than A dBm is scanned in the target frequency band within the accumulated T0 time, then in the target channel interference scanning process Indirectly scanning the interference signal in the middle means that there is >b% probability to scan the interference signal with the intensity higher than BdBm in the target frequency band within the accumulated T0 time, where b>a, B<A. In one embodiment, the value of a may be 1, the value of A may be -50dBm, the value of b may be 5, the value of B may be -80dBm, and the value of T0 may be 20s.

305. In response to the channel interference scan result satisfying the first condition, the control device sets the interference flag bit.

The interference flag bit is used to indicate that the channel interference scan result satisfies the first condition. The interference flag bit can be dominant, such as an indicator light corresponding to the interference flag bit on the control device; the interference flag bit can also be recessive, such as the field corresponding to the interference flag bit.

In one embodiment, if within a predetermined period of time (such as 5 minutes) after the interference flag is set, the channel interference scan results do not meet the first condition; or the control device is restarted, the setting of the interference flag is eliminated ( For example, turn off the indicator light of the interference flag, configure the field corresponding to the interference flag to an invalid value, etc.).

306. The control device transmits the task data with the movable platform, and acquires transmission quality information during the transmission process.

The transmission quality information includes at least one of the following: information about the frequency band to which the transmission channel of the mission data belongs (that is, the transmission frequency band of the mission data), the transmission distance of the mission data, the quality parameter of the target image frame, the historical signal-to-noise ratio, and each image in the mission data. Frame transmission times and 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 the image frame whose signal-to-noise ratio is lower than the signal-to-noise ratio threshold within the second range duration (such as 1 minute). image frames of unqualified quality); residual error information is used to indicate image frames that fail to transmit after multiple transmissions.

In one embodiment, the signal-to-noise ratio threshold is calculated according to the average signal-to-noise ratio of the image frames in the task data within the second range duration; for example, it is assumed that the average signal-to-noise ratio of the image frames in the task data within the second range duration The ratio is 30dB, the signal-to-noise ratio threshold=30-C, C>0. For another example, at one end time T1 in the past, the SNR of d% of the downlink frames was lower than the average SNR by more than D dB, where a and b correspond to the above-mentioned cumulative T0 time of > There is a % probability of scanning an interference signal with a strength higher than A dBm in the target frequency band, and a >b% probability of scanning an interference signal with a strength higher than BdBm in the target frequency band within the accumulated T0 time. In one embodiment, d>=(a+b) is required, so d can take a value of 6 and D can take a value of 5.

307. In response to the channel interference scan result meeting the first condition and the transmission quality information meeting the second condition, control the device to perform anti-interference processing.

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, such as the 2.4G frequency band), and the current transmission distance is greater than the distance threshold ( Such as 100 meters, 200 meters, etc.).

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. 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 (ie, the proportion of target image frames within the second range duration). In one embodiment, the quality parameter of the target image frame in the second range duration is greater than the first parameter threshold value means that the proportion of the target image frame in the second range duration exceeds the ratio threshold; for example, it is assumed that the first parameter threshold value is 10 %, the number of target image frames in the second range duration is 15, the number of image frames transmitted in the second range duration is 100, then the proportion of target image frames in the second range duration is 15%>10%, control The device determines that the transmission quality information satisfies the second sub-condition of the second condition.

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. The retransmitted image frame refers to an image frame that is transmitted more than once within the third range and 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 means that within the third range duration The number of retransmitted image frames exceeds a specified number (eg, 10 frames). In another implementation manner, the retransmission parameter of the retransmitted image frame includes a 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 retransmitted image frames are The proportion of the three ranges of time). 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 ratio (for example, within 200ms, 12% of downlink frames have been retransmitted) . In yet 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 duration is greater than the second parameter threshold means that the number of key frame requests within the third range duration exceeds a specified number (eg, one key frame request).

The fourth sub-condition of the second condition is: the control device determines, according to the residual error information, that there are image frames that fail to transmit within the fourth range of duration; The information determines that a transmission residual error occurs in the image frame 1 at the 18th second, and the control device determines that the transmission quality information satisfies the fourth sub-condition of the second condition.

