CN113362584A

CN113362584A - Communication method and device and unmanned aerial vehicle

Info

Publication number: CN113362584A
Application number: CN202110518274.XA
Authority: CN
Inventors: 程昌南
Original assignee: Shenzhen Autel Intelligent Aviation Technology Co Ltd
Current assignee: Shenzhen Autel Intelligent Aviation Technology Co Ltd
Priority date: 2017-07-10
Filing date: 2017-07-10
Publication date: 2021-09-07
Anticipated expiration: 2037-07-10
Also published as: CN109246166B; CN109246166A; CN113362584B; WO2019011007A1

Abstract

The invention relates to a communication method, a communication device and an unmanned aerial vehicle. The communication method comprises the following steps: a radio frequency transmitting terminal transmits code matching broadcast information, wherein the code matching broadcast information comprises a version number of the radio frequency transmitting terminal; receiving code matching confirmation information returned by a radio frequency receiving terminal, wherein the code matching confirmation information comprises the version number of the radio frequency receiving terminal; and determining a communication mechanism of the radio frequency transmitting end according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end, so that the radio frequency transmitting end performs radio frequency communication with the radio frequency receiving end according to the determined communication mechanism. According to the communication method and the communication device, the communication mechanisms of the radio frequency transmitting end (the remote controller or the aircraft) and the radio frequency receiving end (the aircraft or the remote controller) are kept consistent, and the problem that the radio frequency transmitting end and the radio frequency receiving end cannot normally communicate or cannot normally use due to failure of upgrading can be avoided.

Description

Communication method and device and unmanned aerial vehicle

Technical Field

The invention relates to the technical field of communication, in particular to a communication method, a communication device and an unmanned aerial vehicle.

Background

In the field of communications, firmware upgrade is based on radio frequency communication between radio frequency transceivers (radio frequency transmitters, radio frequency receivers) and is performed according to a certain communication mechanism. Different versions of the radio frequency transceiver employ different communication mechanisms. In the firmware upgrading process, if the upgrading is suddenly stopped due to some reason, the phenomenon may occur that one of the radio frequency transmitting end and the radio frequency receiving end is successfully upgraded, while the other end is failed to be upgraded, the successfully upgraded end uses a new communication mechanism, and the unsuccessfully upgraded end still uses an old communication mechanism. In this case, when the radio frequency transceiver is restarted and the upgrade is to be continuously completed, the radio frequency transmitting end and the radio frequency receiving end use different communication mechanisms, so that normal communication cannot be performed any more, and further upgrade and reuse cannot be performed.

This phenomenon is prevalent in drones. The unmanned aerial vehicle comprises an aircraft and a remote controller for remotely controlling the aircraft. With the continuous progress of the technology, the unmanned aerial vehicle can carry out system updating. In the upgrading process of the unmanned aerial vehicle, the communication between the aircraft and the remote controller needs to be maintained at any time so as to update the aircraft and update the remote controller. When some emergency occurs in the upgrading process, for example, the aircraft is automatically shut down due to the exhaustion of the electric quantity of the aircraft, the communication is interrupted, so that the upgrading of one of the aircraft and the remote controller is successful, and the upgrading of the other one of the aircraft and the remote controller is failed. When the aircraft is started again and the upgrade is ready to be completed, because the aircraft and the remote controller adopt different communication mechanisms due to different versions, normal radio frequency communication cannot be performed between the aircraft and the remote controller, so that the upgrade cannot be performed, and the remote controller cannot be continuously used for remotely controlling the aircraft.

Disclosure of Invention

Therefore, it is necessary to provide a communication method, a communication device, and an unmanned aerial vehicle for solving the above technical problems, which can avoid the problem that normal communication and use cannot be performed due to the failure of updating the radio frequency transmitting device and the radio frequency receiving device.

In order to solve the above technical problems, embodiments of the present invention provide the following technical solutions:

a method of communication, comprising: a radio frequency transmitting terminal transmits code matching broadcast information, wherein the code matching broadcast information comprises a version number of the radio frequency transmitting terminal; receiving code matching confirmation information returned by a radio frequency receiving terminal, wherein the code matching confirmation information comprises the version number of the radio frequency receiving terminal; and determining a communication mechanism of the radio frequency transmitting end according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end, so that the radio frequency transmitting end performs radio frequency communication with the radio frequency receiving end according to the determined communication mechanism.

In one embodiment, the determining the communication mechanism of the radio frequency transmitting end according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end includes: and determining a matched communication mechanism identifier according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end, and adjusting the communication mechanism of the radio frequency transmitting end into a communication mechanism corresponding to the communication mechanism identifier.

In one embodiment, the communication mechanism is: if the version number of the radio frequency transmitting end is higher than that of the radio frequency receiving end, the radio frequency transmitting end restores the communication mechanism to the communication mechanism used by the previous version number; and if the version number of the radio frequency sending end is lower than that of the radio frequency receiving end or is the same as that of the radio frequency receiving end, the radio frequency sending end does not update the communication mechanism.

In one embodiment, the radio frequency transmitting end is a remote controller, and the radio frequency receiving end is an aircraft; or, the radio frequency transmitting end is an aircraft, and the radio frequency receiving end is a remote controller.

In order to solve the above technical problems, embodiments of the present invention further provide the following technical solutions:

a method of communication, comprising: a radio frequency receiving end receives code matching broadcast information transmitted by a radio frequency transmitting end, wherein the code matching broadcast information comprises a version number of the radio frequency transmitting end; reading the version number of the radio frequency receiving end, and transmitting code matching confirmation information to the radio frequency sending end, wherein the code matching confirmation information comprises the version number of the radio frequency receiving end, so that the radio frequency sending end determines whether to update a communication mechanism of the radio frequency sending end; and determining a communication mechanism of the radio frequency receiving end according to the version number of the radio frequency sending end and the version number of the radio frequency receiving end, so that the radio frequency receiving end performs radio frequency communication with the radio frequency sending end according to the determined communication mechanism.

In one embodiment, the determining the communication mechanism of the radio frequency receiving end according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end includes: and determining a matched communication mechanism identifier according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end, and adjusting the communication mechanism of the radio frequency receiving end to a communication mechanism corresponding to the communication mechanism identifier.

