Rotating radar and unmanned aerial vehicle

Abstract

The present invention relates to the field of radar technology, and specifically discloses a rotating radar and a drone. The rotating radar includes a first encoder, a second encoder, and a rotating plate and a fixed plate that are spaced apart and arranged relative to each other. The first side of the rotating plate includes a first annular area and a second annular area, and the second side of the fixed plate includes a third annular area and a fourth annular area; the first code disk of the first encoder is arranged in the first annular area, and the first transceiver of the first encoder is arranged in the third annular area; the second transceiver of the second encoder is arranged in the second annular area, and the second code disk of the second encoder is arranged in the fourth annular area. Both the first transceiver and the second transceiver can detect the rotational speed of the rotating shaft of the rotating drive component. The first transceiver is relatively stationary with the drive circuit, so the detected rotational speed can be transmitted to the drive circuit. The second transceiver is relatively stationary with the data processing board, so the detected rotational speed can be transmitted to the data processing board.

Description

Technical Field

[0001] The present invention relates to the field of radar technology, and in particular to a rotating radar and a drone. Background Art

[0002] With the development of drone technology, drones are widely used in plant protection work. In plant protection work, drones use radar ranging to avoid obstacles to achieve autonomous flight.

[0003] A rotating radar consists of a motor, a rotating plate, a fixed plate, and a radar data processing board. Both the rotating plate and the radar data processing board are connected to the motor's rotating shaft. The motor drive circuit in the fixed plate requires a closed position loop, which necessitates obtaining information about the motor shaft's rotational speed. The radar data processing board also needs to obtain this information to determine the location of surrounding obstacles. Therefore, to accurately control the motor shaft's rotational speed and precisely detect the location of obstacles around the drone, precise detection of the motor shaft's rotational speed is necessary. However, existing techniques for detecting motor shaft rotational speed are inaccurate. Summary of the Invention

[0004] An object of the present invention is to provide a rotating radar to improve the detection accuracy of the shaft rotation speed of a rotating drive member.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] A rotating radar comprises a rotating plate and a fixed plate arranged opposite to each other at an interval, characterized in that a side of the rotating plate close to the fixed plate is a first side surface, a side of the fixed plate close to the rotating plate is a second side surface, the first side surface comprises a first annular area and a second annular area arranged concentrically, the second side surface comprises a third annular area and a fourth annular area arranged concentrically, the centers of the first annular area and the third annular area are both located on the rotation axis of the rotating plate, the first annular area is directly opposite to the third annular area, and the second annular area is directly opposite to the fourth annular area;

[0007] The rotating radar further includes:

[0008] a first encoder, the first encoder comprising a first code disk and a first transceiver, the first code disk being disposed in the first annular area, and the first transceiver being disposed in the third annular area;

[0009] The second encoder includes a second code disk and a second transceiver, the second transceiver is arranged in the second annular area, and the second code disk is arranged in the fourth annular area.

[0010] Preferably, the first side surface is connected to a protective column, the protective column is located on one side of the second transceiver, and the height of the protective column is greater than the height of the second transceiver; and / or,

[0011] A protective column is connected to the second side surface. The protective column is located on one side of the first transceiver. The height of the protective column is greater than the height of the first transceiver.

[0012] Preferably, the width of the first annular area, the second annular area, the third annular area and the fourth annular area is 3-4 mm.

[0013] Preferably, the first side surface further includes a fifth annular area located outside the first annular area and the second annular area;

[0014] The rotating radar further includes a rotating drive member and a mounting bracket, wherein the mounting bracket connects the rotating drive member and the fifth annular area.

[0015] Preferably, the distance between the first transceiver and the first code disk is 1.2-1.6 mm, and the distance between the second transceiver and the second code disk is 1.2-1.6 mm.

[0016] Preferably, the fourth annular area is coated with a first coating area and a second coating area alternately along its circumference, and the color of the first coating area is different from the color of the second coating area to form the second code wheel; and / or,

[0017] The first annular area is alternately coated with a third coating area and a fourth coating area along its circumference, and the color of the third coating area is different from the color of the fourth coating area to form the first code wheel.

[0018] Preferably, the color of the first coating area is black, and the color of the second coating area is white; and / or,

[0019] The color of the third coating area is black, and the color of the fourth coating area is white.

[0020] Preferably, the fixing plate is a circuit board, and the fourth annular area is printed with a plurality of fifth coating areas at intervals along its circumference, and the color of the fifth coating area is different from the surface color of the circuit board, so that the surface of the circuit board and the fifth coating area between two adjacent fifth coating areas form the second code disk; and / or,

[0021] The rotating plate is a circuit board, and the first annular area is printed with multiple sixth coating areas at intervals along its circumference. The color of the sixth coating area is different from the surface color of the circuit board, so that the surface of the circuit board and the sixth coating area between two adjacent sixth coating areas form the first code disk.