It should be noted that the transmission quality information satisfying the second condition may refer to: the transmission quality information satisfies the first sub-condition of the second condition; or the transmission quality information satisfies the first sub-condition and the second sub-condition of the second condition; or the transmission quality information satisfies the first sub-condition and the second sub-condition of the second condition; The quality information satisfies the first sub-condition and the third sub-condition of the second condition; or the transmission quality information satisfies the first sub-condition and the fourth sub-condition of the second condition; or the transmission quality information satisfies the first sub-condition of the second condition, The second sub-condition and the third sub-condition; or the first sub-condition, the second sub-condition and the fourth sub-condition where the transmission quality information satisfies the second condition; or the first sub-condition, the third sub-condition where the transmission quality information satisfies the second condition sub-condition and the fourth sub-condition; or the transmission quality information satisfies the first sub-condition, the second sub-condition, the third sub-condition and the fourth sub-condition of the second condition.

In one embodiment, the movable platform is performing tasks of general importance (such as agricultural plant protection, etc.), and the control device is directly or indirectly connected with the associated devices in the surrounding environment (such as the control device directly connected to the user's mobile phone, The user's mobile phone is connected to one or more wearable devices). Associated devices in the surrounding environment include: mobile terminal devices (such as mobile phones, laptops, etc.), wireless headsets, smart bracelets, VR glasses, etc. 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 turned on, the control device performs a prompt operation (such as playing Prompt voice, display prompt information, etc.), or send prompt information to related devices in the surrounding environment. The above-mentioned prompt voice and prompt information are used to prompt the user to turn off the Bluetooth function of the associated device in the surrounding environment, so as to improve the transmission quality of task data.

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 information) after sending the prompt information to the associated equipment in the surrounding environment, and the interference scan result satisfies the first condition, and the transmission quality information satisfies the second condition, the control device sends prompt information to the associated device in the surrounding environment again. Optionally, after sending the prompt information N times, the control device no longer sends the prompt information, N is a positive integer, and N≥2.

In another embodiment, the control device is connected directly or indirectly with associated devices in the surrounding environment. In response to the channel interference scan result meeting the first condition and the transmission quality information meeting the second condition, the control device generates interference prompt information, where the interference prompt information is used to prompt that there is signal (eg, Bluetooth) interference in the current environment. The anti-interference processing performed by the control device means that 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.

In yet another embodiment, the movable platform is performing tasks of higher importance (such as forest firefighting, live broadcast, etc.), and the control device is directly or indirectly connected with the associated devices in the surrounding environment. The anti-interference processing performed by the control device means that the control device obtains the Bluetooth status information of the associated device in the surrounding environment. If the Bluetooth status information of the associated device in the surrounding environment indicates that the Bluetooth of the device is on, the control device sends the device to send the Bluetooth off instruction.

In yet another embodiment, the transmission quality information includes the task data transmission quality level; for example, the transmission quality level is determined according to the average signal-to-noise ratio of the image frames within a unit duration, and when the average signal-to-noise ratio<p, the transmission quality is determined The level is poor. When p≤average SNR<q, the transmission quality level is judged to be average, and when q≤average SNR, the transmission quality level is judged to be good. The control device is directly or indirectly connected to the associated devices in the surrounding environment. The anti-interference processing by the control device means: the control device obtains the Bluetooth status information of the associated device in the surrounding environment. If the Bluetooth status information of the associated device in the surrounding environment indicates that the Bluetooth of the device is in an on state, the control device performs the corresponding process according to the data transmission quality level. anti-interference processing. Specifically, when the transmission quality information does not meet the third condition (eg, the transmission level is poor), the control device sends prompt information to the associated device in the surrounding environment, where the prompt information is used to prompt the user to turn off the Bluetooth function of the associated device in the surrounding environment; When the transmission quality information satisfies the third condition, the control device sends a Bluetooth turn-off instruction to the associated device in the surrounding environment. For example, when the transmission quality level is normal, the control device sends prompt information to the associated device in the surrounding environment, and when the transmission quality level is poor, the control device sends a Bluetooth turn-off instruction to the associated device in the surrounding environment.