In one embodiment, the communication mechanism is: if the version number of the radio frequency transmitting end is lower than that of the radio frequency receiving end, the radio frequency receiving end restores the communication mechanism to the communication mechanism used by the previous version number; and if the version number of the radio frequency transmitting end is higher than or equal to the version number of the radio frequency receiving end, the radio frequency receiving end does not update the communication mechanism.

a communications apparatus, the apparatus comprising: the first code matching module is used for transmitting code matching broadcast information, and the code matching broadcast information comprises the version number of the radio frequency transmitting end; receiving code matching confirmation information returned by a radio frequency receiving terminal, wherein the code matching confirmation information comprises the version number of the radio frequency receiving terminal; and the first communication mechanism adjusting module is used for determining the communication mechanism of the radio frequency transmitting end according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end, so that the radio frequency transmitting end performs radio frequency communication with the radio frequency receiving end according to the determined communication mechanism.

A communications apparatus, the apparatus comprising: the second code matching module is used for receiving code matching broadcast information transmitted by a radio frequency transmitting end, wherein the code matching broadcast information comprises a version number of the radio frequency transmitting end; reading the version number of the radio frequency receiving end, and transmitting code matching confirmation information to the radio frequency sending end, wherein the code matching confirmation information comprises the version number of the radio frequency receiving end, so that the radio frequency sending end determines whether to update a communication mechanism of the radio frequency sending end; and the second communication mechanism adjusting module is used for determining the communication mechanism of the radio frequency receiving end according to the version number of the radio frequency sending end and the version number of the radio frequency receiving end, so that the radio frequency receiving end performs radio frequency communication with the radio frequency sending end according to the determined communication mechanism.

an unmanned aerial vehicle comprises a remote controller and an aircraft, wherein the remote controller is used for transmitting code matching broadcast information, and the code matching broadcast information comprises a version number of the remote controller; receiving code matching confirmation information returned by the aircraft, wherein the code matching confirmation information comprises the version number of the aircraft; determining a communication mechanism of the remote controller according to the version number of the remote controller and the version number of the aircraft, so that the remote controller performs radio frequency communication with the aircraft according to the determined communication mechanism; the aircraft is used for receiving code matching broadcast information transmitted by the remote controller; reading the version number of the remote controller and transmitting code matching confirmation information to the remote controller; and determining a communication mechanism of the aircraft according to the version number of the remote controller and the version number of the aircraft, so that the aircraft performs radio frequency communication with the remote controller according to the determined communication mechanism.

an unmanned aerial vehicle comprises a remote controller and an aircraft, wherein the aircraft is used for transmitting code matching broadcast information, and the code matching broadcast information comprises a version number of the aircraft; receiving code matching confirmation information returned by the remote controller, wherein the code matching confirmation information comprises the version number of the remote controller; according to the version number of the remote controller and the version number of the aircraft, the communication mechanism of the aircraft is used for enabling the aircraft to carry out radio frequency communication with the remote controller according to the determined communication mechanism; the remote controller is used for receiving code matching broadcast information transmitted by the aircraft; reading the version number of the aircraft and transmitting code matching confirmation information to the aircraft; and determining a communication mechanism of the remote controller according to the version number of the remote controller and the version number of the aircraft, so that the remote controller performs radio frequency communication with the aircraft according to the determined communication mechanism.

In the communication method, the communication device and the unmanned aerial vehicle, the radio frequency receiving end can receive the code matching broadcast information sent by the radio frequency sending end, obtain the version number of the radio frequency sending end, and return code matching confirmation information to the radio frequency sending end, wherein the code matching confirmation information comprises the version number of the radio frequency receiving end. And after receiving the confirmation information, the radio frequency transmitting end determines the own communication mechanism according to the own version number and the version number of the radio frequency receiving end. Meanwhile, the radio frequency receiving end determines the communication mechanism of the radio frequency receiving end according to the version number of the radio frequency receiving end and the received version number of the radio frequency transmitting end. By adjusting the communication mechanism, the communication mechanisms of the radio frequency transmitting end (the remote controller or the aircraft) and the radio frequency receiving end (the aircraft or the remote controller) are kept consistent, and the problem that the radio frequency transmitting end and the radio frequency receiving end cannot normally communicate or cannot normally use due to failure of upgrading can be avoided.

Drawings

Fig. 1 illustrates an application scenario of a communication method and apparatus according to an embodiment of the present invention;

FIG. 2 is a flow diagram of a communication method in one embodiment;

fig. 3 is a flowchart illustrating steps of determining a communication mechanism of a radio frequency transmitting end in an embodiment;

FIG. 4 is a flow chart of a communication method in another embodiment;

FIG. 5 is a flowchart detailing the steps of determining a communication mechanism of a radio frequency receiving end in one embodiment;

FIG. 6 is a block diagram of a communication device in one embodiment;

fig. 7 is a block diagram showing a structure of a communication apparatus in still another embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1, an application scenario of the communication method and apparatus according to the embodiment of the present invention is shown. The scheme of the embodiment of the invention can realize the communication between the radio frequency transmitting end and the radio frequency receiving end. Specifically, the rf transmitter 110 includes an rf transceiver and a controller communicatively connected to the rf transceiver; the rf receiver 120 includes an rf transceiver and a controller communicatively coupled to the rf transceiver. The rf transceiver of the rf transmitter 110 communicates with the rf transceiver of the rf receiver 120 to complete firmware upgrade.

In one implementation, the controller may be a single chip, that is, the radio frequency transmitting terminal 110 and the radio frequency receiving terminal 120 may both be single chips, and the single chip drives the radio frequency transceiver (or radio frequency transceiver) to implement communication. In one implementation, the radio frequency transceiver may be a radio frequency transmitting chip and/or a radio frequency receiving chip, and the controller may drive the radio frequency transceiver to transmit and receive the code matching information. The rf transmitter 110 may drive the rf transceiver to transmit the pairing broadcast message through the built-in controller, and may also receive the pairing message corresponding to the matched frequency, such as receiving the pairing acknowledgement message sent by the rf transceiver of the rf receiver 120.

It should be noted that the radio frequency transceivers of the radio frequency transmitting end and the radio frequency receiving end may be radio frequency communication devices having both radio frequency transmitting and receiving functions. The "rf transmitting end" and the "rf receiving end" in the embodiments of the present invention are relative concepts, and are only used for description purposes, and cannot be understood as limiting the rf transceiver of the end to only have an rf transmitting function or only have an rf receiving function. In different implementations, the radio frequency transceiver used by the radio frequency transmitting end and the radio frequency transceiver used by the radio frequency receiving end may be the same or different.

