WO2019011007A1 - 通信方法、装置及无人机 - Google Patents

通信方法、装置及无人机 Download PDF

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Publication number
WO2019011007A1
WO2019011007A1 PCT/CN2018/080612 CN2018080612W WO2019011007A1 WO 2019011007 A1 WO2019011007 A1 WO 2019011007A1 CN 2018080612 W CN2018080612 W CN 2018080612W WO 2019011007 A1 WO2019011007 A1 WO 2019011007A1
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WIPO (PCT)
Prior art keywords
radio frequency
version number
communication mechanism
receiving end
transmitting end
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Ceased
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PCT/CN2018/080612
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English (en)
French (fr)
Inventor
程昌南
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Autel Robotics Co Ltd
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Autel Robotics Co Ltd
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Publication date
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Publication of WO2019011007A1 publication Critical patent/WO2019011007A1/zh
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/02—Arrangements or adaptations of signal or lighting devices
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/70—Software maintenance or management
    • G06F8/71—Version control; Configuration management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/20—UAVs specially adapted for particular uses or applications for use as communications relays, e.g. high-altitude platforms
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/60—Software deployment
    • G06F8/65—Updates

Definitions

  • the present invention relates to the field of communications technologies, and in particular, to a communication method, apparatus, and drone.
  • firmware upgrades are based on radio frequency communication between radio frequency transceivers (radio frequency transmitting devices, radio frequency receiving devices), in accordance with a certain communication mechanism.
  • Radio frequency transceivers radio frequency transmitting devices, radio frequency receiving devices
  • Different versions of RF transceivers use different communication mechanisms.
  • the firmware upgrade process if the upgrade is aborted for some reason, the phenomenon may occur that one end of the RF sender and the RF receiver is successfully upgraded, and the other end fails to be upgraded.
  • the new communication mechanism is used, and the one that has not been successfully upgraded still uses the old communication mechanism. In this case, when the RF transceiver is restarted and the upgrade is to be completed, since the RF transmitter and the RF receiver use different communication mechanisms, normal communication cannot be performed, and thus the upgrade cannot be performed again. Use again.
  • the drone includes an aircraft and a remote control that remotely controls the aircraft.
  • drones can be updated.
  • the drone needs to maintain communication between the aircraft and the remote controller at any time to update the aircraft and update the remote controller.
  • the communication is interrupted, which will cause the aircraft and the remote controller to upgrade successfully, and the other party fails to upgrade.
  • the aircraft is turned on again and ready to be upgraded, different communication mechanisms are used due to different versions of the aircraft and the remote controller, and normal RF communication will not be possible between them, so the upgrade cannot be performed and the remote control cannot be used.
  • the embodiment of the present invention provides the following technical solutions:
  • a communication method includes: transmitting, by a radio frequency transmitting end, code-to-code broadcast information, where the code-to-code broadcast information includes a version number of the radio frequency transmitting end; receiving a pair of code confirmation information returned by the radio frequency receiving end, where the pair of code confirmation information is The version number of the radio frequency receiving end is determined; the communication mechanism of the radio frequency transmitting end is determined 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 according to the determined communication mechanism and the The radio frequency receiving end performs radio frequency communication.
  • the communication mechanism of the radio frequency transmitting end is determined according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end, including: according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end Determining a matching communication mechanism identifier; adjusting a communication mechanism of the radio frequency transmitting end to a communication mechanism corresponding to the communication mechanism identifier.
  • the determining, according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end, the communication mechanism of the radio frequency transmitting end includes: comparing a version number of the radio frequency transmitting end with a version of the radio frequency receiving end If the version number of the radio frequency transmitting end is higher than the version number 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; if the version number of the radio frequency transmitting end is greater than If the version number of the radio frequency receiving end is low, or is the same as the version number of the radio frequency receiving end, the radio frequency transmitting end does not update the communication mechanism.
  • 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.
  • the method before the radio frequency transmitting end transmits the code broadcast information, the method includes:
  • the embodiment of the present invention further provides the following technical solutions:
  • a communication method includes: receiving, by a radio frequency receiving end, code broadcast information transmitted by a radio frequency transmitting end, where the code broadcast information includes a version number of the radio frequency transmitting end; and reading a version number of the radio frequency receiving end; The version number of the radio frequency transmitting end and the version number of the radio frequency receiving end determine a communication mechanism 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.
  • the determining, according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end, the communication mechanism of the radio frequency receiving end including: according to the version number of the radio frequency transmitting end and the radio frequency receiving end
  • the version number determines a matching communication mechanism identifier; and the communication mechanism of the radio frequency receiving end is adjusted to a communication mechanism corresponding to the communication mechanism identifier.
  • the determining, according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end, the communication mechanism of the radio frequency receiving end comprises: comparing a version number of the radio frequency transmitting end with a version of the radio frequency receiving end If the version number of the radio frequency transmitting end is lower than the version number 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; if the version number of the radio frequency transmitting end is lower than If the version number of the radio frequency receiving end is high, or is the same as the version number of the radio frequency receiving end, the radio frequency receiving end does not update the communication mechanism.
  • 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.
  • the code confirmation information is sent to the radio frequency transmitting end, where the code confirmation information includes the version number of the radio frequency receiving end.
  • the radio frequency receiving end before the receiving, by the radio frequency receiving end, the pair of broadcast information transmitted by the radio frequency transmitting end, the radio frequency receiving end includes: controlling the radio frequency receiving end to enter a code matching state; and before determining the radio frequency receiving end communication mechanism, including : Controlling the radio frequency receiving end to exit the code status.
  • the embodiment of the present invention further provides the following technical solutions:
  • a communication device includes: a first pair of code modules, configured to transmit a pair of code broadcast information, where the code broadcast information includes a version number of the radio frequency transmitting end; and a pair of code confirmation information returned by the radio frequency receiving end
  • the code confirmation information includes a version number of the radio frequency receiving end
  • the first communication mechanism adjusting module 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.
  • a communication device includes: a second pair of code modules, configured to receive code broadcast information transmitted by a radio frequency transmitting end, where the code broadcast information includes a version number of the radio frequency transmitting end; and the radio frequency is read a version number of the receiving end, and transmitting a code confirmation message to the radio frequency transmitting end, where the code confirmation information includes a version number of the radio frequency receiving end, so that the radio frequency transmitting end determines whether the communication mechanism of the radio frequency transmitting end is performed.
  • a second communication mechanism adjustment module configured to determine a communication mechanism of the radio frequency receiving end according to a version number of the radio frequency transmitting end and a version number of the radio frequency receiving end, so that the radio frequency receiving end according to the determined communication mechanism The radio frequency transmitting end performs radio frequency communication.
  • 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.
  • the embodiment of the present invention further provides the following technical solutions:
  • a drone comprising a remote controller for transmitting code-to-code broadcast information, wherein the pair of code broadcast information includes a version number of the remote controller; and receiving a pair of code confirmation information returned by the aircraft,
  • the code confirmation information includes a version number of the aircraft; determining a communication mechanism of the remote controller according to a version number of the remote controller and a version number of the aircraft, so that the remote controller is configured according to the determined communication mechanism
  • the aircraft performs radio frequency communication; the aircraft is configured to receive pair code broadcast information transmitted by the remote controller; read a version number of the remote controller, and transmit a code confirmation message to the remote controller; and according to the remote control
  • the version number of the aircraft and the version number of the aircraft determine the communication mechanism of the aircraft such that the aircraft performs radio frequency communication with the remote control in accordance with the determined communication mechanism.
  • the embodiment of the present invention further provides the following technical solutions:
  • An unmanned aerial vehicle comprising a remote controller and an aircraft, wherein the aircraft is configured to transmit a code broadcast information, the code broadcast information includes a version number of the aircraft; and receive a code confirmation message returned by the remote controller,
  • the code confirmation information includes a version number of the remote controller; the 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 is in accordance with the determined communication mechanism and the
  • the remote controller performs radio frequency communication; the remote controller is configured to receive the code broadcast information transmitted by the aircraft; read the version number of the aircraft, transmit the code confirmation information to the aircraft; and according to the version number of the remote controller And a version number of the aircraft determines a communication mechanism of the remote controller such that the remote controller performs radio frequency communication with the aircraft in accordance with the determined communication mechanism.
  • the radio frequency receiving end can receive the code broadcast information sent by the radio frequency transmitting end, obtain the version number of the radio frequency transmitting end therein, and return the code confirmation information to the radio frequency transmitting end, the pair
  • the code confirmation information includes the version number of the radio frequency receiving end.
  • the radio frequency transmitting end determines its own communication mechanism according to its version number and the version number of the radio frequency receiving end.
  • the radio frequency receiving end also determines its own communication mechanism according to its own version number and the version number of the received radio frequency transmitting end.
  • the communication mechanism between the RF transmitting end (remote controller or aircraft) and the RF receiving end (aircraft or remote controller) is consistent, which can prevent the RF transmitting end and the RF receiving end from being abnormal due to the upgrade failure. Problems communicating or not working properly.
  • FIG. 1 shows an application scenario of a communication method and apparatus according to an embodiment of the present invention
  • FIG. 2 is a flow chart of a communication method in an embodiment
  • FIG. 3 is a specific flowchart of a step of determining a communication mechanism of a radio frequency transmitting end in an embodiment
  • FIG. 5 is a specific flowchart of steps of determining a communication mechanism of a radio frequency receiving end in an embodiment
  • Figure 6 is a block diagram showing the structure of a communication device in an embodiment
  • Figure 7 is a block diagram showing the structure of a communication device in still another embodiment.
  • radio frequency transmitting end 110 includes a radio frequency transceiver and a controller in communication with the radio frequency transceiver;
  • radio frequency receiving end 120 includes a radio frequency transceiver and a controller in communication with the radio frequency transceiver.
  • the radio frequency transceiver of the radio frequency transmitting end 110 communicates with the radio frequency transceiver of the radio frequency receiving end 120 to complete the firmware upgrade.
  • the controller may be a single chip microcomputer, that is, the RF transmitting end 110 and the RF receiving end 120 may each adopt a single chip microcomputer, and the single chip drives the RF transceiver (or the RF transceiver device) to implement communication.
  • 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 send and receive the code information.
  • the radio frequency transmitting end 110 can transmit the code broadcast information through the built-in controller to drive the radio frequency transceiver, and can also receive the code information corresponding to the matched frequency, such as the code confirmation information sent by the radio frequency transceiver receiving the radio frequency receiving end 120.
  • the radio frequency transceivers of the radio frequency transmitting end and the radio frequency receiving end may both be radio frequency communication devices that simultaneously transmit radio frequency and receive radio frequency functions.
  • the "radio frequency transmitting end" and the “radio frequency receiving end” in the embodiments of the present invention are relative concepts, and are only used for description purposes, and cannot be understood as the radio frequency transceiver that defines the end only has a radio frequency transmitting function or only has a radio frequency receiving function. .
  • 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.
  • the radio frequency receiving end 120 can receive the code broadcast information sent by the radio frequency transmitting end 110, obtain the version number of the radio frequency transmitting end 110, and return the code confirmation information to the radio frequency transmitting end, where the pair of code confirmation information is The version number of the radio frequency receiving end 120 is included.