In another implementation manner, the identifiers of the task data are divided 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 identification of the task data, and the control device is directly or indirectly connected to the associated device in the surrounding environment. The anti-interference processing performed by the control device refers to: the control device obtains the Bluetooth status information of the associated device in the surrounding environment, if the Bluetooth status information of the associated device in the surrounding environment indicates that the Bluetooth of the device is in an on state, and the identification of the task data is the same as the target identification ( That is, if the identification of the important task data) matches, the control device sends a Bluetooth turn-off instruction to the device. If the Bluetooth status information of the associated device in the surrounding environment indicates that the Bluetooth of the device is on, and the identifier of the task data does not match the target identifier, the control device sends a prompt message to the device, and the prompt message is used to prompt the user to turn off the surrounding environment. the Bluetooth capability of the associated device.

This embodiment of the present invention determines whether the interference scanning result satisfies the first condition according to the strength of the interference signal and the proportion of its existence time, and provides a variety of judgment methods for the second condition for different transmission quality information. To comprehensively judge whether the interference signal in the current surrounding environment obviously affects the communication between the control device and the movable platform, and provide 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 method for measuring the influence degree of the corresponding interference signal 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, which improves the accuracy of the anti-interference processing. On the other hand, different anti-jamming processing methods are proposed for different application scenarios, which improves the flexibility of anti-jamming processing.

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

The acquisition unit is used to perform channel interference scanning on the target frequency band and obtain the channel interference scanning results; transmit task data with the movable platform, and obtain transmission quality information during the transmission process;

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

In one embodiment, the processor 402 further performs the following operations:

According to the channel interference scanning result, determine 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, then determine whether the duration ratio is greater than the duration ratio threshold, and the duration ratio includes: the ratio of the existence duration of the interference signal in the channel interference scan result to the duration of the first range;

If the duration ratio is greater than the duration ratio threshold, it is determined that the channel interference scan result satisfies the first condition.

In one embodiment, the set signal strength threshold includes a first strength threshold and a second strength threshold, and the set duration proportional threshold includes a first proportional threshold and a second proportional threshold;

If 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 proportional threshold, then the target channel has intra-channel interference, and it is determined that the channel interference scan result satisfies first condition; and/or

If 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, then the target channel has out-of-channel interference, and it is determined that the channel interference scan result satisfies the first condition;

The first intensity threshold is greater than the second intensity threshold, and the first proportional threshold is smaller than the second proportional threshold.

In one embodiment, the processor 402 further performs the following operations:

In response to the channel interference scanning result meeting the first condition, an interference flag is set, and the set interference flag is used to indicate that there is interference in the current channel.

In one embodiment, the processor 402 further performs the following operations:

If it is determined that within a predetermined time period after the channel interference scan results satisfy the first condition, none of the channel interference scan results satisfy the first condition, or the control device is restarted, the setting of the interference flag is eliminated.

In an embodiment, 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 satisfying 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.

In one embodiment, 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 the second range duration; the transmission quality information satisfies The second condition also includes:

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

In an embodiment, the transmission quality information further includes a historical signal-to-noise ratio, and the signal-to-noise ratio threshold is calculated by comparing the average signal-to-noise ratio of the image frames in the task data within the second range with the historical signal-to-noise ratio. Calculated by the noise ratio.

In an embodiment, the transmission quality information includes the transmission times of each image frame in the task data; the transmission quality information satisfying the second condition further includes:

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

In an embodiment, the retransmission parameter of the retransmitted image frame includes: the number of the retransmitted image frame or the ratio of the retransmitted image frame to the image frame within the third range duration.

In an implementation manner, the retransmitted image frame is a key frame, and the retransmission parameter includes: the number of key frame requests.

In one embodiment, the transmission quality information includes residual error information; the transmission quality information satisfying the second condition further includes:

According to the residual error information, it is determined that there is an image frame that fails to transmit within the fourth range of duration.

In one embodiment, when the processor 402 performs anti-interference processing, the following operations are performed:

Obtain the Bluetooth status information of the associated device of the surrounding environment of the control device through the obtaining unit 401;

If the bluetooth status information indicates that the bluetooth of the associated device is in an on state, sending interference prompt information to the associated device.

In one embodiment, when the processor 402 performs anti-interference processing, the following operations are performed:

generating interference prompt information, where the interference prompt information is used to prompt that there is Bluetooth interference in the current environment;

Obtain the Bluetooth status information of the associated device of the surrounding environment of the control device through the obtaining unit 401;

If the bluetooth state information indicates that the bluetooth of the associated device is in the off state, the interference prompt information is discarded.