More specifically, the rf receiving end 120 may receive the pairing broadcast information sent by the rf sending end 110, obtain the version number of the rf sending end 110 therein, and return the pairing confirmation information to the rf sending end, where the pairing confirmation information includes the version number of the rf receiving end 120. After receiving the confirmation information, the radio frequency transmitting end 110 determines its own communication mechanism according to its own version number and the version number of the radio frequency receiving end 120. Similarly, the rf receiving end 120 determines its own communication mechanism according to its own version number and the received version number of the rf transmitting end 110. By adjusting the communication mechanism, the communication mechanisms of the rf transmitting end 110 and the rf receiving end 120 are kept consistent, so that the problem that the rf transmitting end and the rf receiving end cannot normally communicate or cannot normally use due to upgrade failure can be avoided.

As shown in fig. 2, a communication method provided in an embodiment of the present invention may be applied in the application environment shown in fig. 1, and specifically includes the following steps:

step S202, the radio frequency sending end sends code matching broadcast information, and the code matching broadcast information comprises the version number of the radio frequency sending end.

After entering the code matching state, the radio frequency transmitting end can transmit code matching broadcast information according to the code matching frequency of the radio frequency transmitting end, so that other equipment within the broadcast range and matched with the radio frequency can receive the broadcast information. The radio frequency broadcast information includes a version number of the radio frequency transmitting end. The version number may be a version number of an operating system to be verified on the radio frequency transmitting terminal, or a version number of an application such as a driver of firmware to be verified on the radio frequency transmitting terminal. The version number is a unique identifier of the corresponding application or system, and the version information of the corresponding application or system can be known through the version number. The radio frequency transmitting end can automatically read the version number of the application or system which is subjected to the last version updating, and loads the version number into the code matching broadcast information for broadcasting.

And step S204, receiving code matching confirmation information returned by the radio frequency receiving terminal, wherein the code matching confirmation information comprises the version number of the radio frequency receiving terminal.

In this embodiment, when the radio frequency transmitting end and the radio frequency receiving end matched with the radio frequency transmitting end are within the preset communication range and the radio frequency receiving end also enters the code matching state, the radio frequency receiving end may receive the broadcast information of the fixed frequency transmitted by the radio frequency transmitting end, and respond, and transmit the code matching confirmation information to the radio frequency transmitting end according to the code matching frequency of the radio frequency receiving end, so that the radio frequency transmitting end and the radio frequency receiving end enter the code matching communication state. Wherein, the pair of code confirmation information includes the version number of the radio frequency receiving end. The version number is matched with the version number contained in the pair code broadcast information. For example, if the version number included in the pair of code broadcast messages is the version number of the operating system at the radio frequency transmitting end, the version number at the radio frequency receiving end is the version number of the operating system at the radio frequency receiving end. If the version number included in the pair of code broadcast messages is the version number of an application such as a driver of a certain firmware in the radio frequency transmitting end, the version number of the radio frequency receiving end is the version number of the corresponding application in the radio frequency receiving end, which controls the firmware or is controlled by the firmware.

The radio frequency transmitting end can receive the code matching confirmation information returned by the radio frequency receiving end and acquire the version number of the radio frequency receiving end carried in the code matching confirmation information.

And step S206, determining a communication mechanism of the radio frequency transmitting end according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end, so that the radio frequency transmitting end performs radio frequency communication with the radio frequency receiving end according to the determined communication mechanism.

In this embodiment, the communication mechanism is a mechanism used by the radio frequency transmitting end and the radio frequency receiving end to perform radio frequency communication. The communication mechanism includes multiple, different versions of a system or application, which by default does not have to be the same communication mechanism used. When one end of the radio frequency transmitting end or the radio frequency receiving end is upgraded successfully and the other end of the radio frequency transmitting end or the radio frequency receiving end is upgraded unsuccessfully, the communication mechanisms of the radio frequency transmitting end and the radio frequency receiving end are different, so that normal communication cannot be achieved.

After reading the version number of the radio frequency transmitting terminal and the version number of the radio frequency receiving terminal, the radio frequency transmitting terminal can detect whether the communication mechanism used by the radio frequency transmitting terminal is simultaneously suitable for the systems or applications corresponding to the two version numbers. If yes, the current communication mechanism is not modified, and the radio frequency receiving end is enabled to modify the communication mechanism. If not, the current communication mechanism is modified into a communication mechanism which is simultaneously suitable for systems or applications at two ends, and the communication is carried out with the radio frequency receiving end according to the modified communication mechanism, so that the problems that radio frequency transceivers of the radio frequency transmitting end and the radio frequency receiving end cannot be normally used and that both the radio frequency transmitting end and the radio frequency receiving end cannot normally communicate can be avoided.

Specifically, the radio frequency transmitting end presets communication mechanisms suitable for different version numbers. When the updating is determined to be needed, the radio frequency sending end can inquire the communication mechanism applicable to the version number of the radio frequency sending end and inquire the communication mechanism applicable to the version number of the radio frequency receiving end, one of the communication mechanisms applicable to the two version numbers is selected, the current communication mechanism of the radio frequency sending end is switched to the selected communication mechanism, and the selected communication mechanism is sent to the radio frequency receiving end, so that the radio frequency receiving end adjusts the own communication mechanism. Further, the radio frequency transmitting end can also transmit the selected communication mechanism to the radio frequency receiving end, so that the radio frequency receiving end adjusts the communication mechanism of the radio frequency receiving end.

According to the communication method, when the radio frequency sending end and the radio frequency receiving end cannot normally communicate due to the fact that the upgrade fails, the radio frequency sending end and the radio frequency receiving end enter a code matching communication state, the radio frequency sending end sends code matching broadcast information and receives code matching confirmation information returned by the radio frequency receiving end, and the communication mechanism of the radio frequency sending end is determined according to the version number of the radio frequency sending end and the version number of the radio frequency receiving end contained in the code matching confirmation information, so that the radio frequency sending end and the radio frequency receiving end always keep the consistent communication mechanism according to the determined communication mechanism, and normal communication can be conducted.

In one embodiment, step S206 further comprises: and determining a matched communication mechanism identifier according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end, and adjusting the communication mechanism of the radio frequency transmitting end into a communication mechanism corresponding to the communication mechanism identifier.

The communication mechanism identifier is used for uniquely identifying one communication mechanism, the radio frequency is sent to the terminal, and the corresponding relation between different version numbers and the communication mechanism identifier is established in advance, and the corresponding relation is used for representing that the corresponding communication mechanism is suitable for the application or the system of the corresponding version.