[0022] Preferably, the fixed plate is a circuit board, the rotating plate is a circuit board, and both the circuit board and the circuit board include a base component and a solder resist layer that are sequentially arranged;

[0023] On the circuit board, the solder resist layer is provided with a plurality of first windows at intervals along the circumference of the fourth annular region so that the base component is exposed to the outside, and the color of the solder resist layer is different from the color of the base component, so that the solder resist layer between two adjacent first windows and the base component under the first windows form the second code disk; and / or,

[0024] On the circuit board, the solder resist layer has a plurality of second windows spaced circumferentially along the first annular area to expose the base component. The color of the solder resist layer is different from that of the base component, so that the solder resist layer between two adjacent second windows and the base component under the second window form the first code disk.

[0025] Another object of the present invention is to provide a drone to reduce the cost of the drone.

[0026] To achieve this object, the present invention adopts the following technical solutions:

[0027] A UAV comprises the above-mentioned rotating radar.

[0028] Beneficial effects of the present invention:

[0029] The first encoder includes a first code disk and a first transceiver. The first code disk is positioned in the first annular region, ensuring synchronous rotation with the rotating plate and the rotating shaft of the rotating drive member. The first transceiver is positioned in the third annular region of the fixed plate, directly aligning the first transceiver with the first code disk and enabling the first transceiver to detect the rotational speed of the first code disk. Because the first code disk rotates synchronously with the rotating shaft of the rotating drive member, the rotational speed detected by the first transceiver is the rotational speed of the rotating shaft of the rotating drive member.

[0030] The second encoder includes a second code disk and a second transceiver. The second transceiver is positioned in the second annular region to synchronize the rotation of the second transceiver, the rotating plate, and the rotating shaft of the rotary drive. The second code disk is positioned in the fourth annular region, aligning the second transceiver with the second code disk. The rotating shaft of the rotary drive drives the rotating plate and the second transceiver to rotate. The speed of the second code disk, detected by the second transceiver, represents the speed of the rotary drive shaft.

[0031] The rotational speeds detected by the first encoder and the second encoder are checked and verified with each other, thereby accurately detecting the rotational speed of the rotating shaft of the rotary drive member. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a schematic cross-sectional structural diagram of a radar provided by an embodiment of the present invention;

[0033] Figure 2 1 is a schematic structural diagram of a rotating plate provided in an embodiment of the present invention;

[0034] Figure 3 is a schematic structural diagram of a fixing plate provided in an embodiment of the present invention;

[0035] Figure 4 This is a partial structural diagram of a fixing plate provided in Example 1 of the present invention;

[0036] Figure 5 This is a partial structural diagram of a fixing plate provided in the second embodiment of the present invention;

[0037] Figure 6 It is a partial structural diagram of the fixing plate provided in the third embodiment of the present invention.

[0038] In the picture:

[0039] 1. Rotating plate; 11. First annular area; 12. Second annular area; 13. Fifth annular area;

[0040] 2. Fixed plate; 21. Third annular area; 22. Fourth annular area; 23. First window; 24. Solder mask layer;

[0041] 31. First transceiver;

[0042] 41. Second transceiver; 42. Second code disk; 421. First coating area; 422. Second coating area; 423. Fifth coating area;

[0043] 5. Mounting bracket; 6. Motor; 7. Housing. DETAILED DESCRIPTION

[0044] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific embodiments. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only show portions relevant to the present invention, not all of them.

[0045] Some directional words are defined in the present invention. Unless otherwise specified, the directional words used, such as "up", "down", "left", "right", "inside" and "outside", are used for ease of understanding and therefore do not constitute a limitation on the scope of protection of the present invention.

[0046] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0047] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0048] This embodiment provides a drone, which includes a rotating radar. The rotating radar is used to identify the distance and direction of obstacles in 360 degrees and transmit the distance and direction information to the drone controller to achieve autonomous flight of the drone.

[0049] like Figure 1 As shown, the rotating radar includes a rotating drive element, a housing 7, and a data processing board (not shown). The rotating drive element is preferably a motor 6, which is housed within the housing 7. The data processing board is driven by the motor 6 to rotate 360°. The motor drive circuit electrically connected to the motor 6 requires a closed position loop, which requires obtaining information about the rotational speed of the motor 6 shaft. The data processing board also needs to obtain this information to calculate the location of surrounding obstacles.

