WO2022077210A1

WO2022077210A1 - Remote control processing method for a mobile platform, control apparatus, and control device

Info

Publication number: WO2022077210A1
Application number: PCT/CN2020/120596
Authority: WO
Inventors: 张志鹏; 高建南; 刘欢
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-10-13
Filing date: 2020-10-13
Publication date: 2022-04-21
Also published as: CN113853637A

Abstract

Embodiments of the present invention provide a remote control processing method for a mobile platform, a control apparatus, and a control device. The remote control processing method for a mobile platform comprises: acquiring current position information of a mobile platform and data transmission quality information between the mobile platform and a remote control; and if the current location information of the mobile platform satisfies a first condition, and the data transmission quality information satisfies a second condition, sending a prompt signal, the prompt signal being used for prompting to adjust a signal emission angle of an antenna of the remote control. According to the embodiments of the present invention, the communication quality between the remote control and the mobile platform can be improved.

Description

A remote control processing method, control device and control device for a movable platform

technical field

The present invention relates to the field of communication technologies, and in particular, to a remote control processing method, a control device and a control device for a movable platform.

Background technique

With the improvement of living standards, the use of control devices (such as remote controllers) to control movable platforms (such as unmanned aerial vehicles, robots, etc.) to replace human operations in dangerous and complex operating environments has become a development trend.

An antenna is arranged in the remote controller, and the remote controller controls the unmanned aerial vehicle through the data signal transmitted by the antenna. Among them, the antenna pattern composed of the data signal transmitted by the antenna has pits. When the pits face the UAV, the communication effect between the UAV and the remote control is poor. For example, the remote control is a device equipped with a dipole antenna. In order to meet the needs of unmanned aerial vehicles to fly far away, the strong coverage area of the data signal transmitted by the dipole antenna generally points to the high altitude in the distance, so the overhead area of the remote control is often It is a weak coverage area (i.e. a pit), and when the UAV moves to the overhead area, the communication between the UAV and the remote control is less effective. Therefore, in the process of using the remote controller to control the unmanned aerial vehicle, it is necessary to continuously adjust the signal transmission angle of the antenna according to the position of the unmanned aerial vehicle to avoid the pit facing the unmanned aerial vehicle.

SUMMARY OF THE INVENTION

Embodiments of the present invention provide a remote control processing method, a control device, and a control device for a movable platform, which can improve the communication quality between the remote control and the movable platform.

In the first aspect, an embodiment of the present invention provides a remote control processing method for a movable platform. The method can be applied to a remote control. The remote control is provided with an antenna for transmitting data signals, and the remote control exchanges data with the movable platform through the antenna. , the method includes:

acquiring the current position information of the movable platform and the data transmission quality information between the movable platform and the remote controller;

If the current position information of the movable platform satisfies the first condition, and the data transmission quality information satisfies the second condition, a prompt signal is sent, and the prompt signal is used to prompt adjustment of the signal transmission angle of the antenna of the remote controller .

In a second aspect, an embodiment of the present invention provides a control device, the device includes: a storage device and a processor;

Program instructions are stored in the storage device;

The processor invokes the program instructions for:

In a third aspect, an embodiment of the present invention provides a control device, the device including: a memory and a processor;

the memory for storing computer programs;

The processor invokes the computer program for:

In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where computer-readable instructions are stored in the computer-readable storage medium, and when the computer-readable instructions are executed by a processor, cause the processor to Execute the above-mentioned remote control processing method for the movable platform.

In this embodiment of the present invention, on the one hand, it is detected whether the movable platform is in the overhead area by acquiring the current position information of the movable platform; on the other hand, the data transmission quality information (including image transmission quality, video transmission quality, etc.), to comprehensively judge whether the communication between the remote control and the movable platform is significantly affected when the movable platform is located in the overhead area; if the movable platform is located in the overhead area and has significantly affected communication, then A prompt signal is issued to prompt you to adjust the signal transmission angle of the antenna. In this way, signal loss caused when the movable platform is located in the overhead area can be relatively avoided, and the communication quality between the remote control and the movable platform can be ensured.

Description of drawings

In order to explain the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention, which are of great significance to the art For those of ordinary skill, other drawings can also be obtained from these drawings without any creative effort.

FIG. 1 is a schematic diagram of an antenna pattern provided by an exemplary embodiment of the present application;

2 is a schematic structural diagram of a remote control processing system for a movable platform provided by an exemplary embodiment of the present application;

3 is a schematic flowchart of a remote control processing method for a movable platform provided by an exemplary embodiment of the present application;

4 is a schematic diagram of calculating current location information of a movable platform provided by an exemplary embodiment of the present application;

5 is a schematic diagram of another remote control processing method for a movable platform provided by an exemplary embodiment of the present application;

6 is a schematic diagram of determining a current signal transmission angle of an antenna provided by an exemplary embodiment of the present application;

7 is a schematic diagram of a target angle range provided by an exemplary embodiment of the present application;

FIG. 8 is a schematic structural diagram of a control device provided by an exemplary embodiment of the present application;

FIG. 9 is a schematic structural diagram of a control device provided by an exemplary embodiment of the present application.

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.

The embodiment of the present invention relates to a remote controller, where the remote controller may refer to a device used in conjunction with a movable platform (eg, an unmanned aerial vehicle). The remote control is often provided with an antenna for transmitting data signals (such as radio), so that the remote control can interact with the movable platform through the antenna; for example, when the UAV is within the signal coverage of the antenna, the remote control can receive The image or video stream (including image frames) collected by the UAV, and the control of the UAV's flight attitude, flight speed, etc., etc.

Among them, antennas can be divided into many types according to different attributes, for example, dipole antennas, monopole antennas, etc. In this embodiment of the present invention, the antenna set on the remote control is a dipole antenna (Dipole antenna) as an example for follow-up The introduction of the content does not limit the embodiments of the present application. The characteristics of the antenna can be reflected by the antenna pattern, which can be used to characterize the distribution pattern of the power or field strength of the electromagnetic wave radiated by the antenna in various directions in space. Please refer to FIG. 1. FIG. 1 is a schematic diagram of an antenna pattern provided by an exemplary embodiment of the present application; the antenna pattern is a three-dimensional space graph, wherein the Z-axis direction is a weak coverage area of the signal, and There is a theoretical zero point at which the signal covers 0. If the UAV is located in an area with weak signal coverage in the Z-axis direction, the remote controller is likely to lose control of the UAV. The closer the Z axis is to the plane surrounded by the XY axis, the stronger the signal coverage, and better data transmission quality can be achieved between the remote controller and the UAV in this area.

It is understandable that, in order to take care of the flying distance requirements of UAVs, the area with better signal coverage of the antenna generally points to the high altitude in the distance. When the mobile platform is located in the overhead area, improving the quality of data transmission becomes a more important issue.

In order to improve the communication quality between the unmanned aerial vehicle and the remote controller when the unmanned aerial vehicle is located in the overhead area, the embodiment of the present invention proposes a remote control processing scheme for the movable platform; in this scheme, the remote controller can obtain the movable platform The current position information of the mobile platform and the data transmission quality between the movable platform and the remote controller; if the current position information of the movable platform satisfies the first condition (that is, the mobile platform is located in the overhead area of the remote controller) and the data transmission quality satisfies the second condition (that is, the data transmission quality is less than the data transmission quality threshold, indicating that the data transmission quality is poor), then a prompt signal is sent to prompt the adjustment of the signal transmission angle of the antenna set on the remote control to avoid the overhead area as the weak signal coverage area of the antenna . This can relatively improve the communication quality between the remote control and the movable platform when the movable platform is located in the overhead area.