The radio frequency transmitting end can select a communication mechanism identifier which has a corresponding relation with the two version numbers according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end, and the communication mechanism identifier is a communication mechanism identifier which is matched with the two version numbers. The radio frequency transmitting end can determine the communication mechanism corresponding to the matched communication mechanism identifier as the communication mechanism of the radio frequency transmitting end, so that the radio frequency transmitting end performs radio frequency communication with the radio frequency receiving end according to the determined communication mechanism.

Specifically, a communication mechanism identifier of the radio frequency receiver may be set, and the radio frequency receiver may send response information of the pair of code acknowledgement information, and end the code pairing state. And after the code matching state is finished, adjusting the communication mechanism of the communication device according to the set communication mechanism identification.

In this embodiment, by adjusting the communication mechanism of the radio frequency transmitting end according to the version number, a communication mechanism that is applicable to both the radio frequency transmitting end and the radio frequency receiving end can be selected, so that the radio frequency transmitting end and the radio frequency receiving end communicate according to the communication mechanism.

In one embodiment, the communication mechanism is: if the version number of the radio frequency sending end is higher than that of the radio frequency receiving end, the radio frequency sending end restores the communication mechanism to the communication mechanism used by the previous version number; and if the version number of the radio frequency sending end is lower than that of the radio frequency receiving end or is the same as that of the radio frequency receiving end, the radio frequency sending end does not update the communication mechanism.

Generally, a high-version application or system may be compatible with a communication mechanism applicable to a corresponding low-version application or system. And selecting a default communication mechanism corresponding to the version number of the lower version end, and determining the default communication mechanism as the communication mechanism of the radio frequency transmitting end.

The radio frequency transmitting end can compare the two version numbers, and when the version numbers are not consistent, the radio frequency transmitting end indicates that one of the two version numbers fails to update. Specifically, if the version number of the radio frequency transmitting end obtained by comparison is higher than the version number of the radio frequency receiving end, it indicates that the version updating of the radio frequency transmitting end is successful, and the version updating of the radio frequency receiving end is failed. The radio frequency sending end can trigger a corresponding radio frequency mechanism restoration instruction according to the comparison result, acquire the installation package of the last used radio frequency mechanism according to the instruction to restore, and determine the restored radio frequency mechanism as a new radio frequency mechanism. If the version number of the radio frequency transmitting end obtained by comparison is lower than the version number of the radio frequency receiving end or is the same as the version number of the radio frequency receiving end, the communication mechanism of the radio frequency transmitting end does not need to be updated, and the radio frequency receiving end can update the radio frequency mechanism.

Specifically, a default communication mechanism identifier corresponding to a lower version number may be selected, and whether the communication mechanism identifier is also applicable to a higher version system or application is detected, and if so, the communication mechanism corresponding to the communication mechanism identifier is determined as the communication mechanism of the radio frequency transmitting end. Therefore, the version number of one end of the radio frequency transmitting end can be kept unchanged, and the speed of restoring radio frequency communication between the radio frequency transmitting end and the radio frequency receiving end is improved.

In this embodiment, the version number of the radio frequency transmitting end is compared with the version number of the radio frequency receiving end, and the communication mechanism of the radio frequency transmitting end with the low version number is updated to restore the communication mechanism corresponding to the previous version. For one end of the low version, the communication mechanism is kept unchanged; or when the version numbers of the two ends are the same, the passing mechanism is kept unchanged, so that unnecessary updating of the communication mechanism is avoided, and the speed of recovering normal communication between the radio frequency transmitting end and the radio frequency receiving end is increased.

As shown in fig. 3, a detailed flowchart of the step of determining the communication mechanism of the radio frequency transmitting end provided in an embodiment of the present invention is shown:

step S401, the radio frequency transmitting end enters a code matching state.

In this embodiment, the radio frequency transmitting end enters the code matching state when detecting the touch operation corresponding to the entry of the code matching state. Specifically, a button for entering code matching communication may be provided on the radio frequency transmitting terminal, and the code matching state is entered when a corresponding operation such as long pressing of the button is detected. Or, the radio frequency transmitting end can also provide other triggering modes, and enter the code matching state according to the triggering modes.

Step S402, transmitting code matching broadcast information, wherein the code matching broadcast information comprises the version number of the radio frequency transmitting end.

Step S403, detecting whether a code matching confirmation message returned by the radio frequency receiving end is received, if yes, performing step S404, otherwise, continuing to perform step S402.

In this embodiment, the radio frequency transmitting end may detect in real time whether the pairing acknowledgement information returned by the radio frequency receiving end is received, and if not, continuously transmit the pairing broadcast information according to a preset frequency. If the pair of code confirmation information is received, the following step S404 is performed.

Step S404, reading the version number of the radio frequency receiving end carried by the code matching confirmation information.

Step S405, setting corresponding communication mechanism identification according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end.

Step S406, exiting the code checking state.

Before exiting the code matching state, the radio frequency transmitting end may send response information to the code matching confirmation information to the radio frequency receiving terminal after setting the communication mechanism identifier to inform the radio frequency receiving end, and then exit the code matching state.

Step S407, determining a corresponding communication mechanism of the radio frequency transmitting end according to the set communication mechanism identifier.

According to the communication method, the radio frequency sending end acquires the version number of the radio frequency receiving end in the code matching state, sets the corresponding communication mechanism identification according to the version number, can determine the corresponding communication mechanism according to the set communication mechanism identification after exiting the code matching state, and communicates with the radio frequency receiving end according to the determined communication mechanism of the radio frequency sending end, so that the problem that radio frequency transceivers of the radio frequency sending end and the radio frequency receiving end cannot be normally used and the problem that both the radio frequency sending end and the radio frequency receiving end cannot normally communicate can be avoided.

In an embodiment, the radio frequency transmitting end may be an aircraft and/or a remote controller of an unmanned aerial vehicle, and the radio frequency receiving end may be a remote controller and/or an aircraft of an unmanned aerial vehicle. For example, in one implementation, the radio frequency transmitting end is a remote controller of an unmanned aerial vehicle, and the radio frequency receiving end is an aircraft matched with the remote controller. In another implementation, the radio frequency transmitting end is an unmanned aerial vehicle, and the radio frequency receiving end is a remote controller matched with the unmanned aerial vehicle.

By adjusting the communication mechanism, the communication mechanism of the remote controller or the aircraft serving as the radio frequency transmitting end and the communication mechanism of the aircraft or the remote controller serving as the radio frequency receiving end are kept consistent, so that the problem that the remote controller and the aircraft cannot be normally communicated or cannot be normally used due to different versions caused by failure of upgrading can be solved.