  • the RF transmitting end 110 determines its own communication mechanism according to its version number and the version number of the RF receiving end 120.
  • the radio frequency receiving end 120 also determines its own communication mechanism according to its own version number and the version number of the received radio frequency transmitting end 110. By adjusting the communication mechanism, the communication mechanisms of the RF transmitting end 110 and the RF receiving end 120 are consistent, which avoids the problem that the RF transmitting end and the RF receiving end cannot communicate normally or cannot be used normally due to the upgrade failure.
  • a communication method is provided in an embodiment of the present invention.
  • the method is applicable to the application environment shown in FIG. 1, and the method specifically includes the following steps:
  • Step S202 The radio frequency transmitting end transmits the code broadcast information, where the code broadcast information includes the version number of the radio frequency transmitting end.
  • the controller of the RF transmitting end controls the RF transmitting end to enter the code matching state.
  • the RF transmitting end may transmit the code broadcast information according to its own code frequency, so that other devices in the broadcast range that match the frequency can receive the broadcast information.
  • the radio broadcast information includes the version number of the radio transmitter.
  • the version number may be the version number of the operating system to be verified on the radio frequency transmitting end, or the version number of the application such as the driver of the firmware to be verified on the radio frequency transmitting end.
  • the version number is a unique identifier of the corresponding application or system.
  • the version number can be used to obtain the version information of the corresponding application or system.
  • the RF sender can automatically read the version number of the application or system that was last updated, and load the version number into the code broadcast information for broadcast.
  • Step S204 receiving the code confirmation information returned by the radio frequency receiving end, where the code confirmation information includes the version number of the radio frequency receiving end.
  • the radio frequency receiving end can receive the radio frequency transmitting end.
  • the broadcast information of the fixed frequency is sent and responds, and the code confirmation message is sent to the radio frequency transmitting end according to its own code frequency, so that the two enter the code communication state.
  • the pair of code confirmation information includes a version number of the radio frequency receiving end.
  • the version number matches the version number included in the code broadcast information. For example, if the version number included in the code broadcast information is the version number of the operating system of the radio frequency transmitting end, the version number of the radio frequency receiving end is the version number of the operating system of the radio frequency receiving end.
  • the version number included in the code broadcast information is a version number of an application such as a driver of a firmware in the radio frequency transmitting end
  • the version number of the radio frequency receiving end is a radio frequency receiving end
  • the firmware is controlled or controlled by the firmware.
  • the version number of the corresponding application is a version number of an application such as a driver of a firmware in the radio frequency transmitting end
  • the radio frequency transmitting end can receive the code confirmation information returned by the radio frequency receiving end, and obtain the version number of the radio frequency receiving end carried therein.
  • Step S206 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.
  • the communication mechanism is a mechanism used for radio frequency communication between the radio frequency transmitting end and the radio frequency receiving end.
  • Communication mechanisms include multiple, different versions of systems or applications, and the communication mechanisms used by default are not necessarily the same. When one end of the RF transmitter or the RF receiver is successfully upgraded and the other end fails to be upgraded, the communication mechanism of the two will be different and communication will not be possible.
  • the radio transmitting end can detect whether the communication mechanism used by the radio transmitting end is applicable to the system or application corresponding to the two version numbers. If yes, the current communication mechanism is not modified, and the radio frequency receiving end is modified by the communication mechanism. If not, the current communication mechanism is modified to be applicable to the communication mechanism of the system or application at both ends, and communicates with the RF receiving end according to the modified communication mechanism, thereby avoiding the failure to properly use the RF transceiver of the RF transmitting end and the RF receiving end.
  • the problem is that the RF sender and the RF receiver cannot communicate properly.
  • the radio frequency transmitting end presets a communication mechanism to which different version numbers are applied.
  • the radio transmitting end can query the communication mechanism applicable to the version number of the radio frequency transmitting end, and query the communication mechanism applicable to the version number of the radio receiving end, and select one of the communications applicable to the two version numbers.
  • the mechanism switches the current communication mechanism of the radio frequency transmitting end to the selected communication mechanism, and sends the selected communication mechanism to the radio frequency receiving end, so that the radio frequency receiving end adjusts its own communication mechanism.
  • the radio frequency transmitting end may also send the selected communication mechanism to the radio frequency receiving end, so that the radio frequency receiving end adjusts its own communication mechanism.
  • the above communication method can enable both parties to enter the code communication state when the upgrade occurs, causing the radio frequency transmitting end and the radio frequency receiving end to fail to perform normal communication, and the radio frequency transmitting end transmits the pair code broadcast information and receives the return of the radio frequency receiving end.
  • the communication mechanism of the radio frequency transmitting end is determined according to the version number of the radio frequency transmitting end itself and the version number of the radio frequency receiving end included in the code confirmation information, so that the radio frequency transmitting end according to the determined communication mechanism and the radio frequency receiving end
  • the radio frequency communication is performed so that the radio frequency transmitting end and the radio frequency receiving end always maintain a consistent communication mechanism, so that normal communication can be performed for normal communication.
  • step S206 further includes: determining a matching communication mechanism identifier according to a version number of the radio frequency transmitting end and a version number of the radio frequency receiving end, and adjusting a communication mechanism of the radio frequency transmitting end to a communication mechanism corresponding to the communication mechanism identifier.
  • the communication mechanism identifier is used to uniquely identify a communication mechanism.
  • the radio frequency sender pre-establishes a correspondence between different version numbers and a communication mechanism identifier, and the correspondence relationship is used to indicate that the corresponding communication mechanism is applicable to the corresponding version of the application or system.
  • the radio transmitter may select a communication mechanism identifier corresponding to the two version numbers according to the version number of the radio and the version number of the radio receiver, and the communication mechanism identifier is a communication mechanism that matches the two version numbers.
  • logo 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 it performs radio frequency communication with the radio frequency receiving end according to the determined communication mechanism.
  • the communication mechanism identifier of the self can be set, and the response information of the pair of code confirmation information is sent to the radio frequency receiving end, and the code status is ended. After the code status is ended, its communication mechanism is adjusted according to the set communication mechanism identifier.
  • a communication mechanism suitable for both the radio frequency transmitting end and the radio frequency receiving end can be selected, so that the two communicate according to the communication mechanism.
  • the communication mechanism of the radio frequency transmitting end is determined according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end, which is specifically: comparing a version number of the radio frequency transmitting end with a version number of the radio frequency receiving end If the version number of the RF transmitting end is higher than the version number of the RF receiving end, the RF transmitting end restores the communication mechanism to the communication mechanism used by the previous version number; if the version number of the RF transmitting end is lower than the version number of the RF receiving end, or If the version number of the RF receiver is the same, the RF sender does not update the communication mechanism.
  • a higher version of an application or system is compatible with the communication mechanisms that are appropriate for the lower version of the application or system.
  • the default communication mechanism corresponding to the version number of the lower version of the version can be selected as the communication mechanism of the RF sender.
  • the RF sender can compare the two version numbers. When the version numbers are inconsistent, it indicates that one of the updates failed. Specifically, if the version number of the radio transmitter is higher than the version number of the radio receiver, the version of the radio transmitter is updated successfully, and the version update of the radio receiver fails.
  • the radio frequency transmitting end may trigger a corresponding radio frequency mechanism restoration instruction according to the comparison result, obtain an installation package of the last used radio frequency mechanism according to the instruction, and restore the restored radio frequency mechanism as a new radio frequency mechanism. If the version number of the radio transmitter is lower than the version number of the radio receiver, or the version number of the radio receiver is the same, the communication mechanism of the radio transmitter does not need to be updated, so that the radio receiver can update the radio frequency mechanism.
  • the default communication mechanism identifier corresponding to the lower version number may be selected to detect whether the communication mechanism identifier is also applicable to a higher version system or application, and if yes, determine the corresponding communication mechanism as the radio frequency sender communication. mechanism. Therefore, the version number of one 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.
  • the radio frequency transmitting end with the lower version number is updated with the communication mechanism to restore the communication mechanism corresponding to the previous version.
  • the communication mechanism is kept unchanged; or, when the version numbers of the two versions are the same, the traffic mechanism is kept unchanged, thereby avoiding unnecessary updating of the communication mechanism, and improving the RF transmitting end and the RF receiving. The speed of normal communication between the ends is restored.
  • FIG. 3 it is a specific flowchart of the steps of determining a communication mechanism of a radio frequency transmitting end provided in an embodiment of the present invention:
  • step S401 the radio frequency transmitting end enters a code matching state.
  • the radio frequency transmitting end when the radio frequency transmitting end detects the corresponding touch operation with the entering code status, the radio frequency transmitting end enters the code matching state.
  • the button for entering the code communication can be provided on the radio frequency transmitting end, and when the corresponding operation of pressing the button for a long press is detected, the pair code state is entered.
  • the radio transmitter can also provide other trigger modes, and enter the code status according to the trigger mode.
  • Step S402 transmitting code-to-code broadcast information, where the code broadcast information includes a version number of the radio frequency transmitting end.
  • Step S403 detecting whether the code confirmation information returned by the radio frequency receiving end is received, and if yes, executing step S404; otherwise, proceeding to step S402.
  • the radio frequency transmitting end can detect whether the code confirmation information returned by the radio frequency receiving end is received in real time, and if not, the code broadcast information is continuously transmitted according to the 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 in the code confirmation information.
  • Step S405 setting a corresponding communication mechanism identifier according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end.
  • step S406 the code status is exited.
  • the radio frequency transmitting end may send a response message to the radio frequency receiving terminal to the radio frequency receiving terminal after the communication mechanism identifier is set, to inform the radio frequency receiving end, and then exit the code status.
  • Step S407 determining a corresponding communication mechanism of the radio frequency transmitting end according to the set communication mechanism identifier.
  • the radio frequency transmitting end obtains the version number of the radio frequency receiving end in the code matching state, and sets the corresponding communication mechanism identifier according to the version number. After exiting the code matching state, the radio frequency transmitting end may determine the corresponding corresponding according to the set communication mechanism identifier.
  • the communication mechanism communicates with the radio frequency receiving end according to the determined communication mechanism of the radio frequency transmitting end, which can avoid the problem that the radio frequency transceiver of the radio frequency transmitting end and the radio frequency receiving end cannot be used normally, and the radio transmitting end and the radio receiving end cannot communicate normally.
  • the radio frequency transmitting end may be an aircraft and/or a remote controller of the drone, and the radio frequency receiving end may be a remote controller and/or an aircraft of the drone.
  • the radio frequency transmitting end is a remote controller of the drone, and the radio frequency receiving end is an aircraft matched with the remote controller.
  • the RF transmitting end is an aircraft of the drone, and the RF receiving end is a remote controller matched with the aircraft.
  • the communication mechanism of the remote controller or the aircraft as the RF transmitting end is consistent with the communication mechanism of the aircraft or the remote controller as the RF receiving end, so that the version between the remote controller and the aircraft due to the upgrade failure can be prevented from being different. A problem that communicates normally or is not working properly.