In one embodiment, when the processor 402 performs anti-interference processing, the following operations are performed:

Obtain the Bluetooth status information of the associated device of the surrounding environment of the control device through the obtaining unit 401;

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.

In an embodiment, the transmission quality information includes the task data transmission quality level; when the processor 402 performs anti-interference processing, the following operations are performed:

Obtain the Bluetooth status information of the associated device of the surrounding environment of the control device through the obtaining unit 401;

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

In an embodiment, the transmission quality information includes the identifier of the task data; when the processor 402 performs anti-interference processing, the following operations are performed:

Obtain the Bluetooth status information of the associated device of the surrounding environment of the control device through the obtaining unit 401;

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.

According to an embodiment of the present invention, each unit in the interference processing apparatus shown in FIG. 4 may be separately or all merged into one or several other units to form, or some of the unit(s) may be further split. Constructed as functionally smaller multiple units, this can achieve the same operation without affecting the achievement 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 may also be implemented by multiple units, or the functions of multiple units may be implemented by one unit. In other embodiments of the present invention, the device for processing point interference may also include other units. In practical applications, these functions may also be implemented with the assistance of other units, and may be implemented by cooperation of multiple units. According to another embodiment of the present invention, it can be implemented on a general-purpose computing device, such as a computer, including processing elements such as a central processing unit (CPU), random access storage medium (RAM), read only storage medium (ROM), and storage elements. Run a computer program (including program instructions) capable of executing the steps involved in the corresponding method as shown in FIG. 2 or FIG. 3, to construct the interference processing apparatus shown in FIG. 4, and to realize the interference processing of the embodiment of the present invention method. The above-mentioned computer program can be recorded on, for example, a computer-readable recording medium, and loaded into the above-mentioned computing device through the computer-readable recording medium, and executed therein.

Based on the same inventive concept, the principle and beneficial effect of the interference processing device provided in the embodiment of the present invention for solving problems are similar to the principle and beneficial effect of the interference processing method in the method embodiment of the present invention. Effects, for the sake of brevity, will not be repeated here.

Embodiments of the present invention provide a control device. FIG. 5 is a structural diagram of a control device provided by an embodiment of the present invention. As shown in FIG. 5 , the control device 500 includes at least a processor 501 and a memory 502 , wherein the memory 502 stores program instructions, and the processor 501 calls the memory 502 The program instructions, when the program instructions are executed, the processor 501 performs the following operations:

Perform channel interference scanning on the target frequency band, and obtain channel interference scanning results;

Transmit task data with the mobile platform, and obtain transmission quality information during the transmission process;

In response to the channel interference scan result satisfying the first condition and the transmission quality information satisfying the second condition, anti-interference processing is performed.

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

According to the channel interference scanning result, determine 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, then determine whether the duration ratio is greater than the duration ratio threshold, and the duration ratio includes: the ratio of the existence duration of the interference signal in the channel interference scan result to the duration of the first range;

If the duration ratio is greater than the duration ratio threshold, it is determined that the channel interference scan result satisfies the first condition.

Optionally, the set signal strength threshold includes a first strength threshold and a second strength threshold, and the set duration proportional threshold includes a first proportional threshold and a second proportional threshold;

If 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 proportional threshold, then the target channel has intra-channel interference, and it is determined that the channel interference scan result satisfies first condition; and/or

If 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, then the target channel has out-of-channel interference, and it is determined that the channel interference scan result satisfies the first condition;

The first intensity threshold is greater than the second intensity threshold, and the first proportional threshold is smaller than the second proportional threshold.

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

In response to the channel interference scanning result meeting the first condition, an interference flag is set, and the set interference flag is used to indicate that there is interference in the current channel.

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

If it is determined that within a predetermined time period after the channel interference scan results satisfy the first condition, none of the channel interference scan results satisfy the first condition, or the control device is restarted, the setting of the interference flag is eliminated.

Optionally, the transmission quality information includes frequency band information of the transmission channel of the task data and the transmission distance of the task data; the transmission quality information satisfying 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.

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 the second range and duration; the transmission quality information satisfies the second condition Also includes:

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

Optionally, the transmission quality information further includes a historical signal-to-noise ratio, and the signal-to-noise ratio threshold is determined by comparing the average signal-to-noise ratio of the image frames in the task data within the second range and duration with the historical signal-to-noise ratio. obtained by operation.