As shown in fig. 4, a communication method provided in another embodiment of the present invention may be applied in the application environment shown in fig. 1, and specifically includes the following steps:

step S302, the radio frequency receiving end receives the code matching broadcast information transmitted by the radio frequency transmitting end, and the code matching broadcast information comprises the version number of the radio frequency transmitting end.

After receiving the code matching broadcast information transmitted by the radio frequency transmitting end, the radio frequency receiving end and the radio frequency transmitting end successfully establish code matching communication, can receive the code matching broadcast information transmitted by the radio frequency transmitting end and read the version number of the radio frequency transmitting end contained in the code matching broadcast information.

Step S304, reading the version number of the radio frequency receiving end, transmitting code matching confirmation information to the radio frequency transmitting end, wherein the code matching confirmation information comprises the version number of the radio frequency receiving end, so that the radio frequency transmitting end can determine whether to update the communication mechanism of the radio frequency transmitting end.

In this embodiment, the radio frequency receiving end may further read the version number of the application or system corresponding to the version number of the radio frequency transmitting end installed in the radio frequency receiving end. Meanwhile, the read version number of the radio frequency transmitting terminal can be written into the code matching confirmation information and the code matching confirmation information is sent to the radio frequency transmitting terminal, so that the radio frequency transmitting terminal can determine that the code matching communication is realized between the radio frequency transmitting terminal and the radio frequency transmitting terminal according to the code matching confirmation information, and determine whether the communication mechanism of the radio frequency transmitting terminal needs to be updated according to the version number carried by the radio frequency transmitting terminal.

Step S306, determining a communication mechanism of the radio frequency receiving end according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end, so that the radio frequency receiving end performs radio frequency communication with the radio frequency transmitting end according to the determined communication mechanism.

In this embodiment, similar to the rf transmitting end, the rf receiving end also determines whether to update its own communication mechanism according to its own version number and the version number of the rf transmitting end.

After reading the version number of the radio frequency receiving end and the version number of the radio frequency transmitting end, the radio frequency receiving end can detect whether the communication mechanism used by the radio frequency receiving end is simultaneously suitable for the systems or applications corresponding to the two version numbers. If yes, the current communication mechanism is not modified, and the radio frequency sending end is enabled to modify the communication mechanism. If not, the current communication mechanism is modified into a communication mechanism which is simultaneously suitable for systems or applications at two ends, and the communication is carried out with the radio frequency sending end according to the modified communication mechanism, so that the problems that the radio frequency transceivers of the radio frequency sending end and the radio frequency receiving end cannot be normally used and the problems that both the radio frequency sending end and the radio frequency receiving end cannot normally communicate can be avoided.

Specifically, the radio frequency receiving end presets a communication mechanism to which different version numbers are applicable. When the radio frequency receiving end determines that updating is needed, the radio frequency receiving end can also inquire the communication mechanism suitable for the version number of the radio frequency sending end and the communication mechanism suitable for the version number of the radio frequency receiving end, select one of the communication mechanisms suitable for the two version numbers, switch the current communication mechanism of the radio frequency sending end to the selected communication mechanism, and send the selected communication mechanism to the radio frequency receiving end, so that the radio frequency receiving end adjusts the own communication mechanism. Further, the radio frequency transmitting end can also transmit the selected communication mechanism to the radio frequency receiving end, so that the radio frequency receiving end adjusts the communication mechanism of the radio frequency receiving end.

The communication method can enable the radio frequency transmitting end and the radio frequency receiving end to enter the code matching communication state when the radio frequency transmitting end and the radio frequency receiving end cannot carry out normal communication due to the fact that upgrading fails. The radio frequency receiving end receives code matching broadcast information transmitted by the radio frequency transmitting end, wherein the code matching broadcast information comprises the version number of the radio frequency transmitting end; reading the version number of the radio frequency receiving end, transmitting code matching confirmation information to the radio frequency transmitting end, wherein the code matching confirmation information comprises the version number of the radio frequency receiving end, so that the radio frequency transmitting end determines whether to update a communication mechanism of the radio frequency transmitting end; and determining whether to update the communication mechanism of the radio frequency receiving end according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end so that the radio frequency transmitting end and the radio frequency receiving end always keep the consistent communication mechanism and normal communication can be carried out.

In one embodiment, step S306 further comprises: and determining a matched communication mechanism identifier according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end, and adjusting the communication mechanism of the radio frequency receiving end into a communication mechanism corresponding to the communication mechanism identifier.

In this embodiment, the radio frequency receiving end also presets a communication mechanism to which different version numbers are applicable. The radio frequency receiving end can select a communication mechanism identifier which has a corresponding relation with the two version numbers according to the version number of the radio frequency receiving end and the version number of the radio frequency receiving end, and the communication mechanism identifier is a communication mechanism identifier matched with the two version numbers. The radio frequency receiving end can determine the communication mechanism corresponding to the matched communication mechanism identifier as the communication mechanism of the radio frequency receiving end, so that the radio frequency receiving end can perform radio frequency communication with the radio frequency transmitting end according to the determined communication mechanism.

Specifically, the set communication mechanism identifier may also be included in the response message, or pair code information including the set communication mechanism identifier may be sent to the radio frequency transmitting end again. And ending the code matching state, and adjusting the communication mechanism of the user according to the set communication mechanism identification after the code matching state is ended.

In one embodiment, the communication mechanism is: if the version number of the radio frequency sending end is lower than that of the radio frequency receiving end, the radio frequency receiving end restores the communication mechanism to the communication mechanism used by the previous version number; and if the version number of the radio frequency sending end is higher than that of the radio frequency receiving end or is the same as that of the radio frequency receiving end, the radio frequency sending end does not update the communication mechanism.

The radio frequency receiving end can compare the two version numbers, and when the version numbers are not consistent, one of the two version numbers is failed to update. Specifically, if the version number of the radio frequency receiving end obtained by the comparison is higher than that of the radio frequency transmitting end, it indicates that the version update of the radio frequency receiving end is successful, and the version update of the radio frequency transmitting end is failed. The radio frequency receiving end can trigger a corresponding communication mechanism restoration instruction according to the comparison result, acquire the installation package of the last used radio frequency mechanism according to the instruction to restore, and determine the restored radio frequency mechanism as a new radio frequency mechanism. If the version number of the radio frequency transmitting end obtained by comparison is higher than the version number of the radio frequency receiving end or is the same as the version number of the radio frequency receiving end, the communication mechanism of the radio frequency receiving end does not need to be updated, and the radio frequency transmitting end can update the radio frequency mechanism.