  • the communication method provided in another embodiment of the present invention is applicable to the application environment shown in FIG. 1, and the method specifically includes the following steps:
  • Step S302 The radio frequency receiving end receives the code broadcast information transmitted by the radio frequency transmitting end, where the code broadcast information includes the version number of the radio frequency transmitting end.
  • the controller at the RF receiving end controls the RF receiving end to enter the code matching state. After receiving the code broadcast information transmitted by the radio frequency transmitting end, the radio frequency receiving end and the radio frequency transmitting end successfully establish a pair code communication, and can receive the code broadcast information transmitted by the radio frequency transmitting end, and read the pair code broadcast information.
  • the version number of the included RF sender is the version number of the included RF sender.
  • Step S304 The version number of the radio frequency receiving end is read, and the code confirmation information is transmitted to the radio frequency transmitting end.
  • the code confirmation information includes the version number of the radio frequency receiving end, so that the radio frequency transmitting end determines whether to update the communication mechanism of the radio frequency transmitting end.
  • 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 by itself.
  • the version number of the read version can be written into the code confirmation information, and the pair of code confirmation information is sent to the radio frequency transmitting end, so that the radio frequency transmitting end can confirm that the two are implemented according to the pair of code confirmation information.
  • the transmitting the code confirmation information to the radio frequency transmitting end where the code confirmation information includes the version number of the radio frequency receiving end, so that the radio frequency transmitting end determines whether to update the communication mechanism of the radio frequency transmitting end. It may be performed after step S306, that is, step S304 may simply read the version number of the radio frequency receiving end.
  • 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.
  • the radio frequency receiving end determines whether to update its own communication mechanism according to its version number and the version number of the radio frequency transmitting end.
  • the radio receiving end can detect whether the communication mechanism currently used by itself is applicable to the system or application corresponding to the two version numbers. If yes, the current communication mechanism is not modified, and the radio frequency transmitting end is modified by the communication mechanism. If not, the current communication mechanism is modified to be applicable to the communication mechanism of the system or application at both ends, and the communication mechanism is communicated with the RF transmitting end according to the modified communication mechanism, so as to avoid the radio transceiver that cannot use the RF transmitting end and the RF receiving end normally.
  • the problem is that the RF sender and the RF receiver cannot communicate properly.
  • the radio frequency receiving end presets a communication mechanism to which different version numbers are applied.
  • the radio frequency receiving end may also query the communication mechanism applicable to the version number of the radio frequency transmitting end, and query the communication mechanism applicable to the version number of the radio frequency receiving end, and select one of them to be applicable to the two version numbers.
  • the communication mechanism switches the current communication mechanism of the radio frequency transmitting end to the selected communication mechanism, and sends the selected communication mechanism to the radio frequency receiving end, so that the radio frequency receiving end adjusts its own communication mechanism.
  • the radio frequency transmitting end may also send the selected communication mechanism to the radio frequency receiving end, so that the radio frequency receiving end adjusts its own communication mechanism.
  • the above communication method can make both parties enter the code communication state when the upgrade fails and the radio frequency transmitting end and the radio frequency receiving end cannot perform normal communication.
  • the radio frequency receiving end receives the code broadcast information transmitted by the radio frequency transmitting end, and the code broadcast information includes the version number of the radio frequency transmitting end; the version number of the radio frequency receiving end is read, and the code confirmation information is transmitted to the radio frequency transmitting end, where the code confirmation information is included
  • the version number of the radio receiving end so that the radio frequency transmitting end determines whether to update 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, determine whether to update the communication mechanism of the radio frequency receiving end, so that the radio frequency transmitting end
  • the communication mechanism is always consistent with the RF receiving end, so that normal communication can be performed.
  • step S306 further includes: determining a matching communication mechanism identifier according to a version number of the radio frequency transmitting end and a version number of the radio frequency receiving end, and adjusting a communication mechanism of the radio frequency receiving end to a communication mechanism corresponding to the communication mechanism identifier.
  • the radio frequency receiving end also presets a communication mechanism to which different version numbers are applied.
  • the radio receiving end may select a communication mechanism identifier corresponding to the two version numbers according to the version number of the radio frequency and the version number of the radio receiving end, and the communication mechanism identifier is a communication mechanism that matches both version numbers.
  • logo 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 it performs radio frequency communication with the radio frequency transmitting end according to the determined communication mechanism.
  • the set communication mechanism identifier may also be included in the response information, or the pair of code information may be sent to the radio frequency transmitting end, where the set communication information identifier is included in the pair of code information. And the end of the code status, after the end of the code status, according to the set communication mechanism identification to adjust its own communication mechanism.
  • a communication mechanism suitable for both the radio frequency transmitting end and the radio frequency receiving end can be selected, so that the two communicate according to the communication mechanism.
  • the communication mechanism of the radio frequency receiving end is determined according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end: comparing a version number of the radio frequency transmitting end with a version number of the radio frequency receiving end: If the version number of the RF transmitting end is lower than the version number of the RF receiving end, the RF receiving end restores the communication mechanism to the communication mechanism used by the previous version number; if the version number of the RF transmitting end is higher than the version number of the RF receiving end, or with the RF If the version number of the receiving end is the same, the RF transmitting end does not update the communication mechanism.
  • the RF receiver can compare the two version numbers. When the version numbers are inconsistent, it indicates that one of the updates failed. Specifically, if the version number of the radio frequency receiving end is higher than the version number of the radio frequency transmitting end, the version of the radio frequency receiving end is updated successfully, and the version update of the radio frequency transmitting end fails.
  • the radio frequency receiving end may trigger a corresponding communication mechanism restoration instruction according to the comparison result, obtain an installation package of the last used radio frequency mechanism according to the instruction, and restore the restored radio frequency mechanism as a new radio frequency mechanism.
  • the communication mechanism of the radio receiving end does not need to be updated, so that the radio frequency transmitting end can perform the radio frequency mechanism update.
  • the default communication mechanism identifier corresponding to the lower version number may be selected to detect whether the communication mechanism identifier is also applicable to a higher version system or application, and if yes, determine the corresponding communication mechanism as the radio frequency sender communication. mechanism. Therefore, the version number of one 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.
  • the radio frequency transmitting end with the lower version number is updated with the communication mechanism to restore the communication mechanism corresponding to the previous version.
  • the communication mechanism is kept unchanged; or, when the version numbers of the two versions are the same, the traffic mechanism is kept unchanged, thereby avoiding unnecessary updating of the communication mechanism, and improving the RF transmitting end and the RF receiving. The speed of normal communication between the ends is restored.
  • the radio frequency transmitting end may be an aircraft and/or a remote controller of the drone, and the radio frequency receiving end may be a remote controller and/or an aircraft of the drone.
  • the radio frequency transmitting end is a remote controller of the drone, and the radio frequency receiving end is an aircraft matched with the remote controller.
  • the RF transmitting end is an aircraft of the drone, and the RF receiving end is a remote controller matched with the aircraft.
  • the communication mechanism of the remote controller or the aircraft as the RF transmitting end is consistent with the communication mechanism of the aircraft or the remote controller as the RF receiving end, so that the version between the remote controller and the aircraft due to the upgrade failure can be prevented from being different. A problem that communicates normally or is not working properly.
  • FIG. 5 it is a specific flowchart of the steps of determining a communication mechanism of a radio frequency receiving end provided in an embodiment of the present invention:
  • step S501 the radio frequency receiving end enters a code status.
  • the radio frequency receiving end enters the code matching state when detecting the corresponding touch operation with the entering code status.
  • the button for entering the code communication can also be provided on the radio frequency receiving end, and when the corresponding operation of the button is detected, the code pair state is entered.
  • the radio transmitter can also provide other trigger modes, and enter the code status according to the trigger mode. And receiving the code information of the broadcast broadcast by the other terminal at a matching frequency, including receiving the code broadcast information sent by the radio frequency transmitting end.
  • Step S502 It is detected whether the code broadcast information transmitted by the radio frequency transmitting end is received, and if yes, step S503 is performed; otherwise, step S502 is repeatedly performed.
  • the radio frequency receiving end can continuously detect whether the code broadcast information transmitted by the radio frequency transmitting end is received.
  • Step S503 reading the version number of the radio frequency transmitting end included in the code broadcast information.
  • Step S504 setting a corresponding communication mechanism identifier according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end.
  • step S505 the code status is exited.
  • the radio frequency receiving end may send a code message carrying the set communication mechanism identifier to the radio frequency transmitting terminal to notify the radio frequency transmitting end after setting the communication mechanism identifier.
  • Step S506 determining a corresponding communication mechanism of the radio frequency receiving end according to the set communication mechanism identifier.
  • the radio frequency receiving end obtains the version number of the radio frequency transmitting end in the code matching state, and sets the corresponding communication mechanism identifier according to the version number. After exiting the code matching state, the radio frequency receiving end may determine the corresponding corresponding according to the set communication mechanism identifier.
  • the communication mechanism communicates with the radio frequency transmitting end according to the determined communication mechanism of the radio frequency receiving end, which can avoid the problem that the radio frequency transceiver of the radio frequency transmitting end and the radio frequency receiving end cannot be used normally, and the radio transmitting end and the radio receiving end cannot communicate normally.
  • the radio frequency transmitting end may be an aircraft and/or a remote controller of the drone, and the radio frequency receiving end may be a remote controller and/or an aircraft of the drone.
  • the radio frequency transmitting end is a remote controller of the drone, and the radio frequency receiving end is an aircraft matched with the remote controller.
  • the RF transmitting end is an aircraft of the drone, and the RF receiving end is a remote controller matched with the aircraft.
  • the communication mechanism of the remote controller or the aircraft as the RF transmitting end is consistent with the communication mechanism of the aircraft or the remote controller as the RF receiving end, so that the version between the remote controller and the aircraft due to the upgrade failure can be prevented from being different. A problem that communicates normally or is not working properly.
  • the communication device provided in an embodiment of the present invention is applicable to the application environment shown in FIG. 1, and the device includes:
  • the first pair of code modules 602 are configured to transmit the code broadcast information, where the code broadcast information includes the version number of the radio frequency transmitting end, and the code confirmation information returned by the radio frequency receiving end, where the code confirmation information includes the version number of the radio frequency receiving end.
  • the first communication mechanism adjustment 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.
  • the first communication mechanism adjustment module 604 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 transmitting end to the communication corresponding to the communication mechanism identifier. mechanism.
  • the first communication mechanism adjustment module 604 is further configured to: if the version number of the radio frequency transmitting end is higher than the version number of the radio frequency receiving end, restore the communication mechanism to the communication mechanism used by the previous version number; The version number is lower than the version number of the RF receiver, or the same as the version number of the RF receiver, the communication mechanism is not updated.
  • the radio frequency transmitting end obtains the version number of the radio frequency receiving end in the code matching state, and sets the corresponding communication mechanism identifier according to the version number. After exiting the code matching state, the radio frequency transmitting end may determine the corresponding according to the set communication mechanism identifier.
  • the communication mechanism communicates with the radio frequency receiving end according to the determined communication mechanism of the radio frequency transmitting end, which can avoid the problem that the radio frequency transceiver of the radio frequency transmitting end and the radio frequency receiving end cannot be used normally, and the radio transmitting end and the radio receiving end cannot communicate normally.