The remote control processing solution for the movable platform involved in the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

Please refer to FIG. 2 , which is a schematic structural diagram of a remote control processing system for a movable platform provided by an exemplary embodiment of the present application; as shown in FIG. 2 , the system mainly includes: a remote control 201 and a movable platform 202 . The remote controller 101 is provided with an antenna 2011, which can be used to transmit data signals. When the movable platform is located in the data signal coverage area, the remote controller 201 can better control the movement of the movable platform. The remote controller 201 is also equipped with a measurement device 203, and the measurement device 203 may include, but is not limited to, a smart phone, a personal computer, etc.; wherein, the remote controller 201 and the measurement device 203 can be established through an interface 204 (such as a usb interface) Communication connection to realize the transmission of data. The remote control 201 also includes an antenna adjustment device, which can be used to adjust the signal emission angle of the antenna provided on the remote control.

As shown in FIG. 2 , the top area of the remote controller may refer to a conical area composed of a circular surface with the remote controller 201 as the vertex, the Z-axis direction as the height direction, and r as the radius.

Specifically, the remote control 201 can receive the current position information of the movable platform 202 sent by the movable platform 202, and obtain the data transmission quality information between the remote control 201 and the movable platform 202; if the remote control 201 detects the movable platform If the current location information of 202 satisfies the first condition, and the data transmission quality information between the movable platform 202 and the remote controller 201 satisfies the second condition, then the remote controller 202 can issue a prompt signal, and the prompt signal is used to prompt adjustment of the settings on the remote controller The signal emission angle of the antenna. The manner in which the remote control 201 sends out the prompt signal may include: (1) the remote control 201 may send the prompt signal to the measuring device 203, and the measuring device 203 generates prompt information to prompt the user to adjust the signal emission angle of the antenna. (2) The remote controller 201 can also send a prompt signal to the antenna adjustment device, and the antenna adjustment device performs the adjustment processing operation on the signal emission angle of the antenna. By adopting the embodiments of the present invention, the signal loss caused when the movable platform is located in the overhead area can be relatively avoided, and the communication quality between the remote controller and the movable platform can be ensured.

It should be noted that the above description is for adjusting the signal emission angle of the antenna of the remote control when the movable platform is in the overhead area, so as to improve the communication quality when the movable platform is in the overhead area. But it can be understood that no matter where the movable platform is located, it should be avoided that the zero point direction of the antenna (ie, the Z-axis direction in FIG. 1 ) faces the movable platform. For example, if the movable platform is located at infinity (eg, the distance between the movable platform and the remote control is so far that the height difference can be ignored, and the movable platform is flush with the remote control), then the antenna should be adjusted at this time (position the remote control with a movable platform) to avoid the weak coverage area of the antenna at infinity. The embodiments of the present application take the movable platform located in the overhead area as an example to introduce the remote control processing solution of the movable platform, which does not limit the embodiments of the present application.

Please refer to FIG. 3. FIG. 3 is a schematic flowchart of a remote control processing method for a movable platform provided by an exemplary embodiment of the present application; the remote control processing solution for the movable platform can be controlled by a remote controller in the system shown in FIG. 201 is executed, and the solution may include steps S301 to S302. in:

S301. Acquire current position information of the movable platform and data transmission quality information between the movable platform and a remote controller.

In one embodiment, the current location information of the movable platform can be obtained directly (ie, it does not need to be calculated by other relevant data). For example, the current position information of the movable platform may include but is not limited to: GPS (Global Positioning System, global positioning system) information of the movable platform, and this type of position information can directly obtain the position relationship between the movable platform and the remote controller, No further calculation is required.

In another implementation manner, the current position information of the movable platform is calculated by the remote controller based on the acquired related information, where the related information may include: height information and positioning information of the movable platform. The height information may refer to the height distance between the horizontal plane where the remote controller is located and the horizontal plane where the movable platform is located, and the positioning information may refer to the straight-line distance between the remote controller and the movable platform.

Specifically, the remote control can receive the height information and positioning information sent by the movable platform, for example, these information can be obtained from OSD (on-screen menu adjustment mode); according to the positioning information, the distance between the movable platform and the remote control can be obtained , the distance here refers to the distance between the movable platform and the remote control on the horizontal line; in this way, based on the height information of the movable platform and the distance between the movable platform and the remote control, the current position information of the movable platform can be determined. Wherein, the current position information of the movable platform may include the relative angle information between the movable platform and the remote control, and the relative angle information between the movable platform and the remote control is the connection and vertical line between the movable platform and the remote control. The included angle of a straight line, the vertical line is perpendicular to the horizontal plane.

Please refer to FIG. 4. FIG. 4 is a schematic diagram of calculating the current position information of a movable platform provided by an exemplary embodiment of the present application; as shown in FIG. 4, the symbol C represents the remote control, and the symbol A represents the movable platform , where the height information of the movable platform corresponds to the height h (ie line segment BC), and the positioning information of the movable platform corresponds to the linear distance s; according to the height h and the linear distance s, the level between the remote control and the movable platform can be calculated. distance d; then the relative angle information between the movable platform and the remote control is: the angle between the connecting line AC and the vertical line BC, as shown in Figure 4, the angle θ between the line segment BC and the line segment AC, At this time, θ=arctan(d/h).

It can be understood that the relevant information used to calculate the current position information of the movable platform is not limited to the above-mentioned altitude information and positioning information, and the movable platform can still be calculated through other relevant information between the movable platform and the remote controller. The current location information of the platform. For example, θ=arctan(d/h) can be directly calculated from the height information of the movable platform (ie h) and the horizontal distance between the movable platform and the remote control (ie d). This embodiment of the present application does not limit the manner of calculating the current location information of the movable platform.

In addition, the remote control also acquires data transmission quality information between the movable platform and the remote control. The data transmission quality information can be used to judge the image transmission quality (ie data transmission quality) between the movable platform and the remote controller. The data transmission quality information may include but is not limited to: signal quality data and data frame quality information, wherein: (1) the signal quality data may include: data signal strength and data signal-to-noise ratio (SIGNAL NOISE RATIO, SNR), the data signal strength may be Including RSSI (Received Signal Strength Indication, received signal strength); data signal strength may also include RSRP (Reference Signal Receiving Power, reference signal received power). (2) The data frame quality information may include, but is not limited to, the retransmission ratio, the bit rate, and the number of image frame requests, and so on. Among them, the retransmission ratio may refer to the number of retransmitted image frames (the number of transmissions is greater than one) in the first cycle; the bit rate may refer to the number of data bits transmitted per unit time during data transmission; the number of image frame requests may be Refers to the number of requests to obtain the same image frame in the second cycle.

S302. If the current location information of the movable platform satisfies the first condition, and the data transmission quality information satisfies the second condition, send a prompt signal, which is used to prompt adjustment of the signal emission angle of the antenna of the remote controller.

In one embodiment, if the current location information of the movable platform is GPS information, the current location information of the movable platform satisfies the first condition may be: the received location information of the movable platform satisfies the configuration location information. The configuration position information may refer to the position information obtained through the calibration test in advance. When the position information of the movable platform satisfies the configuration position information, it means that the movable platform is in the overhead area at this time.

In another embodiment, if the current position information of the movable platform is calculated based on the height information and the positioning information, then the current position information of the movable platform satisfies the first condition may be: the distance between the movable platform and the remote controller The angle value of the relative angle information is less than the angle threshold. Wherein, the angle threshold value can be the threshold angle value obtained through the calibration test in advance, for example, the threshold angle value Θ is 30°, when the angle value corresponding to the relative angle information (that is, the connection line between the mobile platform and the remote controller and the vertical When the angle between the lines) is less than 30°, the movable platform is in the overhead area of the remote controller, and the movable platform may lose the signal.