Optionally, the transmission quality information includes the transmission times of each image frame in the task data; the transmission quality information satisfying the second condition further includes:

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

Optionally, the retransmission parameter of the retransmitted image frame includes: the number of the retransmitted image frame or the ratio of the retransmitted image frame to the image frame within the third range duration.

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

Optionally, the transmission quality information includes residual error information; the transmission quality information satisfying the second condition further includes:

According to the residual error information, it is determined that there is an image frame that fails to transmit within the fourth range of duration.

Optionally, when the instruction is executed, the specific implementation manner in which the processor 501 performs anti-interference processing is as follows:

Acquire the Bluetooth status information of the associated device of the surrounding environment of the control device;

If the bluetooth status information indicates that the bluetooth of the associated device is in an on state, sending interference prompt information to the associated device.

Optionally, when the instruction is executed, the specific implementation manner in which the processor 501 performs anti-interference processing is as follows:

generating interference prompt information, where the interference prompt information is used to prompt that there is Bluetooth interference in the current environment;

Acquire the Bluetooth status information of the associated device of the surrounding environment of the control device;

If the bluetooth state information indicates that the bluetooth of the associated device is in the off state, the interference prompt information is discarded.

Optionally, when the instruction is executed, the specific implementation manner in which the processor 501 performs anti-interference processing is as follows:

Acquire the Bluetooth status information of the associated device of the surrounding environment of the control device;

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.

Optionally, the transmission quality information includes the task data transmission quality level; when the instruction is executed, the specific implementation of the anti-interference processing performed by the processor 501 is as follows:

Acquire the Bluetooth status information of the associated device of the surrounding environment of the control device;

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

Optionally, the transmission quality information includes the identifier of the task data; when the instruction is executed, the specific implementation of the anti-interference processing performed by the processor 501 is as follows:

Acquire the Bluetooth status information of the associated device of the surrounding environment of the control device;

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.

The control device provided in this embodiment can execute the interference processing method provided in the foregoing embodiment, and its execution manner and beneficial effects are similar, and details are not repeated here.

In the several embodiments provided by the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

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

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 alone, 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 may be implemented in the form of hardware plus software functional units.

The above-mentioned integrated units implemented in the form of software functional units can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute the methods described in the various embodiments of the present invention. some steps. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program instructions .

Those skilled in the art can clearly understand that for the convenience and brevity of the description, only the division of the above functional modules is used for illustration. The internal structure is divided into different functional modules to complete all or part of the functions described above. For the specific working process of the apparatus described above, reference may be made to the corresponding process in the foregoing method embodiments, and details are not described herein again.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. scope.

Claims (52)

1. An interference processing method, characterized in that it is applied to a control device, and the control device is used for exchanging data with a movable platform, the method comprising:

   Perform channel interference scanning on the target frequency band, and obtain channel interference scanning results;

   Transmit task data with the mobile platform, and obtain transmission quality information during the transmission process;

   In response to the channel interference scan result satisfying the first condition and the transmission quality information satisfying the second condition, anti-interference processing is performed.
2. The method of claim 1, wherein, in response to obtaining a channel interference scan result, the method further comprises:

   According to the channel interference scanning result, determine 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, then determine whether the duration ratio is greater than the duration ratio threshold, and the duration ratio includes: the ratio of the existence duration of the interference signal in the channel interference scan result to the duration of the first range;

   If the duration ratio is greater than the duration ratio threshold, it is determined that the channel interference scan result satisfies the first condition.
3. The method according to claim 2, wherein the set signal strength threshold includes a first strength threshold and a second strength threshold, and the set duration proportional threshold includes a first proportional threshold and a second proportional threshold;

   If 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 proportional threshold, then the target channel has intra-channel interference, and it is determined that the channel interference scan result satisfies first condition; and/or

   If 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, then the target channel has out-of-channel interference, and it is determined that the channel interference scan result satisfies the first condition;

   The first intensity threshold is greater than the second intensity threshold, and the first proportional threshold is smaller than the second proportional threshold.
4. The method according to any one of claims 1-3, wherein the method further comprises:

   In response to the channel interference scanning result meeting the first condition, an interference flag is set, and the set interference flag is used to indicate that there is interference in the current channel.
5. The method according to claim 4, wherein the method further comprises:

   If it is determined that within a predetermined time period after the channel interference scan results satisfy the first condition, none of the channel interference scan results satisfy the first condition, or the control device is restarted, the setting of the interference flag is eliminated.
6. The method according to claim 1, wherein the transmission quality information comprises frequency band information of a transmission channel of the task data and a transmission distance of the task data; the transmission quality information satisfying the second condition comprises:

   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, wherein 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 the second range duration; The transmission quality information satisfying the second condition further includes:

   The quality parameter of the target image frame within the second range duration is greater than the first parameter threshold.
8. The method according to claim 7, wherein the transmission quality information further comprises a historical signal-to-noise ratio, and the signal-to-noise ratio threshold is an average signal-to-noise ratio of image frames in the task data within the second range duration. The ratio is calculated with the historical signal-to-noise ratio.
9. The method according to any one of claims 6-8, wherein the transmission quality information comprises the transmission times of each image frame in the task data; the transmission quality information satisfying the second condition further comprises:

   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, wherein the retransmission parameter of the retransmitted image frame comprises: the number of the retransmitted image frame or the retransmitted image frame and the image frame within the third range duration ratio.
11. The method according to claim 9, wherein the retransmitted image frame is a key frame, and the retransmission parameter comprises: the number of the key frame requests.
12. The method according to any one of claims 6-11, wherein the transmission quality information includes residual error information; the transmission quality information satisfying the second condition further comprises:

    According to the residual error information, it is determined that there is an image frame that fails to transmit within the fourth range of duration.
13. The method according to claim 1, wherein the performing anti-interference processing comprises:

    Acquire the Bluetooth status information of the associated device of the surrounding environment of the control device;

    If the bluetooth status information indicates that the bluetooth of the associated device is in an on state, sending interference prompt information to the associated device.
14. The method according to claim 1, wherein the performing anti-interference processing comprises:

    generating interference prompt information, where the interference prompt information is used to prompt that there is Bluetooth interference in the current environment;

    Acquire the Bluetooth status information of the associated device of the surrounding environment of the control device;

    If the bluetooth state information indicates that the bluetooth of the associated device is in the off state, the interference prompt information is discarded.
15. The method according to claim 1, wherein the performing anti-interference processing comprises:

    Acquire the Bluetooth status information of the associated device of the surrounding environment of the control device;

    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.
16. The method according to claim 1, wherein the transmission quality information includes the task data transmission quality level; and the performing anti-interference processing comprises:

    Acquire the Bluetooth status information of the associated device of the surrounding environment of the control device;

    If the bluetooth status information indicates that the bluetooth of the associated device is in an on state, and the transmission quality information satisfies the third condition, a bluetooth off instruction is sent to the associated device.
17. The method according to claim 1, wherein the transmission quality information includes an identifier of the task data; and the performing anti-interference processing comprises:

    Acquire the Bluetooth status information of the associated device of the surrounding environment of the control device;

    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.
18. An interference processing device, comprising:

    The acquisition unit is used to perform channel interference scanning on the target frequency band and obtain the channel interference scanning results; transmit task data with the movable 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 meeting the first condition and the transmission quality information meeting the second condition.
19. The apparatus according to claim 18, wherein the processor further performs the following operations:

    According to the channel interference scanning result, determine 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, then determine whether the duration ratio is greater than the duration ratio threshold, and the duration ratio includes: the ratio of the existence duration of the interference signal in the channel interference scan result to the duration of the first range;

    If the duration ratio is greater than the duration ratio threshold, it is determined that the channel interference scan result satisfies the first condition.
20. The device according to claim 19, wherein the set signal strength threshold includes a first strength threshold and a second strength threshold, and the set duration proportional threshold includes a first proportional threshold and a second proportional threshold;

    If 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 proportional threshold, then the target channel has intra-channel interference, and it is determined that the channel interference scan result satisfies first condition; and/or

    If 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, then the target channel has out-of-channel interference, and it is determined that the channel interference scan result satisfies the first condition;

    The first intensity threshold is greater than the second intensity threshold, and the first proportional threshold is smaller than the second proportional threshold.
21. The apparatus according to any one of claims 18-20, wherein the processor further performs the following operations:

    In response to the channel interference scanning result meeting the first condition, an interference flag is set, and the set interference flag is used to indicate that there is interference in the current channel.
22. The apparatus according to claim 21, wherein the processor further performs the following operations:

    If it is determined that within a predetermined time period after the channel interference scan results satisfy the first condition, none of the channel interference scan results satisfy the first condition, or the control device is restarted, the setting of the interference flag is eliminated.
23. The device according to claim 18, wherein the transmission quality information comprises frequency band information of a transmission channel of the task data and a transmission distance of the task data; the transmission quality information satisfying the second condition comprises:

    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.
24. The apparatus according to claim 23, wherein the transmission quality information comprises 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 the second range duration; The transmission quality information satisfying the second condition further includes:

    The quality parameter of the target image frame within the second range duration is greater than the first parameter threshold.
25. The apparatus according to claim 24, wherein the transmission quality information further includes a historical signal-to-noise ratio, and the signal-to-noise ratio threshold is an average signal-to-noise ratio of image frames in the task data passing through the second range duration The ratio is calculated with the historical signal-to-noise ratio.
26. The apparatus according to any one of claims 23-25, wherein the transmission quality information includes the transmission times of each image frame in the task data; the transmission quality information satisfying the second condition further includes:

    The retransmission parameter of the retransmitted image frame determined within the third range duration is greater than the second parameter threshold.
27. The apparatus according to claim 26, wherein the retransmission parameter of the retransmitted image frame comprises: the number of the retransmitted image frame or the retransmitted image frame and the image frame within the third range duration ratio.
28. The apparatus according to claim 26, wherein the retransmitted image frame is a key frame, and the retransmission parameter comprises: the number of key frame requests.
29. The apparatus according to any one of claims 23-28, wherein the transmission quality information includes residual error information; the transmission quality information satisfying the second condition further comprises:

    According to the residual error information, it is determined that there is an image frame that fails to transmit within the fourth range and duration.
30. The device according to claim 18, wherein when the processor performs anti-interference processing, the following operations are performed:

    Acquire, through the acquisition unit, the Bluetooth status information of the associated device that controls the surrounding environment of the device;

    If the bluetooth status information indicates that the bluetooth of the associated device is in an on state, sending interference prompt information to the associated device.
31. The device according to claim 18, wherein when the processor performs anti-interference processing, the following operations are performed:

    generating interference prompt information, where the interference prompt information is used to prompt that there is Bluetooth interference in the current environment;

    Acquire, through the acquisition unit, the Bluetooth status information of the associated device that controls the surrounding environment of the device;

    If the bluetooth state information indicates that the bluetooth of the associated device is in the off state, the interference prompt information is discarded.
32. The device according to claim 18, wherein when the processor performs anti-interference processing, the following operations are performed:

    Acquire, through the acquisition unit, the Bluetooth status information of the associated device that controls the surrounding environment of the device;

    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.
33. The apparatus according to claim 18, wherein the transmission quality information includes the task data transmission quality level; when the processor performs anti-interference processing, the processor performs the following operations:

    Acquire, through the acquisition unit, the Bluetooth status information of the associated device that controls the surrounding environment of the device;

    If the bluetooth status information indicates that the bluetooth of the associated device is in an on state, and the transmission quality information satisfies the third condition, a bluetooth off instruction is sent to the associated device.
34. The device according to claim 18, wherein the transmission quality information includes an identifier of the task data; when the processor performs anti-interference processing, the processor performs the following operations:

    Acquire, through the acquisition unit, the Bluetooth status information of the associated device that controls the surrounding environment of the device;

    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.
35. A control device, characterized in that the control device is connected to a movable platform, and the control device includes a processor and a memory:

    the memory for storing computer-readable instructions;

    the processor, calling the instruction, when the instruction is executed, for:

    Perform channel interference scanning on the target frequency band, and obtain channel interference scanning results;

    Transmit task data with the mobile platform, and obtain transmission quality information during the transmission process;

    In response to the channel interference scan result satisfying the first condition and the transmission quality information satisfying the second condition, anti-interference processing is performed.
36. 36. The apparatus of claim 35, wherein, when the instructions are executed, the processor is further configured to:

    According to the channel interference scanning result, determine 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, then determine whether the duration ratio is greater than the duration ratio threshold, and the duration ratio includes: the ratio of the existence duration of the interference signal in the channel interference scan result to the duration of the first range;