  • the radio frequency transmitting end may be an aircraft and/or a remote controller of the drone, and the radio frequency receiving end may be a remote controller and/or an aircraft of the drone.
  • the radio frequency transmitting end is a remote controller of the drone, and the radio frequency receiving end is an aircraft matched with the remote controller.
  • the RF transmitting end is an aircraft of the drone, and the RF receiving end is a remote controller matched with the aircraft.
  • the communication mechanism of the remote controller or the aircraft as the RF transmitting end is consistent with the communication mechanism of the aircraft or the remote controller as the RF receiving end, so that the version between the remote controller and the aircraft due to the upgrade failure can be prevented from being different. A problem that communicates normally or is not working properly.
  • a communication device provided in another embodiment of the present invention is applicable to an application environment as shown in FIG. 1, and the device includes:
  • the second pair of code modules 702 are configured to receive the code broadcast information transmitted by the radio frequency transmitting end, where the code broadcast information includes the version number of the radio frequency transmitting end, read the version number of the radio frequency receiving end, and transmit the code confirmation information to the radio frequency transmitting end,
  • the code confirmation information includes the version number of the radio frequency receiving end, so that the radio frequency transmitting end determines whether to update the communication mechanism of the radio frequency transmitting end.
  • the second communication mechanism adjustment 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.
  • the second communication mechanism adjustment module 704 is further configured to determine, according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end, the matching communication mechanism identifier, and adjust the communication mechanism of the radio frequency receiving end to the communication corresponding to the communication mechanism identifier. mechanism.
  • the second communication mechanism adjustment 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; If the version number is higher than the version number of the RF receiver or the version number of the RF receiver is the same, the communication mechanism is not updated.
  • the radio frequency transmitting end obtains the version number of the radio frequency receiving end in the code matching state, and sets the corresponding communication mechanism identifier according to the version number. After exiting the code matching state, the radio frequency transmitting end may determine the corresponding according to the set communication mechanism identifier.
  • the communication mechanism communicates with the radio frequency receiving end according to the determined communication mechanism of the radio frequency transmitting end, which can avoid the problem that the radio frequency transceiver of the radio frequency transmitting end and the radio frequency receiving end cannot be used normally, and the radio transmitting end and the radio receiving end cannot communicate normally.
  • the radio frequency transmitting end may be an aircraft and/or a remote controller of the drone, and the radio frequency receiving end may be a remote controller and/or an aircraft of the drone.
  • the radio frequency transmitting end is a remote controller of the drone, and the radio frequency receiving end is an aircraft matched with the remote controller.
  • the RF transmitting end is an aircraft of the drone, and the RF receiving end is a remote controller matched with the aircraft.
  • the communication mechanism of the remote controller or the aircraft as the RF transmitting end is consistent with the communication mechanism of the aircraft or the remote controller as the RF receiving end, so that the version between the remote controller and the aircraft due to the upgrade failure can be prevented from being different. A problem that communicates normally or is not working properly.
  • the network interface may be an Ethernet card or a wireless network card.
  • the above modules may be embedded in the hardware in the processor or in the memory in the aircraft or in the remote control, so that the processor can call the corresponding operations of the above modules.
  • the processor can be a central processing unit (CPU), a microprocessor, a microcontroller, or the like.
  • the first pair of code modules 602, the first communication mechanism adjustment module 604, the second pair of code modules 702, and the second communication mechanism adjustment module 704 of the present invention may be a flight control module, a microcontroller unit, and a micro Any one or several of the processor units.
  • An embodiment of the present invention further provides a drone that includes a processor and a memory in communication with the processor, the processor executing the method in the embodiment shown in any of Figures 2-5 .
  • the processor can be a microcontroller unit or a microprocessor unit.
  • a drone in one embodiment, includes a remote control and an aircraft.
  • the remote controller is configured to transmit the code broadcast information, and the code broadcast information includes the version number of the remote controller; the code confirmation message returned by the aircraft is received, and the code confirmation information includes the version number of the aircraft; according to the version number of the remote controller and the aircraft
  • the version number determines the communication mechanism of the remote control such that the remote controller communicates with the aircraft in accordance with the determined communication mechanism.
  • the aircraft is used for receiving the code broadcast information transmitted by the remote controller; reading the version number of the remote controller, transmitting the code confirmation message to the remote controller; and determining the communication mechanism of the aircraft according to the version number of the remote controller and the version number of the aircraft, thereby The aircraft performs radio frequency communication with the remote controller according to the determined communication mechanism.
  • 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 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 aircraft to a communication mechanism corresponding to the communication mechanism identifier.
  • 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; The version number of the aircraft is low, or the same as the version number of the aircraft, the communication mechanism of the remote controller is not updated.
  • the aircraft is also used to restore the communication mechanism of the aircraft to 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; if the version number of the remote controller is higher than the version number of the aircraft, or If the version number of the aircraft is the same, the communication mechanism of the aircraft is not updated.
  • another drone including a remote control and an aircraft.
  • the aircraft is configured to transmit the code broadcast information, the code broadcast information includes the version number of the aircraft; receive the code confirmation information returned by the remote controller, and the code confirmation information includes the version number of the remote controller; according to the version number of the remote controller and The version number of the aircraft determines whether the communication mechanism of the aircraft is updated.
  • the remote controller is configured to receive the code broadcast information transmitted by the aircraft; read the version number of the aircraft, transmit the code confirmation information to the aircraft; and determine 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 .
  • 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 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 aircraft to a communication mechanism corresponding to the communication mechanism identifier.
  • 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; The version number of the aircraft is low, or the same as the version number of the aircraft, the communication mechanism of the remote controller is not updated.
  • the aircraft is also used to restore the communication mechanism of the aircraft to 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; if the version number of the remote controller is higher than the version number of the aircraft, or If the version number of the aircraft is the same, the communication mechanism of the aircraft is not updated.
  • a computer readable storage medium having stored thereon computer instructions that, when executed by a processor, implement the steps of transmitting a pair of code broadcast information including a version of a radio frequency transmitter
  • the code confirmation information includes the version number of the radio frequency receiving end; 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 is based on The determined communication mechanism performs radio frequency communication with the radio frequency receiving end.
  • the communication mechanism of the radio frequency transmitting end is determined according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end, including: determining the 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, The communication mechanism of the radio frequency transmitting end is adjusted to a communication mechanism corresponding to the communication mechanism identifier.
  • the communication mechanism of the radio frequency transmitting end is determined according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end, including: if the version number of the radio frequency transmitting end is higher than the version number of the radio frequency receiving end, the communication mechanism is restored to The communication mechanism used by the previous version number; if the version number of the RF transmitter is lower than the version number of the RF receiver, or the version number of the RF receiver is the same, the communication mechanism is not updated.
  • another computer readable storage medium having stored thereon computer instructions that, when executed by the processor, implement the steps of: receiving a code broadcast message transmitted by a radio frequency transmitter, and pairing the code broadcast information
  • the version number of the radio frequency transmitting end is included; the version number of the radio frequency receiving end is read, and the code confirmation information is transmitted to the radio frequency transmitting end, and the code confirmation information includes the version number of the radio frequency receiving end, so that the radio frequency transmitting end determines whether the radio frequency transmitting end communicates with the radio frequency transmitting end.
  • the communication mechanism of the radio frequency receiving end is determined 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.
  • the communication mechanism of the radio frequency receiving end is determined according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end, including: determining the 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, The communication mechanism of the radio frequency receiving end is adjusted to a communication mechanism corresponding to the communication mechanism identifier.
  • the communication mechanism of the radio frequency transmitting end is determined according to the version number of the radio frequency transmitting end and the version number of the radio frequency receiving end, including: if the version number of the radio frequency transmitting end is lower than the version number of the radio frequency receiving end, the communication mechanism is restored to The communication mechanism used by the previous version number; if the version number of the RF transmitter is higher than the version number of the RF receiver, or the version number of the RF receiver is the same, the communication mechanism is not updated.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or the like.