In an embodiment, the data transmission quality information meeting the second condition may include the following conditions: (1) the data signal strength is less than the strength threshold, and the data signal strength includes the received signal strength and/or the reference signal strength; wherein, the strength threshold is one The threshold value A, for example, the threshold value A=-95dB; when the data signal strength is less than the threshold value A, it means that the image transmission quality between the movable platform and the remote controller is poor. And/or, (2) the data signal-to-noise ratio is less than the signal-to-noise ratio threshold; wherein, the data signal-to-noise ratio is the ratio of the power of the output signal of the amplifier to the noise power output at the same time, wherein the signal-to-noise ratio threshold is a threshold The value B, for example, the threshold value B=3dB; when the data signal-to-noise ratio is lower than the signal-to-noise ratio threshold value B, it means that the image transmission quality between the movable platform and the remote controller is poor. And/or, (3) in the first cycle, the retransmission ratio is greater than the retransmission threshold; wherein, the so-called retransmission can be understood as repeated transmission of a certain data (such as an image frame), and the retransmission threshold is a threshold value C, For example, the threshold value C=20%, and the first period T1=200ms; when the retransmission ratio (or retransmission subframe) of a certain data between the mobile platform and the remote controller is greater than the retransmission threshold, it means that the remote controller The quality of the image transmission between the mobile platform and the mobile platform no longer meets the requirements, and the quality of the image transmission is poor. And/or, (4) the code rate is less than the code rate threshold; wherein, the so-called code rate may refer to the number of data bits transmitted per unit time during data transmission. For an audio, the higher the code rate, the higher the compressed ratio. small, the smaller the loss of sound quality, the closer to the sound quality of the audio source, the code rate threshold is a threshold value D, for example, the threshold value D=3Mbps; therefore, when the transmission code rate between the mobile platform and the remote control is less than the code When the rate threshold is set, it means that the image transmission quality between the movable platform and the remote control is poor. And/or, (5) in the second period, the number of times of image frame requests is greater than the times threshold; the times threshold is a threshold value E, for example, the threshold value E=2, and the second period T2=2s, for example, in 2s If the number of requests for a certain image frame is 20, and the number of times threshold is 2, if 20 is greater than 2, it means that the number of requests for an image frame is greater than the number of times threshold, and it can be determined that the transmission quality between the remote control and the movable platform is poor.

Based on the above description, it can be seen that when the current position information of the movable platform satisfies the first condition, it indicates that the movable platform is in the overhead area of the remote controller, and the movable platform may face the risk of losing signals at this time; When the location information satisfies the first condition, it is detected that the data transmission quality information between the remote controller and the movable platform satisfies the second condition, that is, the data transmission quality does not meet the data transmission requirements, for example, when the image transmission quality does not meet the image transmission conditions , indicating that the image transmission quality is poor. When both of the above-mentioned aspects are true, the remote control can determine that the reason for the poor communication quality may be that the movable platform is located in the overhead area, and the overhead area may be the weak coverage area of the antenna; the remote control can send a prompt signal , the prompt signal is used to prompt to adjust the signal emission angle of the antenna of the remote control.

In an implementation manner, the remote control includes an antenna adjustment device, and the antenna adjustment device is used to adjust the signal emission angle of the antenna provided on the remote control. At this time, the process of sending the prompt signal by the remote control may include: the remote control sends the prompt signal to the antenna adjustment device. On the one hand, the antenna adjustment device includes a motor, and the remote controller can control the motor to adjust the signal emission angle of the antenna based on the prompt signal. For example, if the prompt signal is used to instruct the antenna to be adjusted 5° clockwise, the motor can automatically rotate the antenna 5° clockwise. On the other hand, the prompt signal can also be output on the remote controller, for example, displayed on the remote controller in the form of a signal light to remind the user that the signal emission angle of the antenna needs to be adjusted, or, for example, displayed on the remote controller in the form of a message On the display screen, to remind the user that the signal transmission angle of the antenna needs to be adjusted. Correspondingly, the remote controller can detect the user's response operation to the prompt signal. For example, the response operation can be that the user operates the remote control lever on the remote controller to adjust the antenna, or the user transmits a signal to the antenna on the display screen of the remote controller. Angle deletion, update operation, etc. At this time, the remote control can control the motor to adjust the signal transmission angle of the antenna based on the user's response operation.

In another embodiment, the remote controller is also equipped with a terminal (that is, a measuring device, the measuring device may be a smartphone, a computer, etc.), and the remote controller and the terminal are implemented by wireless or wired (such as a usb interface) communication. At this time, the remote controller may generate a first prompt message according to the prompt signal, and send the first prompt message to the terminal, where the first prompt message instructs the terminal to prompt the user to adjust the signal transmission angle of the antenna. When the user sees the first prompt message from the terminal, the signal transmission angle of the antenna is adjusted to avoid the movable platform from falling into the weak coverage area of the signal.

In the embodiment of the present invention, the mobile platform is comprehensively judged by acquiring the current position information of the mobile platform to detect whether the mobile platform is in the top area of the user's head, and monitoring the data transmission quality of the remote control and the mobile platform during the data transmission process. Whether the platform is located in the overhead area obviously affects the data transmission quality between the remote control and the movable platform; if the movable platform is located in the overhead area, the data transmission quality has been significantly affected, a prompt signal will be sent to remind you to adjust the signal transmission angle of the antenna. In this way, signal loss caused when the movable platform is located in the overhead area can be relatively avoided, and the communication quality between the remote control and the movable platform can be ensured.

Please refer to FIG. 5 , which is a schematic diagram of another remote control processing method for a movable platform provided by an exemplary embodiment of the present application; the remote control processing solution for the remote control can be performed by the remote control 201 in the system shown in FIG. 2 . Executed, the solution may include steps S501 to S507. in:

S501. Acquire current location information of the movable platform.

S502. Determine whether the current location information of the movable platform satisfies the first condition.

S503. If the first condition is satisfied, acquire data transmission quality information between the remote controller and the movable platform.

S504. Determine whether the data transmission quality information satisfies the second condition.

It should be noted that, for the specific implementation process of step S501-step S504, reference may be made to the relevant description of the specific implementation process shown in step S301-step 302 in the embodiment shown in FIG. 3, which is not repeated here.

Through the above implementation process, it can be determined that the movable platform is located in the overhead area, and the image transmission quality is poor. In this case, the embodiment of the present application also supports detection of whether the image transmission quality is poor due to an interference signal; if there is an interference signal, then The influence of the interference signal is reduced, and it is detected whether the image transmission quality after the reduction of the interference signal meets the requirements. If the image quality after the reduction of the interference signal still does not meet the requirements, step S505 is performed. If the image quality after the influence of the interference signal is reduced meets the requirements, the user may not need to be reminded to adjust the direction of the remote control, which can improve the accuracy of the issued prompt signal. If there is no interference signal, step S505 is triggered to improve the communication quality between the movable platform and the remote control by adjusting the signal emission angle of the antenna on the remote control.

Specifically, the mobile platform and the remote control exchange data in the target frequency band, and the remote control can detect whether there is an interference signal that meets the conditions in the target frequency band; if there is an interference signal that meets the conditions, a second prompt message is sent, and the second prompt message uses Interfering signals exist for prompting data interaction. Of course, in order to eliminate the interference signal faster, after determining that there is an interference signal that meets the conditions in the target frequency band, the type of the interference signal can also be obtained to determine whether the data transmission function related to the type of the interference signal is enabled in the currently connected device. ; if so, send out a third prompt message, which is used to prompt the currently connected device to have an interference signal. In this way, the source of the interference signal can be found more accurately, which is beneficial to eliminate the interference signal. The interference signal may be generated by a device mounted on the remote controller, which is not limited in this embodiment of the present application. 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 scans the target frequency band for channel interference to obtain interference signals.