As shown in fig. 5, a detailed flowchart of the step of determining the communication mechanism of the radio frequency receiving end provided in an embodiment of the present invention is shown:

step S501, the radio frequency receiving end enters a code matching state.

Similarly, the radio frequency receiving end enters the code matching state when detecting the corresponding touch operation entering the code matching state. The radio frequency receiving end can also be provided with a button for entering code matching communication, and the code matching state is entered when the button is detected to be correspondingly operated such as long-time pressing. Or, the radio frequency transmitting end can also provide other triggering modes, and enter the code matching state according to the triggering modes. And receiving the code matching information broadcasted by other terminals at the frequency matched with the code matching information, wherein the code matching information comprises the code matching broadcast information sent by the radio frequency sending end.

Step S502, whether code matching broadcast information transmitted by the radio frequency transmitting end is received or not is detected, if yes, step S503 is executed, and if not, step S502 is executed repeatedly.

The radio frequency receiving end can continuously detect whether code matching broadcast information transmitted by the radio frequency transmitting end is received.

Step S503, reading the code matching broadcast information including the version number of the radio frequency transmitting end.

Step S504, setting corresponding communication mechanism identification according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end.

Step S505 exits the code matching state.

Further, before exiting the code matching state, the radio frequency receiving end may send a code matching message carrying the set communication mechanism identifier to the radio frequency transmitting terminal after setting the communication mechanism identifier, so as to inform the radio frequency transmitting terminal.

Step S506, determining a corresponding communication mechanism of the radio frequency receiving end according to the set communication mechanism identifier.

According to the communication method, the radio frequency receiving end acquires the version number of the radio frequency sending end in the code matching state, sets the corresponding communication mechanism identification according to the version number, can determine the corresponding communication mechanism according to the set communication mechanism identification after exiting the code matching state, and communicates with the radio frequency sending end according to the determined communication mechanism of the radio frequency receiving end, so that the problem that radio frequency transceivers of the radio frequency sending end and the radio frequency receiving end cannot be normally used and the problem that both the radio frequency sending end and the radio frequency receiving end cannot normally communicate can be avoided.

As shown in fig. 6, the communication apparatus provided in an embodiment of the present invention, the method may be applied to the application environment shown in fig. 1, and the apparatus includes:

a first code matching module 602, configured to transmit code matching broadcast information, where the code matching broadcast information includes a version number of a radio frequency transmitting end; and receiving code matching confirmation information returned by the radio frequency receiving terminal, wherein the code matching confirmation information comprises the version number of the radio frequency receiving terminal.

The first communication mechanism adjusting module 604 is configured to determine a communication mechanism of the radio frequency transmitting end according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end, so that the radio frequency transmitting end performs radio frequency communication with the radio frequency receiving end according to the determined communication mechanism.

In an embodiment, the first communication mechanism adjusting module 604 is further configured to determine a matched communication mechanism identifier according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end, and adjust the communication mechanism of the radio frequency transmitting end to a communication mechanism corresponding to the communication mechanism identifier.

In an embodiment, the first communication mechanism adjusting module 604 is further configured to restore the communication mechanism to the communication mechanism used by the previous version number if the version number of the radio frequency transmitting end is higher than the version number of the radio frequency receiving end; and if the version number of the radio frequency transmitting end is lower than that of the radio frequency receiving end or is the same as that of the radio frequency receiving end, the communication mechanism is not updated.

According to the communication device, the radio frequency sending end acquires the version number of the radio frequency receiving end in the code matching state, sets the corresponding communication mechanism identification according to the version number, can determine the corresponding communication mechanism according to the set communication mechanism identification after exiting the code matching state, and communicates with the radio frequency receiving end according to the determined communication mechanism of the radio frequency sending end, so that the problem that the radio frequency transceivers of the radio frequency sending end and the radio frequency receiving end cannot be normally used and the problem that both the radio frequency sending end and the radio frequency receiving end cannot normally communicate can be avoided.

As shown in fig. 7, the communication apparatus provided in another embodiment of the present invention, the method may be applied to the application environment shown in fig. 1, and the apparatus includes:

a second code matching module 702, configured to receive code matching broadcast information transmitted by the radio frequency transmitting end, where the code matching broadcast information includes a version number of the radio frequency transmitting end; reading the version number of the radio frequency receiving end, transmitting code matching confirmation information to the radio frequency transmitting end, wherein the code matching confirmation information comprises the version number of the radio frequency receiving end, and enabling the radio frequency transmitting end to determine whether to update a communication mechanism of the radio frequency transmitting end.

The second communication mechanism adjusting module 704 is configured to determine a communication mechanism of the radio frequency receiving end according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end, so that the radio frequency receiving end performs radio frequency communication with the radio frequency transmitting end according to the determined communication mechanism.

In an embodiment, the second communication mechanism adjusting module 704 is further configured to determine a matching communication mechanism identifier according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end, and adjust the communication mechanism of the radio frequency receiving end to a communication mechanism corresponding to the communication mechanism identifier.

In an embodiment, the second communication mechanism adjusting module 704 is further configured to, if the version number of the radio frequency transmitting end is lower than the version number of the radio frequency receiving end, restore the communication mechanism to the communication mechanism used by the previous version number; and if the version number of the radio frequency transmitting end is higher than that of the radio frequency receiving end or is the same as that of the radio frequency receiving end, the communication mechanism is not updated.

The respective modules in the above-described communication apparatus may be implemented in whole or in part by software, hardware, and a combination thereof. The network interface may be an ethernet card or a wireless network card. The modules can be embedded in a hardware form or independent from a processor in a server, and can also be stored in a memory in an aircraft or a remote controller in a software form, so that the processor can call and execute the corresponding operations of the modules. The processor can be a Central Processing Unit (CPU), a microprocessor, a singlechip and the like.

In one embodiment, the first code-pair module 602, the first communication mechanism adjusting module 604, the second code-pair module 702, and the second communication mechanism adjusting module 704 of the present invention may be any one or more of a flight control module, a microcontroller unit, and a microprocessor unit. Embodiments of the present invention also provide a drone including a processor and a memory in communication with the processor, the processor performing the method of the embodiments shown in any of figures 2-5. The processor may be a microcontroller unit or a microprocessor unit.

In one embodiment, a drone is provided that includes a remote control and an aerial vehicle.

The remote controller is used for transmitting code matching broadcast information which comprises the version number of the remote controller; receiving code matching confirmation information returned by the aircraft, wherein the code matching confirmation information comprises the version number of the aircraft; and determining a communication mechanism of the remote controller according to the version number of the remote controller and the version number of the aircraft, so that the remote controller performs radio frequency communication with the aircraft according to the determined communication mechanism.