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Abstract

本发明涉及一种通信方法、装置和无人机。该通信方法包括：射频发送端发射对码广播信息，所述对码广播信息中包含所述射频发送端的版本号；接收射频接收端返回的对码确认信息，所述对码确认信息中包含所述射频接收端的版本号；根据所述射频发送端的版本号和所述射频接收端的版本号确定所述射频发送端的通信机制，从而使所述射频发送端根据所确定的通信机制与所述射频接收端进行射频通信。上述的通信方法和装置，将射频发送端(遥控器或飞行器)和射频接收端(飞行器或遥控器)的通信机制保持一致，可避免由于升级失败而造成的射频发送端与射频接收端无法正常进行通信或无法正常使用的问题。

Description

通信方法、装置及无人机
申请要求于2017年7月10日申请的、申请号为201710558348.6、申请名称为“通信方法、装置及无人机”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及通信技术领域，特别是涉及一种通信方法、装置和无人机。
背景技术
在通信领域中，固件升级基于射频收发装置(射频发送装置、射频接收装置)之间的射频通信，按照一定的通信机制进行。不同版本的射频收发装置采用不同的通信机制。在进行固件升级的过程中，如果出于某种原因导致升级突然中止，可能会出现的现象是，射频发送端和射频接收端中有一端升级成功，而另一端升级失败，升级成功的一端将使用新的通信机制，而尚未升级成功的一端仍使用旧的通信机制。在这种情况下，当重新启动射频收发装置想要继续完成升级时，由于射频发送端和射频接收端采用不同的通信机制，将无法再进行正常的通信，从而也就无法再次升级，也无法再次使用。
这种现象普遍存在于无人机中。无人机包括飞行器和对飞行器进行遥控的遥控器。随着技术的不断进步，无人机可进行系统更新。无人机在升级的过程中，需要随时保持飞行器与遥控器之间的通信，以实现对飞行器的更新和对遥控器的更新。当在升级过程中出现某些突发状况，例如飞行器电量耗尽而自动关机时，通信中断，会造成飞行器和遥控器一方升级成功，而另一方升级失败。当再次让飞行器开机，准备完成升级时，由于飞行器和遥控器的版本不同而采用了不同的通信机制，它们之间将无法再进行正常的射频通信，因此无法进行升级，也无法继续使用该遥控器来对该飞行器进行遥控。
发明内容
基于此，有必要针对上述技术问题，提供一种通信方法、装置和无人机，其能够避免由于射频发送装置、射频接收装置更新失败而导致的无法正常通信和使用的问题。
为解决上述技术问题，本发明实施例提供以下技术方案：
一种通信方法，包括：射频发送端发射对码广播信息，所述对码广播信息中包含所述射频发送端的版本号；接收射频接收端返回的对码确认信息，所述对码确认信息中包含所述射频接收端的版本号；根据所述射频发送端的版本号和所述射频接收端的版本号确定所述射频发送端的通信机制，从而使所述射频发送端根据所确定的通信机制与所述射频接收端进行射频通信。
在其中一个实施例中，所述根据射频发送端的版本号和所述射频接收端的版本号确定所述射频发送端的通信机制，包括：根据所述射频发送端的版本号和所述射频接收端的版本号确定相匹配的通信机制标识；将所述射频发送端的通信机制调整为所述通信机制标识对应的通信机制。
在其中一个实施例中，所述根据所述射频发送端的版本号和所述射频接收端的版本号确定所述射频发送端的通信机制包括：比较所述射频发送端的版本号与所述射频接收端的版本号；若所述射频发送端的版本号比所述射频接收端的版本号高，则所述射频发送端将通信机制还原为上一版本号所使用的通信机制；若所述射频发送端的版本号比所述射频接收端的版本号低，或者与所述射频接收端的版本号相同，则所述射频发送端对通信机制不进行更新。
在其中一个实施例中，所述射频发送端是遥控器，所述射频接收端是飞行器；或者，所述射频发送端是飞行器，所述射频接收端是遥控器。
在其中一个实施例中，所述射频发送端发射对码广播信息之前，包括：
控制所述射频发送端进入对码状态；所述确定所述射频发送端的通信机制之前，包括：控制所述射频发送端退出对码状态。
为解决上述技术问题，本发明实施例还提供以下技术方案：
一种通信方法，包括：射频接收端接收射频发送端发射的对码广播信息， 所述对码广播信息中包含所述射频发送端的版本号；读取所述射频接收端的版本号；根据所述射频发送端的版本号和所述射频接收端的版本号确定所述射频接收端的通信机制，从而使所述射频接收端根据所确定的通信机制与所述射频发送端进行射频通信。
在其中一个实施例中，所述根据所述射频发送端的版本号和所述射频接收端的版本号确定所述射频接收端的通信机制，包括：根据所述射频发送端的版本号和所述射频接收端的版本号确定相匹配的通信机制标识；将所述射频接收端的通信机制调整为所述通信机制标识对应的通信机制。
在其中一个实施例中，所述根据所述射频发送端的版本号和所述射频接收端的版本号确定所述射频接收端的通信机制包括：比较所述射频发送端的版本号与所述射频接收端的版本号；若所述射频发送端的版本号比所述射频接收端的版本号低，则所述射频接收端将通信机制还原为上一版本号所使用的通信机制；若所述射频发送端的版本号比所述射频接收端的版本号高，或者与所述射频接收端的版本号相同，则所述射频接收端对通信机制不进行更新。
在其中一个实施例中，所述射频发送端是遥控器，所述射频接收端是飞行器；或者，所述射频发送端是飞行器，所述射频接收端是遥控器。
在其中一个实施例中，向所述射频发送端发送对码确认信息，所述对码确认信息中包含所述射频接收端的版本号。
在其中一个实施例中，所述射频接收端接收射频发送端发射的对码广播信息之前，包括：控制所述射频接收端进入对码状态；所述确定所述射频接收端的通信机制之前，包括：控制所述射频接收端退出对码状态。
为解决上述技术问题，本发明实施例还提供以下技术方案：
一种通信装置，所述装置包括：第一对码模块，用于发射对码广播信息，所述对码广播信息中包含所述射频发送端的版本号；接收射频接收端返回的对码确认信息，所述对码确认信息中包含所述射频接收端的版本号；第一通信机制调整模块，用于根据所述射频发送端的版本号和所述射频接收端的版本号确定所述射频发送端的通信机制，从而使所述射频发送端根据所确定的通信机制与所述射频接收端进行射频通信。
一种通信装置，所述装置包括：第二对码模块，用于接收射频发送端发射的对码广播信息，所述对码广播信息中包含所述射频发送端的版本号；读取所述射频接收端的版本号，向所述射频发送端发射对码确认信息，所述对码确认信息中包含所述射频接收端的版本号，使所述射频发送端确定是否对所述射频发送端的通信机制进行更新；第二通信机制调整模块，用于根据所述射频发送端的版本号和所述射频接收端的版本号确定所述射频接收端的通信机制，从而使所述射频接收端根据所确定的通信机制与所述射频发送端进行射频通信。
在其中一个实施例中，所述射频发送端是遥控器，所述射频接收端是飞行器；或者，所述射频发送端是飞行器，所述射频接收端是遥控器。
为解决上述技术问题，本发明实施例还提供以下技术方案：
一种无人机，包括遥控器和飞行器，所述遥控器用于发射对码广播信息，所述对码广播信息中包含所述遥控器的版本号；接收飞行器返回的对码确认信息，所述对码确认信息中包含所述飞行器的版本号；根据所述遥控器的版本号和所述飞行器的版本号确定所述遥控器的通信机制，从而使所述遥控器根据所确定的通信机制与所述飞行器进行射频通信；所述飞行器用于接收所述遥控器发射的对码广播信息；读取所述遥控器的版本号，向所述遥控器发射对码确认信息；并根据所述遥控器的版本号和所述飞行器的版本号确定所述飞行器的通信机制，从而使所述飞行器根据所确定的通信机制与所述遥控器进行射频通信。
为解决上述技术问题，本发明实施例还提供以下技术方案：
一种无人机，包括遥控器和飞行器，所述飞行器用于发射对码广播信息，所述对码广播信息中包含所述飞行器的版本号；接收遥控器返回的对码确认信息，所述对码确认信息中包含所述遥控器的版本号；根据所述遥控器的版本号和所述飞行器的版本号所述飞行器的通信机制，从而使所述飞行器根据所确定的通信机制与所述遥控器进行射频通信；所述遥控器用于接收所述飞行器发射的对码广播信息；读取所述飞行器的版本号，向所述飞行器发射对码确认信息；并根据所述遥控器的版本号和所述飞行器的版本号确定所述遥控器的通信机制，从而使所述遥控器根据所确定的通信机制与所述飞行器进行射频通信。
上述的通信方法、装置和无人机中，射频接收端可接收射频发送端所发送 的对码广播信息，获取其中的射频发送端的版本号，并向射频发送端返回对码确认信息，该对码确认信息中包括该射频接收端的版本号。射频发送端在接收到该确认信息后，根据自身的版本号以及射频接收端的版本号确定自身的通信机制。同时，射频接收端也根据自身的版本号以及所接收到的射频发送端的版本号确定自身的通信机制。通过对通信机制的调整，将射频发送端(遥控器或飞行器)和射频接收端(飞行器或遥控器)的通信机制保持一致，可避免由于升级失败而造成的射频发送端与射频接收端无法正常进行通信或无法正常使用的问题。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他实施例的附图。
图1示出本发明实施例的通信方法和装置的应用场景；
图2为一个实施例中通信方法的流程图；
图3为一个实施例中确定射频发送端的通信机制的步骤的具体流程图；
图4为另一个实施例中通信方法的流程图；
图5为一个实施例中确定射频接收端的通信机制的步骤的具体流程图；
图6为一个实施例中通信装置的结构框图；
图7为又一个实施例中通信装置的结构框图。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
参见图1，示出本发明实施例通信方法和装置的应用场景。本发明实施例方案可实现射频发送端与射频接收端之间的通信。具体地，射频发送端110包括 射频收发器以及与射频收发器通信连接的控制器；射频接收端120包括射频收发器以及与射频收发器通信连接的控制器。射频发送端110的射频收发器与射频接收端120的射频收发器进行通信，完成固件升级。
在一种实现方式中，该控制器可为单片机，即，射频发送端110和射频接收端120都可以采用单片机，由单片机驱动射频收发器(或射频收发装置)实现通信。在一种实现方式中，射频收发器可以为射频发射芯片和/或射频接收芯片，控制器可驱动射频收发器发送、接收对码信息。射频发送端110可通过内置的控制器驱动射频收发器发射对码广播信息，还可接收对应匹配的频率的对码信息，比如接收射频接收端120的射频收发器发送的对码确认信息。
需要说明的是，射频发送端与射频接收端的射频收发器均可以是同时具有发送射频和接收射频功能的射频通信装置。本发明实施例中的“射频发送端”和“射频接收端”为相对概念，仅用于描述目的，而不能理解为是限定该端的射频收发器只具有射频发送功能或是只具有射频接收功能。在不同的实现方式中，射频发送端所采用的射频收发器与射频接收端所采用的射频收发器既可以相同，也可以不同。
更具体地，射频接收端120可接收射频发送端110所发送的对码广播信息，获取其中的射频发送端110的版本号，并向射频发送端返回对码确认信息，该对码确认信息中包括该射频接收端120的版本号。射频发送端110在接收到该确认信息后，根据自身的版本号以及射频接收端120的版本号确定自身的通信机制。同样的，射频接收端120也根据自身的版本号以及所接收到的射频发送端110的版本号确定自身的通信机制。通过进行通信机制的调整，将射频发送端110和射频接收端120的通信机制保持一致，可避免由于升级失败而造成的射频发送端与射频接收端无法正常进行通信或无法正常使用的问题。