In one embodiment, the method of detecting whether there is an interference signal that meets the conditions in the target frequency band may include: (1) judging whether there is an interference signal with a signal strength higher than a signal strength threshold in the target channel of the target frequency band within the first range duration; The first range duration may refer to a continuous period of time (eg 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 , assuming that the duration of the first range is 10s, the control device is respectively 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. The channel has been scanned three times, and the first range duration is accumulated from three discontinuous time periods. (2) If the signal strength of the interference signal is higher than the signal strength threshold (such as -30dBm), it is determined that there is an interference signal, and then it is determined whether the duration ratio is greater than the duration ratio threshold. The duration ratio includes: the existence duration of the interference signal and the first duration range ratio. 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 duration of the first range. 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. . (3) If the duration ratio is greater than the duration ratio threshold, it is determined that there is an interference signal that satisfies the condition.

S505. If the second condition is satisfied, obtain the current signal transmission angle of the antenna.

Based on the process described in steps S501 to 504, it can be determined that the movable platform is currently in the overhead area, the data transmission quality between the movable platform and the remote controller is poor, and there is no interference signal in the target frequency band, then the current signal of the antenna is obtained. Transmitting angle, if it is determined according to the current signal transmitting angle of the antenna that the movable platform falls into the weak signal coverage area of the antenna, the step of sending out a prompt signal is triggered.

In an implementation manner, a measurement device is mounted on the remote controller, and the measurement device here may be the terminal described in step S302 in the embodiment shown in FIG. 3 , which is not limited in this embodiment of the present application. In this case, the remote control can generate a notification message and send the notification message to the measuring device, and the notification message is used to instruct the measuring device to obtain the angle feedback information; the remote control receives the angle feedback information returned by the measuring device, and according to the angle feedback information Determine the current signal transmission angle of the antenna. The angle feedback information is the angle of the measurement device relative to the horizontal plane obtained by the measurement device; specifically, the measurement device may include a gyroscope, and the measurement device can directly measure the angle of the measurement device relative to the horizontal plane based on the gyroscope.

The manner in which the remote control determines the current signal emission angle of the antenna according to the angle feedback information may include: the remote control according to the angle feedback information, the first angle information between the remote control and the measuring device, and the second angle information between the remote control and the antenna, Determine the current signal transmission angle of the antenna. Wherein: (1) the first angle information between the remote controller and the measuring device may be obtained by initializing the setting; the manner of performing the initializing setting may include, but is not limited to: issuing a prompt message for placing the remote control horizontally, and responding to the prompt message After the confirmation operation of , the initialization setting of the remote control is successful. At this time, the angle relative to the horizontal plane obtained by the measuring device can be used as the first angle information between the remote control and the measuring device. (2) When the remote control and the antenna are fixedly connected, the second angle information of the remote control and the antenna is preset (such as the factory default setting), and of course it can also be obtained by using the initialization settings described in (1). , and will not be repeated here. When there is no fixed connection between the remote control and the antenna, for example, the rotary connection between the remote control and the antenna can be realized through the rotating part. At this time, the second angle information of the remote control and the antenna is sensed according to the set angle sensor. The angle sensor is arranged on the remote controller, or the angle sensor is arranged on the rotating part, and the angle sensor is used to measure the second angle information between the remote controller and the antenna.

For example, please refer to FIG. 6, which is a schematic diagram of determining the current signal emission angle of an antenna provided by an exemplary embodiment of the present application; as shown in FIG. 6, the measurement device 203 is a mobile communication device (such as a mobile phone) ); the first angle information between the remote control 201 and the measuring device 203 includes that the remote control 201 and the mobile communication device are placed flush (that is, the angle value corresponding to the first angle information is 0); The two-angle information includes that the zero-point direction of the antenna is perpendicular to the remote control (as shown in Figure 6, the zero-point direction is the Z-axis direction, the signal coverage in the zero-point direction is the weakest, and the Z-axis direction is perpendicular to the front of the remote control), that is, the second angle information corresponds to The angle value is 0. In this case, the angle feedback information measured by the measuring device 203 using the gyroscope is determined as the current signal transmission angle of the antenna 2011, and the angle feedback information at this time includes the angle of the movable communication device relative to the horizontal plane (as shown in FIG. 6 ). shown angle ψ).

S506. Determine whether the antenna is within the target angle range according to the current signal transmission angle of the antenna.

The target angle can be an angle value obtained through the calibration test. When the antenna is within the target angle range, the data signal transmitted by the antenna cannot cover the overhead area well, for example, the target angle Ψ=15°. Please refer to FIG. 7, which is a schematic diagram of a target angle range provided by an exemplary embodiment of the present application; assuming that the target angle Ψ=15°, the target angle range takes the vertical line 701 as the central axis and is separated from the central axis Conical range formed by 15°.

In one embodiment, the method of determining whether the antenna is within the target angle range according to the current signal transmission angle of the antenna may include: calculating the distance between the antenna and a vertical line (line perpendicular to the horizontal plane) according to the current signal transmission angle of the antenna If the angle value is greater than the target angle, it is determined that the antenna is within the target angle range. For example, assuming that the current signal transmission angle of the antenna is the angle value corresponding to the angle feedback information of the mobile communication device, and the corresponding angle value is ψ, and the target angle is ψ, the angle value between the antenna and the vertical line (line perpendicular to the horizontal plane) can be |ψ-90°|; when |ψ-90°|>Ψ, it is determined that the antenna is within the target angle range, and the execution of step S507 is triggered; when |ψ-90°|≤Ψ, it is determined that the antenna has been aligned and movable The platform will not prompt, which can prevent users from misunderstanding caused by false positives.

S507. Send a prompt signal.

The prompt signal is used to prompt the adjustment of the signal transmission angle of the antenna. Wherein, when |ψ-90°|>Φ in step S506, it is determined that the antenna is within the target angle range, and at this time, the prompt signal is used to prompt the user to erect the remote control. Specifically, the remote control is adjusted so that the angle value between the straight line where the antenna of the remote control is located and the vertical line is always smaller than the target angle (eg, 15°). This enables the signal emitted by the adjusted antenna to cover the overhead area, thereby preventing the movable platform from losing signals, and improving the communication quality between the movable platform and the remote controller.

In the embodiment of the present invention, it is possible to detect whether there is an interference signal in the target frequency band, and when there is an interference signal, reduce (or eliminate) the influence of the interference signal, and detect whether the image transmission quality after the interference signal is reduced meets the requirements; if the interference signal is reduced If the quality of the subsequent image transmission does not meet the requirements, then obtain the current signal transmission angle of the antenna; and according to the current signal transmission angle of the antenna, prompt to adjust the signal transmission angle of the antenna. It can be seen that increasing the detection of interference signals can improve the accuracy of the prompt signal and avoid misleading users caused by false alarms.

An embodiment of the present invention provides a control device, which can be mounted on a control device of a movable platform, such as a remote control 201 in FIG. 2 . FIG. 8 is a structural diagram of a control device provided by an embodiment of the present invention. As shown in FIG. 8 , the control device 800 includes a storage device 801 and a processor 802 . The control device shown in FIG. 8 may be used to perform some or all of the functions in the method embodiment described in FIG. 3 or FIG. 5 above. The detailed description of each unit is as follows:

Program instructions are stored in the storage device 801;

The processor 802 invokes the program instructions for:

In one embodiment, the processor 802 further performs the following operations:

obtain the current signal transmission angle of the antenna;

Determine whether the antenna is within a target angle range according to the current signal transmission angle;

If the antenna is within the target angle range, triggering the sending of the prompt signal.

In an embodiment, a measurement device is mounted on the remote controller, and the remote controller is connected to the measurement device in communication; the processor 802 specifically performs the following operations when acquiring the current signal emission angle of the antenna :

generating a notification message, and sending the notification message to the measurement device, where the notification message is used to instruct the measurement device to obtain angle feedback information;

The angle feedback information obtained by the measuring device is received, and the current signal transmission angle of the antenna is determined according to the angle feedback information.