The aircraft is used for receiving code matching broadcast information transmitted by the remote controller; reading the version number of the remote controller and transmitting code matching confirmation information to the remote controller; and determining a communication mechanism of the aircraft according to the version number of the remote controller and the version number of the aircraft, so that the aircraft performs radio frequency communication with the remote controller according to the determined communication mechanism.

In one embodiment, the remote controller is further configured to determine a matching communication mechanism identifier according to the version number of the remote controller and the version number of the aircraft, and adjust the communication mechanism of the remote controller to a communication mechanism corresponding to the communication mechanism identifier.

The aircraft is also used for determining the matched communication mechanism identifier according to the version number of the remote controller and the version number of the aircraft, and adjusting the communication mechanism of the aircraft into a communication mechanism corresponding to the communication mechanism identifier.

In one embodiment, the remote controller is further configured to restore the communication mechanism of the remote controller to the communication mechanism used by the previous version number if the version number of the remote controller is higher than the version number of the aircraft; and if the version number of the remote controller is lower than the version number of the aircraft or is the same as the version number of the aircraft, the communication mechanism of the remote controller is not updated.

The aircraft is also used for reducing the communication mechanism of the aircraft into the communication mechanism used by the previous version number if the version number of the remote controller is lower than the version number of the aircraft; and if the version number of the remote controller is higher than or equal to the version number of the aircraft, the communication mechanism of the aircraft is not updated.

In one embodiment, another drone is provided that includes a remote control and an aerial vehicle.

The aircraft is used for transmitting code matching broadcast information, and the code matching broadcast information comprises the version number of the aircraft; receiving code matching confirmation information returned by the remote controller, wherein the code matching confirmation information comprises the version number of the remote controller; and determining whether to update the communication mechanism of the aircraft according to the version number of the remote controller and the version number of the aircraft.

The remote controller is used for receiving code matching broadcast information transmitted by the aircraft; reading the version number of the aircraft, and transmitting code matching confirmation information to the aircraft; and determining whether to update the communication mechanism of the remote controller according to the version number of the remote controller and the version number of the aircraft.

In one embodiment, a computer-readable storage medium is provided having computer instructions stored thereon which, when executed by a processor, perform the steps of: transmitting code matching broadcast information, wherein the code matching broadcast information comprises the version number of a radio frequency transmitting end; receiving code matching confirmation information returned by the radio frequency receiving terminal, wherein the code matching confirmation information comprises the version number of the radio frequency receiving terminal; and determining a communication mechanism of the radio frequency transmitting end according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end, so that the radio frequency transmitting end performs radio frequency communication with the radio frequency receiving end according to the determined communication mechanism.

In one embodiment, the determining a communication mechanism of the radio frequency transmitting end according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end includes: and determining a matched communication mechanism identifier according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end, and adjusting the communication mechanism of the radio frequency transmitting end into a communication mechanism corresponding to the communication mechanism identifier.

In one embodiment, the determining a communication mechanism of the radio frequency transmitting end according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end includes: if the version number of the radio frequency transmitting end is higher than that of the radio frequency receiving end, the communication mechanism is restored to the communication mechanism used by the previous version number; and if the version number of the radio frequency transmitting end is lower than that of the radio frequency receiving end or is the same as that of the radio frequency receiving end, the communication mechanism is not updated.

In one embodiment, another computer-readable storage medium is provided having computer instructions stored thereon which, when executed by a processor, perform the steps of: receiving code matching broadcast information transmitted by a radio frequency transmitting terminal, wherein the code matching broadcast information comprises a version number of the radio frequency transmitting terminal; reading the version number of the radio frequency receiving end, transmitting code matching confirmation information to the radio frequency transmitting end, wherein the code matching confirmation information comprises the version number of the radio frequency receiving end, so that the radio frequency transmitting end determines whether to update a communication mechanism of the radio frequency transmitting end; and determining a communication mechanism of the radio frequency receiving end according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end, so that the radio frequency receiving end performs radio frequency communication with the radio frequency transmitting end according to the determined communication mechanism.

In one embodiment, the executed determining the communication mechanism of the radio frequency receiving end according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end includes: and determining a matched communication mechanism identifier according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end, and adjusting the communication mechanism of the radio frequency receiving end into a communication mechanism corresponding to the communication mechanism identifier.

In one embodiment, the determining a communication mechanism of the radio frequency transmitting end according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end includes: if the version number of the radio frequency transmitting end is lower than that of the radio frequency receiving end, the communication mechanism is restored to the communication mechanism used by the previous version number; and if the version number of the radio frequency transmitting end is higher than that of the radio frequency receiving end or is the same as that of the radio frequency receiving end, the communication mechanism is not updated.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), or the like.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A communication method is applied to a radio frequency transmitting end, and is characterized by comprising the following steps:

transmitting code matching broadcast information, and matching codes with a radio frequency receiving end through matched code matching frequencies;

judging whether the communication mechanism of the radio frequency transmitting end is consistent with that of the radio frequency receiving end;

when the communication mechanism of the radio frequency sending end is inconsistent with the communication mechanism of the radio frequency receiving end, adjusting the communication mechanism of the radio frequency sending end to ensure that the communication mechanisms of the radio frequency sending end and the radio frequency receiving end are consistent;

and carrying out radio frequency communication with the radio frequency receiving end according to a consistent communication mechanism.

2. The method of claim 1, wherein the transmitting code matching broadcast information is code matched with a radio frequency receiving end through a matched code matching frequency, comprising:

the code matching broadcast information comprises the version number of the radio frequency transmitting end;

receiving code matching confirmation information returned by a radio frequency receiving terminal, wherein the code matching confirmation information comprises the version number of the radio frequency receiving terminal;

and respectively determining a communication mechanism of the radio frequency transmitting end and a communication mechanism of the radio frequency receiving end according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end.

3. The method according to claim 1 or 2, wherein when the communication mechanism of the radio frequency transmitting end is inconsistent with the communication mechanism of the radio frequency receiving end, adjusting the communication mechanism of the radio frequency transmitting end so that the communication mechanisms of the radio frequency transmitting end and the radio frequency receiving end are consistent comprises:

if the version number of the radio frequency transmitting end is higher than that of the radio frequency receiving end, the radio frequency transmitting end restores the communication mechanism to the communication mechanism used by the previous version number;

and if the version number of the radio frequency sending end is lower than that of the radio frequency receiving end or is the same as that of the radio frequency receiving end, the radio frequency sending end does not update the communication mechanism.