如图2所示，为本发明的一个实施例中提供的一种通信方法，该方法可应用于如图1所示的应用环境中，该方法具体包括以下步骤：
步骤S202，射频发送端发射对码广播信息，对码广播信息中包含射频发送端的版本号。
首先射频发送端的控制器会控制射频发送端进入对码状态。射频发送端在 进入对码状态后，可按照自身的对码频率发射对码广播信息，使得处于该广播范围内的、与之频率相匹配的其它设备可接收到该广播信息。该射频广播信息中包含射频发送端的版本号。该版本号可为射频发送端上待校验的操作系统的版本号，或者为射频发送端上待校验的固件的驱动等应用的版本号。版本号为对应应用或系统的唯一标识，通过该版本号，可获知对应应用或系统的版本信息。射频发送端可自动读取上一次进行版本更新的应用或系统的版本号，并将该版本号加载到对码广播信息中，进行广播。
步骤S204，接收射频接收端返回的对码确认信息，对码确认信息中包含射频接收端的版本号。
本实施例中，当与该射频发送端及其相配套的射频接收端处于预设的通信范围内，且该射频接收端也进入了对码状态时，射频接收端可接收到该射频发送端所发送的该固定频率的广播信息，并进行响应，按照自身的对码频率向射频发送端发送对码确认信息，使两者进入对码通信状态。其中，该对码确认信息中包含射频接收端的版本号。该版本号为与对码广播信息中包含的版本号相匹配。比如，若该对码广播信息中包含的版本号为射频发送端的操作系统的版本号，则该射频接收端的版本号即为射频接收端的操作系统的版本号。若该对码广播信息中包含的版本号为射频发送端中某一固件的驱动等应用的版本号，则该射频接收端的版本号即为射频接收端中，控制该固件或被该固件控制的对应应用的版本号。
射频发送端可接收到射频接收端返回的对码确认信息，并获取其中所携带的射频接收端的版本号。步骤S206，根据射频发送端的版本号和射频接收端的版本号确定射频发送端的通信机制，从而使射频发送端根据所确定的通信机制与射频接收端进行射频通信。
本实施例中，通信机制为射频发送端和射频接收端两者进行射频通信所采用的机制。通信机制包括多种，不同版本的系统或应用，其默认使用的通信机制不一定相同。当射频发送端或射频接收端的其中一端升级成功而另一端升级失败时，两者的通信机制会不相同从而无法正常通信。
射频发送端在读取到自身的版本号以及射频接收端的版本号后，可检测当 前自身所使用的通信机制是否同时适用于该两个版本号对应的系统或应用。若是，则不对当前的通信机制进行修改，并使射频接收端进行通信机制的修改。若否，则修改当前的通信机制为同时适用于两端的系统或应用的通信机制，按照修改后的通信机制与射频接收端进行通信，能够避免无法正常使用射频发送端和射频接收端的射频收发器的问题以及射频发送端和射频接收端双方无法正常通信的问题。
具体地，射频发送端预先设置了不同的版本号所适用的通信机制。当确定需要进行更新时，射频发送端可查询该射频发送端的版本号所适用的通信机制，以及查询射频接收端的版本号所适用的通信机制，选取其中一种可适用于两个版本号的通信机制，将射频发送端当前的通信机制切换至所选取的通信机制，并将所选取的通信机制发送至射频接收端，使得射频接收端调整自身的通信机制。进一步地，射频发送端还可将所选取的通信机制发送至射频接收端，使得射频接收端调整自身的通信机制。
上述的通信方法，可在升级出现故障而造成射频发送端和射频接收端无法进行正常通信时，使双方进入对码通信状态，射频发送端通过发射对码广播信息，并接收射频接收端返回的对码确认信息，根据射频发送端自身的版本号以及对码确认信息中包含的射频接收端的版本号，来确定射频发送端的通信机制，从而使射频发送端根据所确定的通信机制与射频接收端进行射频通信，以使得射频发送端和射频接收端始终保持一致的通信机制，从而能够进行正常的通信能够进行正常的通信。
在一个实施例中，步骤S206进一步包括：根据射频发送端的版本号和射频接收端的版本号确定相匹配的通信机制标识，将射频发送端的通信机制调整为通信机制标识对应的通信机制。
通信机制标识用于唯一标识一种通信机制，射频发送端预先建立了不同版本号与通信机制标识之间的对应关系，该对应关系用于表征对应的通信机制适用于相应版本的应用或系统。
射频发送端可根据自身的版本号和射频接收端的版本号，选取一种与该两个版本号都具有对应关系的通信机制标识，该通信机制标识即为与两个版本号 均匹配的通信机制标识。射频发送端可将所匹配的通信机制标识对应的通信机制确定为射频发送端的通信机制，使其按照所确定的通信机制与射频接收端进行射频通信。
具体地，可设置自身的通信机制标识，并向射频接收端发送该对码确认信息的应答信息，并结束对码状态。在结束对码状态后，根据所设置的通信机制标识来调整自身的通信机制。
本实施例中，通过根据版本号来调整射频发送端的通信机制，从而可将选取一种同时适用于射频发送端和射频接收端的通信机制，使得两者按照该通信机制进行通信。
在一个实施例中，上述根据所述射频发送端的版本号和所述射频接收端的版本号确定所述射频发送端的通信机制具体为：比较所述射频发送端的版本号与所述射频接收端的版本号：若射频发送端的版本号比射频接收端的版本号高，则射频发送端将通信机制还原为上一版本号所使用的通信机制；若射频发送端的版本号比射频接收端的版本号低，或者与射频接收端的版本号相同，则射频发送端对通信机制不进行更新。
通常而言，高版本的应用或系统可兼容对应低版本的应用或系统所适用的通信机制。可选取版本较低的一端的版本号对应的默认通信机制，将其确定为射频发送端的通信机制。
射频发送端可将两个版本号进行比较，当版本号不一致时，则表示其中一方更新失败。具体的，若比较得到射频发送端的版本号比射频接收端的版本号高，则表示该射频发送端版本更新成功，而射频接收端的版本更新失败。则射频发送端可根据该比较结果触发相应的射频机制还原指令，根据该指令获取上一次所使用的射频机制的安装包进行还原，将还原后的射频机制确定为新的射频机制。若比较得到射频发送端的版本号比射频接收端的版本号低，或者与射频接收端的版本号相同，则射频发送端的通信机制无需更新，可使射频接收端进行射频机制更新。
具体地，可选取较低版本号所对应的默认的通信机制标识，检测该通信机制标识是否也适用于较高版本的系统或应用，若是，则将其对应的通信机制确 定为射频发送端的通信机制。从而可使得其中一端的版本号保持不变，提高了射频发送端和射频接收端之间恢复射频通信的速度。
本实施例中，通过比较射频发送端的版本号与射频接收端的版本号的高低，对版本号低的射频发送端进行通信机制更新，以还原为上一版本对应的通信机制。而对于低版本的一端，则保持通信机制不变；或者，在两端版本号相同时，保持通行机制不变，从而避免了对通信机制的不必要的更新，提高了射频发送端和射频接收端之间恢复正常的通信的速度。
如图3所示，为本发明的一个实施例中提供的确定射频发送端的通信机制的步骤的具体流程图：
步骤S401，射频发送端进入对码状态。
本实施例中，射频发送端在检测到与进入对码状态的对应触控操作时，进入对码状态。具体地，射频发送端上可提供进入对码通信的按钮，在检测到对该按钮进行长按等对应操作时，进入该对码状态。或者，射频发送端也可提供其它触发方式，根据该触发方式进入对码状态。
步骤S402，发射对码广播信息，对码广播信息中包含射频发送端的版本号。
步骤S403，检测是否接收到射频接收端返回的对码确认信息，若是，则执行步骤S404，否则，继续执行步骤S402。
本实施例中，射频发送端可实时检测是否接收到射频接收端返回的对码确认信息，若否，则按照预设的频率不断地发射对码广播信息。若接收到该对码确认信息，则执行下述步骤S404。
步骤S404，读取对码确认信息携带的射频接收端的版本号。
步骤S405，根据射频发送端的版本号和射频接收端的版本号设置相应的通信机制标识。
步骤S406，退出对码状态。
在退出对码状态之前，射频发送端可在设置了通信机制标识后，可向射频接收终端发送对对码确认信息的应答信息，以告知射频接收端，然后退出对码状态。
步骤S407，根据所设置的通信机制标识确定射频发送端的对应的通信机制。
上述的通信方法，射频发送端通过在对码状态下获取射频接收端的版本号，并根据该版本号设置相应的通信机制标识，在退出对码状态后，可按照设置的通信机制标识确定对应的通信机制，按照所确定的射频发送端的通信机制与射频接收端进行通信，能够避免无法正常使用射频发送端和射频接收端的射频收发器的问题以及射频发送端和射频接收端双方无法正常通信的问题。
在一个实施例中，上述的射频发送端可以为无人机的飞行器和/或遥控器，上述的射频接收端可以为无人机的遥控器和/或飞行器。例如，在一种实现方式中，射频发送端为无人机的遥控器，射频接收端为与该遥控器配套的飞行器。在另一种实现方式中，射频发送端为无人机的飞行器，射频接收端为与该飞行器配套的遥控器。
通过进行通信机制的调整，将作为射频发送端的遥控器或飞行器与作为射频接收端的飞行器或遥控器的通信机制保持一致，可避免由于升级失败而造成的遥控器与飞行器之间版本不同，而无法正常进行通信或无法正常使用的问题。
如图4所示，为本发明的另一个实施例中提供的通信方法，该方法可应用于如图1所示的应用环境中，该方法具体包括以下步骤：
步骤S302，射频接收端接收射频发送端发射的对码广播信息，对码广播信息中包含射频发送端的版本号。
首先射频接收端的控制器会控制射频接收端进入对码状态。在接收到射频发送端发射的对码广播信息后，射频接收端和射频发送端两者成功建立对码通信，并可接收射频发送端发射的对码广播信息，读取该对码广播信息中包含的射频发送端的版本号。
步骤S304，读取射频接收端的版本号，向射频发送端发射对码确认信息，对码确认信息中包含射频接收端的版本号，从而使射频发送端确定是否对射频发送端的通信机制进行更新。
本实施例中，射频接收端可进一步读取自身安装的射频发送端的版本号相对应的应用或系统的版本号。同时，可将所读取的自身的版本号写入对码确认信息中，并将该对码确认信息发送给射频发送端，使得射频发送端可根据该对码确认信息，确定两者实现了对码通信，并根据其中携带的版本号，确定是否 需要对射频发送端的通信机制进行更新。
可以理解，在其他实施例中，所述向射频发送端发射对码确认信息，对码确认信息中包含射频接收端的版本号，从而使射频发送端确定是否对射频发送端的通信机制进行更新的步骤可以在步骤S306之后执行的，即步骤S304可以只是读取所述射频接收端的版本号。
步骤S306，根据射频发送端的版本号和射频接收端的版本号确定射频接收端的通信机制，从而使射频接收端根据所确定的通信机制与射频发送端进行射频通信。
本实施例中，与射频发送端相类似，射频接收端也根据自身的版本号和射频发送端的版本号，确定是否对自身的通信机制进行更新。
射频接收端在读取到自身的版本号以及射频发送端的版本号后，可检测当前自身所使用的通信机制是否同时适用于该两个版本号对应的系统或应用。若是，则不对当前的通信机制进行修改，并使射频发送端进行通信机制的修改。若否，则修改当前的通信机制为同时适用于两端的系统或应用的通信机制，按照修改后的通信机制与射频发送端进行通信，能够避免无法正常使用射频发送端和射频接收端的射频收发器的问题以及射频发送端和射频接收端双方无法正常通信的问题。