In an embodiment, the angle feedback information is the angle of the measurement device relative to the horizontal plane obtained by the measurement device; when the processor 802 determines the current signal transmission angle of the antenna according to the angle feedback information, Specifically, do the following:

The current signal transmission angle of the antenna is determined according to the angle feedback information, the first angle information between the remote controller and the measuring device, and the second angle information between the remote controller and the antenna.

In an implementation manner, the first angle information between the remote controller and the measuring device is obtained according to initialization settings, and the initialization settings include:

Send out a prompt message to place the remote control horizontally;

In response to the confirmation operation for the prompt information, the angle relative to the horizontal plane measured by the measuring device is used as the first angle information between the remote controller and the measuring device.

In one embodiment, it is characterized in that,

The remote controller and the antenna are fixedly connected, and the second angle information of the remote controller and the antenna is preset; or,

The remote control and the antenna are rotatably connected through a rotating part, and the second angle information of the remote control and the antenna is obtained by sensing a set angle sensor, and the angle sensor is set on the remote control, Alternatively, the angle sensor is provided on the rotating part.

In one embodiment, the measurement device includes a movable communication device, and the first angle information between the remote control and the measurement device includes the remote control and the movable communication device being placed flush with the The second angle information between the remote control and the antenna includes that the zero point direction of the antenna is perpendicular to the remote control device;

When determining the current signal transmission angle of the antenna, the processor 802 specifically performs the following operations:

The angle feedback information is determined as the current signal transmission angle of the antenna, and the angle feedback information includes the angle of the movable communication device relative to the horizontal plane.

In an implementation manner, an angle sensor is provided on the antenna, and the angle sensor is communicatively connected to the remote controller; when the processor 802 acquires the current signal emission angle of the antenna, the specific operation is as follows:

Collect angle information of the antenna relative to the horizontal plane by using the angle sensor;

The angle information of the antenna relative to the horizontal plane is determined as the current signal transmission angle of the antenna.

In an implementation manner, the current location information of the movable platform satisfying the first condition includes: the received location information of the movable platform satisfies the configuration location information.

In one embodiment, when acquiring the current location information of the movable platform, the processor 802 specifically performs the following operations:

Receive altitude information and positioning information sent by the movable platform;

Determine the distance between the movable platform and the remote controller according to the positioning information;

Based on the height information of the movable platform and the distance between the movable platform and the remote controller, the current position information of the movable platform is determined; wherein the current position information of the movable platform includes Relative angle information between the movable platform and the remote control.

In an implementation manner, the current position information of the movable platform satisfying the first condition includes: the angle value corresponding to the relative angle information between the movable platform and the remote controller is smaller than an angle threshold value.

In one embodiment, the relative angle information between the movable platform and the remote control is the angle between the connection line between the movable platform and the remote control and a vertical line, and the vertical line The line is perpendicular to the horizontal plane.

In one embodiment, the data transmission quality information satisfies the second condition, including:

The data transmission quality information includes signal quality data, and the signal quality data satisfies the signal quality sub-condition in the second condition; and/or,

The data transmission quality information includes data frame quality information, and the data frame quality information satisfies the data quality sub-condition in the second condition.

In one embodiment, the signal quality data includes data signal strength and data signal-to-noise ratio;

The signal quality data satisfies the signal quality sub-conditions in the second condition, including:

The data signal strength is less than a strength threshold, and the data signal strength includes received signal strength and/or reference signal strength;

And/or, the data signal-to-noise ratio is less than a signal-to-noise ratio threshold.

In one embodiment, the data frame quality information includes retransmission ratio, code rate, and the number of image frame requests; the data frame quality information satisfies the data quality sub-conditions in the second condition, including any one or more of the following kind:

In the first period, the retransmission ratio is greater than the retransmission threshold;

The code rate is less than the code rate threshold;

In the second period, the number of times of requesting the image frame is greater than the threshold of times.

In one embodiment, the remote control includes an antenna adjustment device; when the processor 802 sends a prompt signal, the specific operations are as follows:

The prompt signal is sent to the antenna adjustment device, and the antenna adjustment device is used to adjust the signal emission angle of the antenna set on the remote controller.

In one embodiment, the antenna adjustment device includes a motor, and the processor 802 further performs the following operations:

Based on the prompt signal, the motor is controlled to adjust the signal emission angle of the antenna.

In one embodiment, the processor 802 further performs the following operations:

If a response operation to the prompt signal is detected, the antenna adjustment device is controlled to adjust the signal transmission angle of the antenna.

In one embodiment, the processor 802 further performs the following operations:

A second prompt message is generated according to the prompt signal, and the second prompt message is sent to the terminal, where the second prompt message instructs the terminal to prompt the user to adjust the signal transmission angle of the antenna.

In an implementation manner, the movable platform and the remote control exchange data in the target frequency band; before sending the prompt signal, the processor 802 further performs the following operations:

Detecting whether there is an interference signal that meets the conditions in the target frequency band;

If there is an interference signal that satisfies the condition in the target frequency band, a third prompt message is sent, and the third prompt message is used to prompt that there is an interference signal in the data interaction.

In an implementation manner, the movable platform and the remote control exchange data in the target frequency band; before the processor 802 sends a prompt signal, the following operations are also performed:

If there is an interference signal that meets the conditions in the target frequency band, obtain the type of the interference signal;

Determine whether the data transmission function related to the type of the interference signal is enabled in the currently connected device;

If so, a fourth prompt message is sent, where the fourth prompt message is used to prompt the currently connected device to have an interference signal.

In an embodiment, when detecting whether the target frequency band has interference information that meets the conditions, the processor 802 specifically performs the following operations:

Judging whether there is an interference signal with a signal strength higher than a signal strength threshold in the target channel of the target frequency band within the first range duration;

If it exists, 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 to the first duration range;

If the duration ratio is greater than the duration ratio threshold, it is determined that there is an interference signal that satisfies the condition.

According to an embodiment of the present invention, each unit in the control device shown in FIG. 8 may be respectively or all combined into one or several other units to form, or some of the unit(s) may be further divided into The same operation can be achieved 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 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 point control device may also include other units, and 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. 3 or FIG. 5 to construct the control device as shown in FIG. 8 , and to implement the interference processing method of the embodiment of the present invention . The above-mentioned computer program can be recorded on, for example, a computer-readable recording medium, loaded in the above-mentioned computing device via the computer-readable recording medium, and executed therein.

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

Embodiments of the present invention provide a control device. FIG. 9 is a structural diagram of a control device provided by an embodiment of the present invention. As shown in FIG. 9 , the control device 900 includes at least a processor 901 and a memory 902 , wherein the memory 902 stores program instructions, and the processor 901 calls the memory 502 When the program instructions are executed, the processor 901 performs the following operations:

In one embodiment, the processor 901 further performs the following operations:

obtain the current signal transmission angle of the antenna;

In an embodiment, a measurement device is mounted on the remote controller, and the remote controller is connected to the measurement device in communication; the processor 901 specifically performs the following operations when acquiring the current signal emission angle of the antenna :

In an embodiment, the angle feedback information is the angle of the measurement device relative to the horizontal plane obtained by the measurement device; the processor 901 is determining the current signal transmission angle of the antenna according to the angle feedback information , perform the following operations:

Send out a prompt message to place the remote control horizontally;

In an implementation manner, the remote control and the antenna are fixedly connected, and the second angle information between the remote control and the antenna is preset; or,

When determining the current signal transmission angle of the antenna, the processor 901 specifically performs the following operations:

In an embodiment, an angle sensor is provided on the antenna, and the angle sensor is connected to the remote controller in communication; when the processor 901 acquires the current signal emission angle of the antenna, the specific operation is as follows:

In an embodiment, the current location information of the movable platform satisfying the first condition includes: the received location information of the movable platform satisfies the configuration location information.

In an implementation manner, when acquiring the current location information of the movable platform, the processor 901 specifically performs the following operations:

In one embodiment, the relative angle information between the movable platform and the remote control is the angle between the connection line between the movable platform and the remote control and a vertical line. The line is perpendicular to the horizontal plane.