4. The method according to any one of claims 1 to 2, wherein the radio frequency transmitting end is a remote controller and the radio frequency receiving end is an aircraft; or, the radio frequency transmitting end is an aircraft, and the radio frequency receiving end is a remote controller.

5. A communication method is applied to a radio frequency receiving end, and is characterized by comprising the following steps:

receiving code matching broadcast information transmitted by a radio frequency transmitting end, and matching codes with the radio frequency transmitting end through matched code matching frequency;

when the communication mechanism of the radio frequency transmitting end is inconsistent with the communication mechanism of the radio frequency receiving end, adjusting the communication mechanism of the radio frequency receiving end to ensure that the communication mechanisms of the radio frequency transmitting end and the radio frequency receiving end are consistent;

and carrying out radio frequency communication with the radio frequency sending end according to a consistent communication mechanism.

6. The method of claim 5, wherein the receiving code matching broadcast information transmitted by the radio frequency transmitting end, and performing code matching with the radio frequency transmitting end through the matched code matching frequency comprises:

reading the version number of the radio frequency receiving terminal, and transmitting code matching confirmation information to the radio frequency transmitting terminal, wherein the code matching confirmation information comprises the version number of the radio frequency receiving terminal;

7. The method according to claim 5 or 6, wherein when the communication mechanism of the radio frequency transmitting end is inconsistent with the communication mechanism of the radio frequency receiving end, adjusting the communication mechanism of the radio frequency receiving end so that the communication mechanisms of the radio frequency transmitting end and the radio frequency receiving end are consistent comprises:

if the version number of the radio frequency transmitting end is lower than that of the radio frequency receiving end, the radio frequency receiving end restores the communication mechanism to the communication mechanism used by the previous version number;

and if the version number of the radio frequency transmitting end is higher than or equal to the version number of the radio frequency receiving end, the radio frequency receiving end does not update the communication mechanism.

8. The method according to any one of claims 5 to 6, wherein the radio frequency transmitting end is a remote controller and the radio frequency receiving end is an aircraft; or, the radio frequency transmitting end is an aircraft, and the radio frequency receiving end is a remote controller.

9. A communication device applied to a radio frequency transmitting end is characterized by comprising:

the first code matching module is used for transmitting code matching broadcast information, and the code matching broadcast information comprises the version number of the radio frequency transmitting end; receiving code matching confirmation information returned by a radio frequency receiving terminal, wherein the code matching confirmation information comprises the version number of the radio frequency receiving terminal;

the first judging module is used for respectively determining a communication mechanism of the radio frequency transmitting end and a communication mechanism of the radio frequency receiving end according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end and judging whether the communication mechanism of the radio frequency transmitting end is consistent with the communication mechanism of the radio frequency receiving end or not;

and the first communication mechanism adjusting module is used for adjusting the communication mechanism of the radio frequency transmitting end when the communication mechanism of the radio frequency transmitting end is inconsistent with the communication mechanism of the radio frequency receiving end, so that the communication mechanisms of the radio frequency transmitting end and the radio frequency receiving end are kept consistent, and performing radio frequency communication with the radio frequency receiving end according to the consistent communication mechanism.

10. A communication apparatus applied to a radio frequency receiving end, the apparatus comprising:

the second code matching module is used for receiving code matching broadcast information transmitted by a radio frequency transmitting end, wherein the code matching broadcast information comprises a version number of the radio frequency transmitting end; reading the version number of the radio frequency receiving terminal, and transmitting code matching confirmation information to the radio frequency transmitting terminal, wherein the code matching confirmation information comprises the version number of the radio frequency receiving terminal;

the second judgment module is used for respectively determining a communication mechanism of the radio frequency transmitting end and a communication mechanism of the radio frequency receiving end according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end and judging whether the communication mechanism of the communication device is consistent with the communication mechanism of the radio frequency receiving end;

and the second communication mechanism adjusting module is used for adjusting the communication mechanism of the radio frequency receiving end when the communication mechanism of the radio frequency transmitting end is inconsistent with the communication mechanism of the radio frequency receiving end, so that the communication mechanisms of the radio frequency transmitting end and the radio frequency receiving end are kept consistent, and performing radio frequency communication with the radio frequency transmitting end according to the consistent communication mechanism.

11. The apparatus of claim 9 or 10, wherein the radio frequency transmitting end is a remote controller and the radio frequency receiving end is an aircraft; or, the radio frequency transmitting end is an aircraft, and the radio frequency receiving end is a remote controller.

12. An unmanned aerial vehicle comprises a remote controller and an aircraft, and is characterized in that,

the remote controller is used for transmitting code matching broadcast information, and the code matching broadcast information comprises the version number of the remote controller; receiving code matching confirmation information returned by the aircraft, wherein the code matching confirmation information comprises the version number of the aircraft; respectively determining a communication mechanism of the remote controller and a communication mechanism of the aircraft according to the version number of the remote controller and the version number of the aircraft, judging whether the communication mechanism of the remote controller is consistent with the communication mechanism of the aircraft, adjusting the communication mechanism of the remote controller when the communication mechanism of the remote controller is inconsistent with the communication mechanism of the aircraft, keeping the communication mechanisms of the remote controller and the aircraft consistent, and performing radio frequency communication with the aircraft according to the consistent communication mechanism;

the aircraft is used for receiving code matching broadcast information transmitted by the remote controller; reading the version number of the remote controller and transmitting code matching confirmation information to the remote controller; and performing radio frequency communication with the remote controller according to a consistent communication mechanism.

13. An unmanned aerial vehicle comprises a remote controller and an aircraft, and is characterized in that,

the aircraft is used for transmitting code matching broadcast information, and the code matching broadcast information comprises the version number of the aircraft; receiving code matching confirmation information returned by the remote controller, wherein the code matching confirmation information comprises the version number of the remote controller; respectively determining a communication mechanism of the remote controller and a communication mechanism of the aircraft according to the version number of the remote controller and the version number of the aircraft, judging whether the communication mechanism of the remote controller is consistent with the communication mechanism of the aircraft, adjusting the communication mechanism of the aircraft when the communication mechanism of the remote controller is inconsistent with the communication mechanism of the aircraft, keeping the communication mechanisms of the remote controller and the aircraft consistent, and carrying out radio frequency communication with the remote controller according to the consistent communication mechanism;

the remote controller is used for receiving code matching broadcast information transmitted by the aircraft; reading the version number of the aircraft and transmitting code matching confirmation information to the aircraft; and performing radio frequency communication with the aircraft according to a consistent communication scheme.