具体地，射频接收端预先设置了不同的版本号所适用的通信机制。当确定需要进行更新时，射频接收端也可查询该射频发送端的版本号所适用的通信机制，以及查询射频接收端的版本号所适用的通信机制，选取其中一种可适用于两个版本号的通信机制，将射频发送端当前的通信机制切换至所选取的通信机制，并将所选取的通信机制发送至射频接收端，使得射频接收端调整自身的通信机制。进一步地，射频发送端还可将所选取的通信机制发送至射频接收端，使得射频接收端调整自身的通信机制。
上述的通信方法，可在升级出现故障而造成射频发送端和射频接收端无法进行正常通信时，使双方进入对码通信状态。射频接收端接收射频发送端发射的对码广播信息，对码广播信息中包含射频发送端的版本号；读取射频接收端的版本号，向射频发送端发射对码确认信息，对码确认信息中包含射频接收端 的版本号，从而使射频发送端确定是否对射频发送端的通信机制进行更新；根据射频发送端的版本号和射频接收端的版本号确定是否对射频接收端的通信机制进行更新，以使得射频发送端和射频接收端始终保持一致的通信机制，从而能够进行正常的通信。
在一个实施例中，步骤S306进一步包括：根据射频发送端的版本号和射频接收端的版本号确定相匹配的通信机制标识，将射频接收端的通信机制调整为通信机制标识对应的通信机制。
本实施例中，射频接收端也预先设置了不同的版本号所适用的通信机制。射频接收端可根据自身的版本号和射频接收端的版本号，选取一种与该两个版本号都具有对应关系的通信机制标识，该通信机制标识即为与两个版本号均匹配的通信机制标识。射频接收端可将所匹配的通信机制标识对应的通信机制确定为射频接收端的通信机制，使其按照所确定的通信机制与射频发送端进行射频通信。
具体地，可将所设置的通信机制标识也包含在该应答信息中，或再次向射频发送端发送对码信息，在该对码信息中包含所设置的通信机制标识。并结束对码状态，在结束对码状态后，根据所设置的通信机制标识来调整自身的通信机制。
本实施例中，通过根据版本号来调整射频发送端的通信机制，从而可将选取一种同时适用于射频发送端和射频接收端的通信机制，使得两者按照该通信机制进行通信。
在一个实施例中，上述根据所述射频发送端的版本号和所述射频接收端的版本号确定所述射频接收端的通信机制为：比较所述射频发送端的版本号与所述射频接收端的版本号：若射频发送端的版本号比射频接收端的版本号低，则射频接收端将通信机制还原为上一版本号所使用的通信机制；若射频发送端的版本号比射频接收端的版本号高，或者与射频接收端的版本号相同，则射频发送端对通信机制不进行更新。
射频接收端可将两个版本号进行比较，当版本号不一致时，则表示其中一方更新失败。具体的，若比较得到射频接收端的版本号比射频发送端的版本号 高，则表示该射频接收端版本更新成功，而射频发送端的版本更新失败。则射频接收端可根据该比较结果触发相应的通信机制还原指令，根据该指令获取上一次所使用的射频机制的安装包进行还原，将还原后的射频机制确定为新的射频机制。若比较得到射频发送端的版本号比射频接收端的版本号高，或者与射频接收端的版本号相同，则射频接收端的通信机制无需更新，可使射频发送端进行射频机制更新。
具体地，可选取较低版本号所对应的默认的通信机制标识，检测该通信机制标识是否也适用于较高版本的系统或应用，若是，则将其对应的通信机制确定为射频发送端的通信机制。从而可使得其中一端的版本号保持不变，提高了射频发送端和射频接收端之间恢复射频通信的速度。
本实施例中，通过比较射频发送端的版本号与射频接收端的版本号的高低，对版本号低的射频发送端进行通信机制更新，以还原为上一版本对应的通信机制。而对于低版本的一端，则保持通信机制不变；或者，在两端版本号相同时，保持通行机制不变，从而避免了对通信机制的不必要的更新，提高了射频发送端和射频接收端之间恢复正常的通信的速度。
在一个实施例中，上述的射频发送端可以为无人机的飞行器和/或遥控器，上述的射频接收端可以为无人机的遥控器和/或飞行器。例如，在一种实现方式中，射频发送端为无人机的遥控器，射频接收端为与该遥控器配套的飞行器。在另一种实现方式中，射频发送端为无人机的飞行器，射频接收端为与该飞行器配套的遥控器。
通过进行通信机制的调整，将作为射频发送端的遥控器或飞行器与作为射频接收端的飞行器或遥控器的通信机制保持一致，可避免由于升级失败而造成的遥控器与飞行器之间版本不同，而无法正常进行通信或无法正常使用的问题。
如图5所示，为本发明的一个实施例中提供的确定射频接收端的通信机制的步骤的具体流程图：
步骤S501，射频接收端进入对码状态。
类似地，射频接收端在检测到与进入对码状态的对应触控操作时，进入对码状态。具射频接收端上也可提供进入对码通信的按钮，在检测到对该按钮进 行长按等对应操作时，进入该对码状态。或者，射频发送端也可提供其它触发方式，根据该触发方式进入对码状态。并接收其它终端以与之匹配的频率所广播广播的对码信息，包括接收射频发送端发送的对码广播信息。
步骤S502，检测是否接收到射频发送端发射的对码广播信息，若是，则执行步骤S503，否则，重复执行步骤S502。
射频接收端可不断检测是否有接收到射频发送端发射的对码广播信息。
步骤S503，读取对码广播信息中包含射频发送端的版本号。
步骤S504，根据射频发送端的版本号和射频接收端的版本号设置相应的通信机制标识。
步骤S505，退出对码状态。
进一步地，在退出对码状态之前，射频接收端可在设置了通信机制标识后，可再向射频发送终端发送携带所设置的通信机制标识的对码消息，以告知射频发送端。
步骤S506，根据所设置的通信机制标识确定射频接收端的对应的通信机制。
上述的通信方法，射频接收端通过在对码状态下获取射频发送端的版本号，并根据该版本号设置相应的通信机制标识，在退出对码状态后，可按照设置的通信机制标识确定对应的通信机制，按照所确定的射频接收端的通信机制与射频发送端进行通信，能够避免无法正常使用射频发送端和射频接收端的射频收发器的问题以及射频发送端和射频接收端双方无法正常通信的问题。
在一个实施例中，上述的射频发送端可以为无人机的飞行器和/或遥控器，上述的射频接收端可以为无人机的遥控器和/或飞行器。例如，在一种实现方式中，射频发送端为无人机的遥控器，射频接收端为与该遥控器配套的飞行器。在另一种实现方式中，射频发送端为无人机的飞行器，射频接收端为与该飞行器配套的遥控器。
通过进行通信机制的调整，将作为射频发送端的遥控器或飞行器与作为射频接收端的飞行器或遥控器的通信机制保持一致，可避免由于升级失败而造成的遥控器与飞行器之间版本不同，而无法正常进行通信或无法正常使用的问题。
如图6所述，为本发明的一个实施例中提供的通信装置，该方法可应用于 如图1所示的应用环境中，该装置包括：
第一对码模块602，用于发射对码广播信息，对码广播信息中包含射频发送端的版本号；接收射频接收端返回的对码确认信息，对码确认信息中包含射频接收端的版本号。
第一通信机制调整模块604，用于根据射频发送端的版本号和射频接收端的版本号确定射频发送端的通信机制，从而使射频发送端根据所确定的通信机制与射频接收端进行射频通信。
在一个实施例中，第一通信机制调整模块604还用于根据射频发送端的版本号和射频接收端的版本号确定相匹配的通信机制标识，将射频发送端的通信机制调整为通信机制标识对应的通信机制。
在一个实施例中，第一通信机制调整模块604还用于若射频发送端的版本号比射频接收端的版本号高，则将通信机制还原为上一版本号所使用的通信机制；若射频发送端的版本号比射频接收端的版本号低，或者，与射频接收端的版本号相同，则不对通信机制进行更新。
上述的通信装置，射频发送端通过在对码状态下获取射频接收端的版本号，并根据该版本号设置相应的通信机制标识，在退出对码状态后，可按照设置的通信机制标识确定对应的通信机制，按照所确定的射频发送端的通信机制与射频接收端进行通信，能够避免无法正常使用射频发送端和射频接收端的射频收发器的问题以及射频发送端和射频接收端双方无法正常通信的问题。
在一个实施例中，上述的射频发送端可以为无人机的飞行器和/或遥控器，上述的射频接收端可以为无人机的遥控器和/或飞行器。例如，在一种实现方式中，射频发送端为无人机的遥控器，射频接收端为与该遥控器配套的飞行器。在另一种实现方式中，射频发送端为无人机的飞行器，射频接收端为与该飞行器配套的遥控器。
通过进行通信机制的调整，将作为射频发送端的遥控器或飞行器与作为射频接收端的飞行器或遥控器的通信机制保持一致，可避免由于升级失败而造成的遥控器与飞行器之间版本不同，而无法正常进行通信或无法正常使用的问题。
如图7所述，为本发明的另一个实施例中提供的通信装置，该方法可应用 于如图1所示的应用环境中，该装置包括：
第二对码模块702，用于接收射频发送端发射的对码广播信息，对码广播信息中包含射频发送端的版本号；读取射频接收端的版本号，向射频发送端发射对码确认信息，对码确认信息中包含射频接收端的版本号，使射频发送端确定是否对射频发送端的通信机制进行更新。
第二通信机制调整模块704，用于根据射频发送端的版本号和射频接收端的版本号确定射频接收端的通信机制，从而使射频接收端根据所确定的通信机制与射频发送端进行射频通信。
在一个实施例中，第二通信机制调整模块704还用于根据射频发送端的版本号和射频接收端的版本号确定相匹配的通信机制标识，将射频接收端的通信机制调整为通信机制标识对应的通信机制。
在一个实施例中，第二通信机制调整模块704还用于若射频发送端的版本号比射频接收端的版本号低，则将通信机制还原为上一版本号所使用的通信机制；若射频发送端的版本号比射频接收端的版本号高，或者与射频接收端的版本号相同，则对通信机制不进行更新。
上述的通信装置，射频发送端通过在对码状态下获取射频接收端的版本号，并根据该版本号设置相应的通信机制标识，在退出对码状态后，可按照设置的通信机制标识确定对应的通信机制，按照所确定的射频发送端的通信机制与射频接收端进行通信，能够避免无法正常使用射频发送端和射频接收端的射频收发器的问题以及射频发送端和射频接收端双方无法正常通信的问题。
在一个实施例中，上述的射频发送端可以为无人机的飞行器和/或遥控器，上述的射频接收端可以为无人机的遥控器和/或飞行器。例如，在一种实现方式中，射频发送端为无人机的遥控器，射频接收端为与该遥控器配套的飞行器。在另一种实现方式中，射频发送端为无人机的飞行器，射频接收端为与该飞行器配套的遥控器。
通过进行通信机制的调整，将作为射频发送端的遥控器或飞行器与作为射频接收端的飞行器或遥控器的通信机制保持一致，可避免由于升级失败而造成的遥控器与飞行器之间版本不同，而无法正常进行通信或无法正常使用的问题。
上述通信装置中的各个模块可全部或部分通过软件、硬件及其组合来实现。其中，网络接口可以是以太网卡或无线网卡等。上述各模块可以硬件形式内嵌于或独立于服务器中的处理器中，也可以以软件形式存储于飞行器或遥控器中的存储器中，以便于处理器调用执行以上各个模块对应的操作。该处理器可以为中央处理单元(CPU)、微处理器、单片机等。
在一个实施例中，本发明的第一对码模块602、第一通信机制调整模块604、第二对码模块702、第二通信机制调整模块704可以为飞控模块、微控制器单元、微处理器单元中的任意一种或几种。
本发明实施例还提供一种无人机，该无人机包括处理器和与该处理器通信的存储器，该处理器执行如图2-5中任一附图所示的实施例中的方法。该处理器可以为微控制器单元或微处理器单元。
在一个实施例中，提供了一种无人机，包括遥控器和飞行器。
遥控器用于发射对码广播信息，对码广播信息中包含遥控器的版本号；接收飞行器返回的对码确认信息，对码确认信息中包含飞行器的版本号；根据遥控器的版本号和飞行器的版本号确定遥控器的通信机制，从而使遥控器根据所确定的通信机制与飞行器进行射频通信。