In an implementation manner, the data frame quality information includes a retransmission ratio, a code rate, and the number of image frame requests; the data frame quality information satisfies the data quality sub-conditions in the second condition, including any one or more of the following kind:

The code rate is less than the code rate threshold;

In one embodiment, the remote control includes an antenna adjustment device; when the processor 901 sends a prompt signal, the specific operations are as follows:

In one embodiment, the antenna adjustment device includes a motor, and the processor 901 further performs the following operations:

In one embodiment, the processor 901 further performs the following operations:

In an implementation manner, the movable platform and the remote control exchange data in the target frequency band; before sending the prompt signal, the processor 901 further performs the following operations:

In an embodiment, when detecting whether there is an interference signal that meets the conditions in the target frequency band, the processor 901 specifically performs the following operations:

The control device provided in this embodiment can execute the remote control processing solution for the movable platform provided in the foregoing embodiment, and the execution manner and beneficial effects thereof are similar, and are not repeated here.

Embodiments of the present application further 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 to Execute the remote control processing method for the movable platform as described in FIG. 3 and FIG. 5 .

The computer-readable storage medium may be an internal storage unit of the control device described in any of the foregoing embodiments, such as a hard disk or a memory of the device. The computer-readable storage medium may also be an external storage device of the control device, such as a plug-in hard disk equipped on the device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, Flash Card, etc. Further, the computer-readable storage medium may also include both the internal storage unit of the receiving and normalizing ICBC and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the control device. The computer-readable storage medium can also be used to temporarily store data that has been or will be output.

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 displayed 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

A remote control processing method for a movable platform, characterized in that it is applied to a remote control, the remote control is provided with an antenna for transmitting data signals, and the remote control exchanges data with the movable platform through the antenna, The method includes:

acquiring the current position information of the movable platform and the data transmission quality information between the movable platform and the remote controller;

If the current position information of the movable platform satisfies the first condition, and the data transmission quality information satisfies the second condition, a prompt signal is sent, and the prompt signal is used to prompt adjustment of the signal transmission angle of the antenna of the remote controller .
The method of claim 1, wherein the method further comprises:

obtain the current signal transmission angle of the antenna;

Determine whether the antenna is within a target angle range according to the current signal transmission angle;

If the antenna is within the target angle range, triggering the sending of the prompt signal.
The method according to claim 2, wherein a measurement device is mounted on the remote controller, and the remote controller is communicatively connected to the measurement device; the acquiring the current signal emission angle of the antenna comprises:

generating a notification message, and sending the notification message to the measurement device, where the notification message is used to instruct the measurement device to obtain angle feedback information;

The angle feedback information obtained by the measuring device is received, and the current signal transmission angle of the antenna is determined according to the angle feedback information.
The method according to claim 3, wherein the angle feedback information is the angle of the measurement device relative to the horizontal plane obtained by the measurement device; and the determination of the current signal of the antenna according to the angle feedback information Launch angles, including:

The current signal transmission angle of the antenna is determined according to the angle feedback information, the first angle information between the remote controller and the measuring device, and the second angle information between the remote controller and the antenna.
The method of claim 4, wherein the first angle information between the remote control and the measuring device is obtained according to initialization settings, and the initialization settings include:

Send out a prompt message to place the remote control horizontally;

In response to the confirmation operation for the prompt information, the angle relative to the horizontal plane measured by the measuring device is used as the first angle information between the remote controller and the measuring device.
The method of claim 4, wherein:

The remote controller and the antenna are fixedly connected, and the second angle information of the remote controller and the antenna is preset; or,

The remote control and the antenna are rotatably connected through a rotating part, and the second angle information of the remote control and the antenna is obtained by sensing a set angle sensor, and the angle sensor is set on the remote control, Alternatively, the angle sensor is provided on the rotating part.
The method of claim 4, wherein the measurement device comprises a movable communication device, and the first angle information between the remote controller and the measurement device comprises the remote controller and the movable communication device The device is placed flush, and the second angle information of the remote control and the antenna includes that the zero point direction of the antenna is perpendicular to the remote control;

The determining the current signal transmission angle of the antenna includes:

The angle feedback information is determined as the current signal transmission angle of the antenna, and the angle feedback information includes the angle of the movable communication device relative to the horizontal plane.
The method according to claim 2, wherein an angle sensor is provided on the antenna, and the angle sensor is communicatively connected to the remote controller; the acquiring the current signal emission angle of the antenna comprises:

Collect angle information of the antenna relative to the horizontal plane by using the angle sensor;

The angle information of the antenna relative to the horizontal plane is determined as the current signal transmission angle of the antenna.
The method of claim 1, wherein:

The fact that the current location information of the movable platform satisfies the first condition includes that the received location information of the movable platform satisfies the configuration location information.
The method according to claim 1, wherein the acquiring the current location information of the movable platform comprises:

Receive altitude information and positioning information sent by the movable platform;

Determine the distance between the movable platform and the remote controller according to the positioning information;

Based on the height information of the movable platform and the distance between the movable platform and the remote controller, the current position information of the movable platform is determined; wherein the current position information of the movable platform includes Relative angle information between the movable platform and the remote control.
The method of claim 10, wherein:

The fact that the current position information of the movable platform satisfies the first condition includes that the angle value corresponding to the relative angle information between the movable platform and the remote controller is smaller than an angle threshold value.
The method of claim 10, wherein:

The relative angle information between the movable platform and the remote control is the included angle between a line connecting the movable platform and the remote control and a vertical line, and the vertical line is perpendicular to the horizontal plane.
The method of claim 1, wherein the data transmission quality information satisfies the second condition, comprising:

The data transmission quality information includes signal quality data that satisfies the signal quality sub-condition in the second condition; and/or,

The data transmission quality information includes data frame quality information, and the data frame quality information satisfies the data quality sub-condition in the second condition.
The method of claim 13, wherein the signal quality data comprises data signal strength and data signal-to-noise ratio;

The signal quality data satisfies the signal quality sub-conditions in the second condition, including:

The data signal strength is less than a strength threshold, and the data signal strength includes received signal strength and/or reference signal strength;

And/or, the data signal-to-noise ratio is less than a signal-to-noise ratio threshold.
The method according to claim 13, wherein the data frame quality information includes retransmission ratio, code rate, and image frame request times; the data frame quality information satisfies the data quality sub-conditions in the second condition, including Any one or more of the following:

In the first period, the retransmission ratio is greater than the retransmission threshold;

The code rate is less than the code rate threshold;

In the second period, the number of times of requesting the image frame is greater than the threshold of times.
The method of claim 1, wherein the remote control comprises an antenna adjustment device; and the sending a prompt signal comprises:

The prompt signal is sent to the antenna adjustment device, and the antenna adjustment device is used to adjust the signal emission angle of the antenna set on the remote controller.
The method of claim 16, wherein the antenna adjustment device comprises a motor, the method further comprising:

Based on the prompt signal, the motor is controlled to adjust the signal emission angle of the antenna.
The method of claim 16, wherein the method further comprises:

If a response operation to the prompt signal is detected, the antenna adjustment device is controlled to adjust the signal transmission angle of the antenna.
The method of claim 1, wherein the method further comprises:

A first prompt message is generated according to the prompt signal, and the first prompt message is sent to the terminal, where the first prompt message instructs the terminal to prompt the user to adjust the signal transmission angle of the antenna.
The method according to claim 1, wherein the movable platform and the remote control exchange data in a target frequency band; before the sending a prompt signal, the method further comprises:

Detecting whether there is an interference signal that meets the conditions in the target frequency band;

If there is an interference signal that satisfies the condition in the target frequency band, a second prompt message is sent, and the second prompt message is used to prompt that there is an interference signal in the data interaction.
The method according to claim 1, wherein the movable platform and the remote control exchange data in a target frequency band; before the sending a prompt signal, the method further comprises:

Detecting whether there is an interference signal that meets the conditions in the target frequency band;

If there is an interference signal that meets the conditions in the target frequency band, obtain the type of the interference signal;

Determine whether the data transmission function related to the type of the interference signal is enabled in the currently connected device;

If so, a third prompt message is sent, where the third prompt message is used to prompt that the currently connected device has an interference signal.
The method according to claim 20 or 21, wherein the detecting whether there is an interference signal satisfying a condition in the target frequency band comprises:

Judging whether there is an interference signal with a signal strength higher than a signal strength threshold in the target channel of the target frequency band within the first range duration;

If it exists, 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 to the first duration range;

If the duration ratio is greater than the duration ratio threshold, it is determined that there is an interference signal that satisfies the condition.
A control device, characterized in that the control device comprises: a storage device and a processor;

Program instructions are stored in the storage device;

The processor invokes the program instructions for:

acquiring the current position information of the movable platform and the data transmission quality information between the movable platform and the remote controller;

If the current position information of the movable platform satisfies the first condition, and the data transmission quality information satisfies the second condition, a prompt signal is sent, and the prompt signal is used to prompt adjustment of the signal transmission angle of the antenna of the remote controller .
The control device of claim 23, wherein the processor is further configured to:

obtain the current signal transmission angle of the antenna;

Determine whether the antenna is within a target angle range according to the current signal transmission angle;

If the antenna is within the target angle range, triggering the sending of the prompt signal.
The control device according to claim 24, wherein a measurement device is mounted on the remote controller, and the remote controller is communicatively connected to the measurement device; the processor is in the process of acquiring the current signal emission angle of the antenna. , specifically for:

generating a notification message, and sending the notification message to the measurement device, where the notification message is used to instruct the measurement device to obtain angle feedback information;

The angle feedback information obtained by the measuring device is received, and the current signal transmission angle of the antenna is determined according to the angle feedback information.
The control device according to claim 25, wherein the angle feedback information is the angle of the measurement device relative to the horizontal plane obtained by the measurement device; and the processor determines the angle of the antenna according to the angle feedback information. When the current signal emission angle is used, it is specifically used for:

The current signal transmission angle of the antenna is determined according to the angle feedback information, the first angle information between the remote controller and the measuring device, and the second angle information between the remote controller and the antenna.
The control device according to claim 26, wherein the first angle information between the remote controller and the measuring device is obtained according to initialization settings, and the initialization settings include:

Send out a prompt message to place the remote control horizontally;

In response to the confirmation operation for the prompt information, the angle relative to the horizontal plane measured by the measuring device is used as the first angle information between the remote controller and the measuring device.
The control device of claim 26, wherein:

The remote controller and the antenna are fixedly connected, and the second angle information of the remote controller and the antenna is preset; or,

The remote control and the antenna are rotatably connected through a rotating part, and the second angle information of the remote control and the antenna is obtained by sensing a set angle sensor, and the angle sensor is set on the remote control, Alternatively, the angle sensor is provided on the rotating part.
The control device according to claim 26, wherein the measurement device comprises a movable communication device, and the first angle information between the remote controller and the measurement device comprises the remote controller and the movable communication device. The communication device is placed flush, and the second angle information of the remote control and the antenna includes that the zero point direction of the antenna is perpendicular to the remote control device;

When determining the current signal transmission angle of the antenna, the processor is specifically configured to:

The angle feedback information is determined as the current signal transmission angle of the antenna, and the angle feedback information includes the angle of the movable communication device relative to the horizontal plane.
The control device according to claim 24, wherein an angle sensor is provided on the antenna, and the angle sensor is connected to the remote controller in communication; when the processor acquires the current signal emission angle of the antenna , specifically for:

Collect angle information of the antenna relative to the horizontal plane by using the angle sensor;

The angle information of the antenna relative to the horizontal plane is determined as the current signal transmission angle of the antenna.
The control device of claim 23, wherein:

The fact that the current location information of the movable platform satisfies the first condition includes that the received location information of the movable platform satisfies the configuration location information.
The control device according to claim 23, wherein when acquiring the current position information of the movable platform, the processor is specifically configured to:

Receive altitude information and positioning information sent by the movable platform;

Determine the distance between the movable platform and the remote controller according to the positioning information;

Based on the height information of the movable platform and the distance between the movable platform and the remote controller, the current position information of the movable platform is determined; wherein the current position information of the movable platform includes Relative angle information between the movable platform and the remote control.
The control device of claim 32, wherein:

The fact that the current position information of the movable platform satisfies the first condition includes that the angle value corresponding to the relative angle information between the movable platform and the remote controller is smaller than an angle threshold value.
The method of claim 32, wherein:

The relative angle information between the movable platform and the remote control is the included angle between a line connecting the movable platform and the remote control and a vertical line, and the vertical line is perpendicular to the horizontal plane.
The control device according to claim 23, wherein the data transmission quality information satisfies the second condition, comprising:

The data transmission quality information includes signal quality data, and the signal quality data satisfies the signal quality sub-condition in the second condition; and/or,

The data transmission quality information includes data frame quality information, and the data frame quality information satisfies the data quality sub-condition in the second condition.
The control device of claim 35, wherein the signal quality data includes data signal strength and data signal-to-noise ratio;

The signal quality data satisfies the signal quality sub-conditions in the second condition, including:

The data signal strength is less than a strength threshold, and the data signal strength includes received signal strength and/or reference signal strength;

And/or, the data signal-to-noise ratio is less than a signal-to-noise ratio threshold.
The control device according to claim 35, wherein the data frame quality information includes a retransmission ratio, a code rate, and the number of times of image frame requests; the data frame quality information satisfies the data quality sub-condition in the second condition, Include any one or more of the following:

In the first period, the retransmission ratio is greater than the retransmission threshold;

The code rate is less than the code rate threshold;

In the second period, the number of times of requesting the image frame is greater than the threshold of times.
The control device according to claim 23, wherein the remote control comprises an antenna adjustment device; when the processor sends out a prompt signal, it is specifically used for:

The prompt signal is sent to the antenna adjustment device, and the antenna adjustment device is used to adjust the signal emission angle of the antenna set on the remote controller.
The control device of claim 38, wherein the antenna adjustment device comprises a motor, and the processor is further configured to:

Based on the prompt signal, the motor is controlled to adjust the signal emission angle of the antenna.
The control device of claim 38, wherein the processor is further configured to:

If a response operation to the prompt signal is detected, the antenna adjustment device is controlled to adjust the signal transmission angle of the antenna.
The control device of claim 23, wherein the processor is further configured to:

A second prompt message is generated according to the prompt signal, and the second prompt message is sent to the terminal, where the second prompt message instructs the terminal to prompt the user to adjust the signal transmission angle of the antenna.
The control device according to claim 23, wherein the movable platform and the remote control exchange data in a target frequency band; before the processor sends out the prompt signal, the processor is further configured to:

Detecting whether there is an interference signal that meets the conditions in the target frequency band;

If there is an interference signal that satisfies the condition in the target frequency band, a third prompt message is sent, and the third prompt message is used to prompt that there is an interference signal in the data interaction.
The control device according to claim 23, wherein the movable platform and the remote control exchange data in a target frequency band; before the processor sends out the prompt signal, the processor is further configured to:

Detecting whether there is an interference signal that meets the conditions in the target frequency band;

If there is an interference signal that meets the conditions in the target frequency band, obtain the type of the interference signal;

Determine whether the data transmission function related to the type of the interference signal is enabled in the currently connected device;

If so, a fourth prompt message is sent, and the fourth prompt message is used to prompt that the currently connected device has an interference signal.
The control device according to claim 42 or 43, wherein, when the processor detects whether there is interference information that meets the conditions in the target frequency band, the processor is specifically configured to:

Judging whether there is an interference signal with a signal strength higher than a signal strength threshold in the target channel of the target frequency band within the first range duration;

If it exists, 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 to the first duration range;

If the duration ratio is greater than the duration ratio threshold, it is determined that there is an interference signal that satisfies the condition.
A control device, characterized in that the control device includes a memory and a processor;

the memory for storing computer programs;

The processor invokes the computer program for:

acquiring the current position information of the movable platform and the data transmission quality information between the movable platform and the remote controller;

If the current location information of the movable platform satisfies the first condition, and the data transmission quality information satisfies the second condition, a prompt signal is sent, and the prompt signal is used to prompt adjustment of the signal transmission angle of the antenna of the remote controller .
The control device of claim 45, wherein the processor is further configured to:

obtain the current signal transmission angle of the antenna;

Determine whether the antenna is within a target angle range according to the current signal transmission angle;

If the antenna is within the target angle range, triggering the sending of the prompt signal.
The control device according to claim 46, wherein a measurement device is mounted on the remote controller, and the remote controller is communicatively connected to the measurement device; the processor is acquiring the current signal emission angle of the antenna , specifically for:

generating a notification message, and sending the notification message to the measurement device, where the notification message is used to instruct the measurement device to obtain angle feedback information;

The angle feedback information obtained by the measuring device is received, and the current signal transmission angle of the antenna is determined according to the angle feedback information.
The control device according to claim 47, wherein the angle feedback information is the angle of the measurement device relative to the horizontal plane obtained by the measurement device; and the processor determines the angle of the antenna according to the angle feedback information. When the current signal emission angle is used, it is specifically used for:

The current signal transmission angle of the antenna is determined according to the angle feedback information, the first angle information between the remote controller and the measuring device, and the second angle information between the remote controller and the antenna.
The control device according to claim 48, wherein the first angle information between the remote controller and the measuring device is obtained according to initialization settings, and the initialization settings include:

Send out a prompt message to place the remote control horizontally;

In response to the confirmation operation for the prompt information, the angle relative to the horizontal plane measured by the measuring device is used as the first angle information between the remote controller and the measuring device.
The control device of claim 48, wherein:

The remote controller and the antenna are fixedly connected, and the second angle information of the remote controller and the antenna is preset; or,

The remote control and the antenna are rotatably connected by a rotating part, and the second angle information of the remote control and the antenna is obtained by sensing a set angle sensor, and the angle sensor is set on the remote control, Alternatively, the angle sensor is provided on the rotating part.
48. The control device of claim 48, wherein the measurement device comprises a movable communication device, and the first angle information between the remote control and the measurement device comprises the remote control and the movable communication device The communication device is placed flush, and the second angle information of the remote control and the antenna includes that the zero point direction of the antenna is perpendicular to the remote control device;

When determining the current signal transmission angle of the antenna, the processor is specifically configured to:

The angle feedback information is determined as the current signal transmission angle of the antenna, and the angle feedback information includes the angle of the movable communication device relative to the horizontal plane.
The control device according to claim 46, wherein an angle sensor is provided on the antenna, and the angle sensor is communicatively connected with the remote controller; when the processor acquires the current signal emission angle of the antenna , specifically for:

Collect angle information of the antenna relative to the horizontal plane by using the angle sensor;

The angle information of the antenna relative to the horizontal plane is determined as the current signal transmission angle of the antenna.
The control device of claim 45, wherein:

The fact that the current location information of the movable platform satisfies the first condition includes that the received location information of the movable platform satisfies the configuration location information.
The control device according to claim 45, wherein when acquiring the current position information of the movable platform, the processor is specifically configured to:

Receive altitude information and positioning information sent by the movable platform;

Determine the distance between the movable platform and the remote controller according to the positioning information;

Based on the height information of the movable platform and the distance between the movable platform and the remote control, the current position information of the movable platform is determined; wherein the current position information of the movable platform includes Relative angle information between the movable platform and the remote control.
The control device of claim 54, wherein:

The fact that the current position information of the movable platform satisfies the first condition includes that the angle value corresponding to the relative angle information between the movable platform and the remote controller is smaller than an angle threshold value.
The method of claim 54, wherein

The relative angle information between the movable platform and the remote control is the included angle between a line connecting the movable platform and the remote control and a vertical line, and the vertical line is perpendicular to the horizontal plane.
The control device of claim 45, wherein the data transmission quality information satisfies the second condition, comprising:

The data transmission quality information includes signal quality data, and the signal quality data satisfies the signal quality sub-condition in the second condition; and/or,

The data transmission quality information includes data frame quality information, and the data frame quality information satisfies the data quality sub-condition in the second condition.
The control device of claim 57, wherein the signal quality data includes data signal strength and data signal-to-noise ratio;

The signal quality data satisfies the signal quality sub-conditions in the second condition, including:

The data signal strength is less than a strength threshold, and the data signal strength includes received signal strength and/or reference signal strength;

And/or, the data signal-to-noise ratio is less than a signal-to-noise ratio threshold.
The control device according to claim 57, wherein the data frame quality information includes a retransmission ratio, a code rate, and the number of times of image frame requests; the data frame quality information satisfies the data quality sub-condition in the second condition, Include any one or more of the following:

In the first period, the retransmission ratio is greater than the retransmission threshold;

The code rate is less than the code rate threshold;

In the second period, the number of times of requesting the image frame is greater than the threshold of times.
The control device according to claim 45, wherein the remote control comprises an antenna adjustment device; when the processor sends out a prompt signal, it is specifically used for:

The prompt signal is sent to the antenna adjustment device, and the antenna adjustment device is used to adjust the signal emission angle of the antenna set on the remote controller.
The control device of claim 60, wherein the antenna adjustment device comprises a motor, and the processor is further configured to:

Based on the prompt signal, the motor is controlled to adjust the signal emission angle of the antenna.
The control device of claim 60, wherein the processor is further configured to:

If a response operation to the prompt signal is detected, the antenna adjustment device is controlled to adjust the signal transmission angle of the antenna.
The control device of claim 45, wherein the processor is further configured to:

A second prompt message is generated according to the prompt signal, and the second prompt message is sent to the terminal, where the second prompt message instructs the terminal to prompt the user to adjust the signal transmission angle of the antenna.
The control device according to claim 45, wherein the movable platform and the remote control exchange data in a target frequency band; before the processor sends out a prompt signal, it is also used for:

Detecting whether there is an interference signal that meets the conditions in the target frequency band;

If there is an interference signal that satisfies the condition in the target frequency band, a third prompt message is sent, and the third prompt message is used to prompt that there is an interference signal in the data interaction.
The control device according to claim 45, wherein the movable platform and the remote control exchange data in a target frequency band; and before the processor sends out a prompt signal, the processor is further configured to:

Detecting whether there is an interference signal that meets the conditions in the target frequency band;

If there is an interference signal that meets the conditions in the target frequency band, obtain the type of the interference signal;

Determine whether the data transmission function related to the type of the interference signal is enabled in the currently connected device;

If so, a fourth prompt message is sent, and the fourth prompt message is used to prompt that the currently connected device has an interference signal.
The control device according to claim 64 or 65, wherein when the processor detects whether there is interference information that satisfies the condition in the target frequency band, the processor is specifically configured to:

Judging whether there is an interference signal with a signal strength higher than a signal strength threshold in the target channel of the target frequency band within the first range duration;

If it exists, 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 to the first duration range;

If the duration ratio is greater than the duration ratio threshold, it is determined that there is an interference signal that satisfies the condition.
The control device of claim 45, wherein the control device is a remote controller, and the movable platform is an unmanned aerial vehicle.
The control device according to claim 47, wherein the measurement device is an intelligent terminal, and the intelligent terminal includes but is not limited to: a smartphone and a computer.
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- 22. The remote control processing method for a movable platform according to any one of 22.