    If the duration ratio is greater than the duration ratio threshold, it is determined that the channel interference scan result satisfies the first condition.
37. The device according to claim 36, wherein the set signal strength threshold includes a first strength threshold and a second strength threshold, and the set duration proportional threshold includes a first proportional threshold and a second proportional threshold;

    If 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 proportional threshold, then the target channel has intra-channel interference, and it is determined that the channel interference scan result satisfies first condition; and/or

    If 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, then the target channel has out-of-channel interference, and it is determined that the channel interference scan result satisfies the first condition;

    The first intensity threshold is greater than the second intensity threshold, and the first proportional threshold is smaller than the second proportional threshold.
38. The device according to any one of claims 35-37, wherein when the instruction is executed, the processor is further configured to:

    In response to the channel interference scanning result meeting the first condition, an interference flag is set, and the set interference flag is used to indicate that there is interference in the current channel.
39. The apparatus of claim 38, wherein, when the instructions are executed, the processor is further configured to:

    If it is determined that within a predetermined period of time after the channel interference scan results satisfy the first condition, none of the channel interference scan results satisfy the first condition, or the control device is restarted, the setting of the interference flag is eliminated.
40. The device according to claim 35, wherein the transmission quality information comprises frequency band information of a transmission channel of the task data and a transmission distance of the task data; the transmission quality information satisfying the second condition comprises:

    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.
41. The device according to claim 40, wherein the transmission quality information comprises 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 the second range duration; The transmission quality information satisfying the second condition further includes:

    The quality parameter of the target image frame within the second range duration is greater than the first parameter threshold.
42. The device of claim 41, wherein the transmission quality information further comprises a historical signal-to-noise ratio, and the signal-to-noise ratio threshold is an average signal-to-noise ratio of image frames in the task data through the second range duration The ratio is calculated with the historical signal-to-noise ratio.
43. The device according to any one of claims 40-42, wherein the transmission quality information includes the transmission times of each image frame in the task data; the transmission quality information satisfying the second condition further includes:

    The retransmission parameter of the retransmitted image frame determined within the third range duration is greater than the second parameter threshold.
44. The device according to claim 43, wherein the retransmission parameter of the retransmitted image frame comprises: the number of the retransmitted image frame or the retransmitted image frame and the image frame within the third range duration ratio.
45. The device according to claim 43, wherein the retransmitted image frame is a key frame, and the retransmission parameter comprises: the number of key frame requests.
46. The device according to claims 40-45, wherein the transmission quality information includes residual error information; the transmission quality information satisfying the second condition further comprises:

    According to the residual error information, it is determined that there is an image frame that fails to transmit within the fourth range of duration.
47. The device according to claim 35, wherein the specific implementation manner of the anti-interference processing performed by the processor is:

    Acquire the Bluetooth status information of the associated device of the surrounding environment of the control device;

    If the bluetooth status information indicates that the bluetooth of the associated device is in an on state, sending interference prompt information to the associated device.
48. The device according to claim 35, wherein the specific implementation manner of the processor performing anti-interference processing is:

    generating interference prompt information, where the interference prompt information is used to prompt that there is Bluetooth interference in the current environment;

    Acquire the Bluetooth status information of the associated device of the surrounding environment of the control device;

    If the bluetooth state information indicates that the bluetooth of the associated device is in the off state, the interference prompt information is discarded.
49. The device according to claim 35, wherein the specific implementation manner of the processor performing anti-interference processing is:

    Acquire the Bluetooth status information of the associated device of the surrounding environment of the control device;

    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.
50. equipment according to claim 35, is characterized in that, described transmission quality information comprises described task data transmission quality grade; The specific embodiment that described processor carries out anti-interference processing is:

    Acquire the Bluetooth status information of the associated device of the surrounding environment of the control device;

    If the bluetooth status information indicates that the bluetooth of the associated device is in an on state, and the transmission quality information satisfies the third condition, a bluetooth off instruction is sent to the associated device.
51. The device according to claim 35, wherein the transmission quality information includes an identifier of the task data; a specific implementation manner of the processor performing anti-interference processing is:

    Acquire the Bluetooth status information of the associated device of the surrounding environment of the control device;

    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.
52. 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 is caused to execute the steps of claim 1- The interference processing method of any one of 17.

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