飞行器用于接收遥控器发射的对码广播信息；读取遥控器的版本号，向遥控器发射对码确认信息；并根据遥控器的版本号和飞行器的版本号确定飞行器的通信机制，从而使飞行器根据所确定的通信机制与遥控器进行射频通信。
在一个实施例中，该遥控器还用于根据遥控器的版本号和飞行器的版本号确定相匹配的通信机制标识，将遥控器的通信机制调整为通信机制标识对应的通信机制。
该飞行器还用于根据遥控器的版本号和飞行器的版本号确定相匹配的通信机制标识，将飞行器的通信机制调整为通信机制标识对应的通信机制。
在一个实施例中，该遥控器还用于若遥控器的版本号比飞行器的版本号高，则将遥控器的通信机制还原为上一版本号所使用的通信机制；若遥控器版本号比飞行器的版本号低，或者与飞行器的版本号相同，则不对遥控器的通信机制进行更新。
该飞行器还用于若遥控器的版本号比飞行器的版本号低，则将飞行器的通信机制还原为上一版本号所使用的通信机制；若遥控器版本号比飞行器的版本号高，或者与飞行器的版本号相同，则不对飞行器的通信机制进行更新。
在一个实施例中，提供了另一种无人机，包括遥控器和飞行器。
该飞行器用于发射对码广播信息，对码广播信息中包含飞行器的版本号；接收遥控器返回的对码确认信息，对码确认信息中包含遥控器的版本号；根据遥控器的版本号和飞行器的版本号确定是否对飞行器的通信机制进行更新。
该遥控器用于接收飞行器发射的对码广播信息；读取飞行器的版本号，向飞行器发射对码确认信息；并根据遥控器的版本号和飞行器的版本号确定是否对遥控器的通信机制进行更新。
在一个实施例中，该遥控器还用于根据遥控器的版本号和飞行器的版本号确定相匹配的通信机制标识，将遥控器的通信机制调整为通信机制标识对应的通信机制。
该飞行器还用于根据遥控器的版本号和飞行器的版本号确定相匹配的通信机制标识，将飞行器的通信机制调整为通信机制标识对应的通信机制。
在一个实施例中，该遥控器还用于若遥控器的版本号比飞行器的版本号高，则将遥控器的通信机制还原为上一版本号所使用的通信机制；若遥控器版本号比飞行器的版本号低，或者与飞行器的版本号相同，则不对遥控器的通信机制进行更新。
该飞行器还用于若遥控器的版本号比飞行器的版本号低，则将飞行器的通信机制还原为上一版本号所使用的通信机制；若遥控器版本号比飞行器的版本号高，或者与飞行器的版本号相同，则不对飞行器的通信机制进行更新。
在一个实施例中，提供了一种计算机可读存储介质，其上存储有计算机指令，该指令被处理器执行时实现以下步骤：发射对码广播信息，对码广播信息中包含射频发送端的版本号；接收射频接收端返回的对码确认信息，对码确认信息中包含射频接收端的版本号；根据射频发送端的版本号和射频接收端的版本号确定射频发送端的通信机制，从而使射频发送端根据所确定的通信机制与射频接收端进行射频通信。
在一个实施例中，所执行的根据射频发送端的版本号和射频接收端的版本号确定射频发送端的通信机制，包括：根据射频发送端的版本号和射频接收端的版本号确定相匹配的通信机制标识，将射频发送端的通信机制调整为通信机制标识对应的通信机制。
在一个实施例中，所执行的根据射频发送端的版本号和射频接收端的版本号确定射频发送端的通信机制，包括：若射频发送端的版本号比射频接收端的版本号高，则将通信机制还原为上一版本号所使用的通信机制；若射频发送端的版本号比射频接收端的版本号低，或者与射频接收端的版本号相同，则对通信机制不进行更新。
在一个实施例中，提供了另一种计算机可读存储介质，其上存储有计算机指令，该指令被处理器执行时实现以下步骤：接收射频发送端发射的对码广播信息，对码广播信息中包含射频发送端的版本号；读取射频接收端的版本号，向射频发送端发射对码确认信息，对码确认信息中包含射频接收端的版本号，使射频发送端确定是否对射频发送端的通信机制进行更新；根据射频发送端的版本号和射频接收端的版本号确定射频接收端的通信机制，从而使射频接收端根据所确定的通信机制与射频发送端进行射频通信。
在一个实施例中，所执行的根据射频发送端的版本号和射频接收端的版本号确定射频接收端的通信机制，包括：根据射频发送端的版本号和射频接收端的版本号确定相匹配的通信机制标识，将射频接收端的通信机制调整为通信机制标识对应的通信机制。
在一个实施例中，所执行的根据射频发送端的版本号和射频接收端的版本号确定射频发送端的通信机制，包括：若射频发送端的版本号比射频接收端的版本号低，则将通信机制还原为上一版本号所使用的通信机制；若射频发送端的版本号比射频接收端的版本号高，或者与射频接收端的版本号相同，则对通信机制不进行更新。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一非易失性计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施 例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)等。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (15)

  1. 一种通信方法，其特征在于，包括：
    射频发送端发射对码广播信息，所述对码广播信息中包含所述射频发送端的版本号；
    接收射频接收端返回的对码确认信息，所述对码确认信息中包含所述射频接收端的版本号；
    根据所述射频发送端的版本号和所述射频接收端的版本号确定所述射频发送端的通信机制，从而使所述射频发送端根据所确定的通信机制与所述射频接收端进行射频通信。
  2. 根据权利要求1所述的方法，其特征在于，所述根据射频发送端的版本号和所述射频接收端的版本号确定所述射频发送端的通信机制，包括：
    根据所述射频发送端的版本号和所述射频接收端的版本号确定相匹配的通信机制标识；
    将所述射频发送端的通信机制调整为所述通信机制标识对应的通信机制。
  3. 根据权利要求1或2所述的方法，其特征在于，所述根据所述射频发送端的版本号和所述射频接收端的版本号确定所述射频发送端的通信机制包括：
    比较所述射频发送端的版本号与所述射频接收端的版本号；
    若所述射频发送端的版本号比所述射频接收端的版本号高，则所述射频发送端将通信机制还原为上一版本号所使用的通信机制；
    若所述射频发送端的版本号比所述射频接收端的版本号低，或者与所述射频接收端的版本号相同，则所述射频发送端对通信机制不进行更新。
  4. 根据权利要求1至3中任一所述的方法，其特征在于，所述射频发送端是遥控器，所述射频接收端是飞行器；或者，
    所述射频发送端是飞行器，所述射频接收端是遥控器。
  5. 根据权利要求1所述的方法，其特征在于，所述射频发送端发射对码广播信息之前，包括：控制所述射频发送端进入对码状态；
    所述确定所述射频发送端的通信机制之前，包括：
    控制所述射频发送端退出对码状态。
  6. 一种通信方法，其特征在于，包括：
    射频接收端接收射频发送端发射的对码广播信息，所述对码广播信息中包含所述射频发送端的版本号；
    读取所述射频接收端的版本号；
    根据所述射频发送端的版本号和所述射频接收端的版本号确定所述射频接收端的通信机制，从而使所述射频接收端根据所确定的通信机制与所述射频发送端进行射频通信。
  7. 根据权利要求6所述的方法，其特征在于，所述根据所述射频发送端的版本号和所述射频接收端的版本号确定所述射频接收端的通信机制，包括：
    根据所述射频发送端的版本号和所述射频接收端的版本号确定相匹配的通信机制标识；
    将所述射频接收端的通信机制调整为所述通信机制标识对应的通信机制。
  8. 根据权利要求6或7所述的方法，其特征在于，所述根据所述射频发送端的版本号和所述射频接收端的版本号确定所述射频接收端的通信机制包括：
    比较所述射频发送端的版本号与所述射频接收端的版本号；
    若所述射频发送端的版本号比所述射频接收端的版本号低，则所述射频接收端将通信机制还原为上一版本号所使用的通信机制；
    若所述射频发送端的版本号比所述射频接收端的版本号高，或者与所述射频接收端的版本号相同，则所述射频接收端对通信机制不进行更新。
  9. 根据权利要求6至8中任一所述的方法，其特征在于，所述射频发送端是遥控器，所述射频接收端是飞行器；或者，
    所述射频发送端是飞行器，所述射频接收端是遥控器。
  10. 根据权利要求6所述的方法，其特征在于，所述射频接收端接收射频发送端发射的对码广播信息之后，还包括：
    向所述射频发送端发送对码确认信息，所述对码确认信息中包含所述射频接收端的版本号。
  11. 根据权利要求6所述的方法，其特征在于，所述射频接收端接收射频发送端发射的对码广播信息之前，包括：
    控制所述射频接收端进入对码状态；
    所述确定所述射频接收端的通信机制之前，包括：
    控制所述射频接收端退出对码状态。
  12. 一种通信装置，其特征在于，所述装置包括：
    第一对码模块，用于发射对码广播信息，所述对码广播信息中包含所述射频发送端的版本号；接收射频接收端返回的对码确认信息，所述对码确认信息中包含所述射频接收端的版本号；
    第一通信机制调整模块，用于根据所述射频发送端的版本号和所述射频接收端的版本号确定所述射频发送端的通信机制，从而使所述射频发送端根据所述确定的通信机制与所述射频接收端进行射频通信。
  13. 一种通信装置，其特征在于，所述装置包括：
    第二对码模块，用于接收射频发送端发射的对码广播信息，所述对码广播信息中包含所述射频发送端的版本号；读取所述射频接收端的版本号，向所述射频发送端发射对码确认信息，所述对码确认信息中包含所述射频接收端的版本号，使所述射频发送端确定是否对所述射频发送端的通信机制进行更新；
    第二通信机制调整模块，用于根据所述射频发送端的版本号和所述射频接收端的版本号确定所述射频接收端的通信机制，从而使所述射频接收端根据所确定的通信机制与所述射频发送端进行射频通信。
  14. 根据权利要求12或13所述的装置，其特征在于，所述射频发送端是遥控器，所述射频接收端是飞行器；或者，
    所述射频发送端是飞行器，所述射频接收端是遥控器。
  15. 一种无人机，包括遥控器和飞行器，其特征在于，
    所述遥控器用于发射对码广播信息，所述对码广播信息中包含所述遥控器的版本号；接收飞行器返回的对码确认信息，所述对码确认信息中包含所述飞行器的版本号；根据所述遥控器的版本号和所述飞行器的版本号确定所述遥控器的通信机制，从而使所述遥控器根据所确定的通信机制与所述飞行器进行射频通信；
    所述飞行器用于接收所述遥控器发射的对码广播信息；读取所述遥控器的版本号，向所述遥控器发射对码确认信息；并根据所述遥控器的版本号和所述飞行器的版本号确定所述飞行器的通信机制，从而使所述飞行器根据所确定的通信机制与所述遥控器进行射频通信；或者，
    所述飞行器用于发射对码广播信息，所述对码广播信息中包含所述飞行器的版本号；接收遥控器返回的对码确认信息，所述对码确认信息中包含所述遥控器的版本号；根据所述遥控器的版本号和所述飞行器的版本号所述飞行器的通信机制，从而使所述飞行器根据所确定的通信机制与所述遥控器进行射频通信；
    所述遥控器用于接收所述飞行器发射的对码广播信息；读取所述飞行器的版本号，向所述飞行器发射对码确认信息；并根据所述遥控器的版本号和所述飞行器的版本号确定所述遥控器的通信机制，从而使所述遥控器根据所确定的通信机制与所述飞行器进行射频通信。
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