[0050] The rotating radar also includes a fixed plate 2 and a rotating plate 1. The rotating plate 1 and the fixed plate 2 are arranged relative to each other with a gap. The rotating plate 1 is connected to the rotating shaft of the motor 6. The data processing board is connected to the rotating plate 1 or the rotating shaft of the motor 6 so that the rotating plate 1, the data processing board, and the output shaft of the motor 6 rotate synchronously. The fixed plate 2 is preferably connected to the housing 7 to prevent the fixed plate 2 from rotating.

[0051] like Figure 1-Figure 3As shown in the figure, the side of the rotating plate 1 close to the fixed plate 2 is the first side, and the side of the fixed plate 2 close to the rotating plate 1 is the second side. The first side includes a first annular area 11 and a second annular area 12 arranged concentrically, and the second side includes a third annular area 21 and a fourth annular area 22 arranged concentrically. The centers of the first annular area 11 and the third annular area 21 are both located on the rotation axis of the rotating plate 1. The first annular area 11 is opposite to the third annular area 21, and the second annular area 12 is opposite to the fourth annular area 22.

[0052] To improve the accuracy of detecting the rotational speed of motor 6's shaft, the rotating radar also includes a first encoder and a second encoder. First, let's briefly explain the working principle of a photoelectric encoder: it consists of a code disk and a transceiver. The code disk is essentially a circular disk engraved with a striped structure, with the stripes arranged at intervals forming a scale. The light flux received by the transceiver changes synchronously with the reflection of the stripes. The transceiver's output waveform is shaped into a pulse signal, with one pulse output for each scale rotation. This pulse variation allows for precise measurement of the device's rotational speed.

[0053] In this embodiment, the first encoder includes a first code disk and a first transceiver 31. The first code disk is disposed in the first annular region 11 so that it rotates synchronously with the rotating plate 1 and the shaft of the motor 6. The first transceiver 31 is disposed in the third annular region 21 of the fixed plate 2, so that the first transceiver 31 and the first code disk are directly opposite each other, thereby enabling the first transceiver 31 to obtain the rotational speed of the first code disk. Because the first code disk rotates synchronously with the shaft of the motor 6, the rotational speed obtained by the first transceiver 31 is the rotational speed of the shaft of the motor 6.

[0054] The second encoder includes a second code disk 42 and a second transceiver 41. The second transceiver 41 is positioned within the second annular region 12 to synchronize the rotation of the second transceiver 41, the rotating plate 1, and the shaft of the motor 6. The second code disk 42 is positioned within the fourth annular region 22, directly opposing the second transceiver 41. The shaft of the motor 6 rotates the rotating plate 1 and the second transceiver 41. The speed of the second code disk 42, detected by the second transceiver 41, represents the speed of the motor 6 shaft. The speeds detected by the first and second encoders are mutually verified and collated, allowing for precise detection of the motor 6 shaft's speed.

[0055] It is understood that the larger the diameter of the code disk, the higher the accuracy of the transceiver. In order to maximize the diameter of the first code disk and the second code disk 42, preferably, the first annular area 11 and the second annular area 12 are adjacent to each other, and the third annular area 21 and the fourth annular area 22 are adjacent to each other. In this embodiment, the first annular area 11 is disposed inside the second annular area 12, and correspondingly, the third annular area 21 is disposed inside the fourth annular area 22. Of course, in other embodiments, the first annular area 11 can also be disposed outside the second annular area 12, and correspondingly, the third annular area 21 can be disposed outside the fourth annular area 22.

[0056] Specifically, the widths of the first annular area 11, the second annular area 12, the third annular area 21, and the fourth annular area 22 are 3-4 mm. Furthermore, the widths of the second annular area 12, the third annular area 21, and the fourth annular area 22 are 3.5 mm. These widths of the first annular area 11 and the fourth annular area 22 allow the code disk to reflect sufficient light flux to the transceiver, thereby ensuring the accuracy of the transceiver.

[0057] In order to ensure the detection accuracy of the photoelectric encoder, the distance between the code disk and the transceiver needs to be kept within the effective distance. Therefore, preferably, the distance between the first transceiver 31 and the first code disk is 1.2-1.6mm, and the distance between the second transceiver 41 and the second code disk 42 is 1.2-1.6mm. Furthermore, a circuit board is connected between the first transceiver 31 and the fixed plate 2, and between the second transceiver 41 and the rotating plate 1. The circuit board not only reduces the distance between the code disk and the transceiver, but also can be electrically connected to the data processing board or the motor drive circuit to realize data transmission between the transceiver and the data processing board or the motor drive circuit. Specifically, the distance between the fixed plate 2 and the rotating plate 1 is 5mm, the thickness of the circuit board is 3mm, and the height of the first transceiver 31 and the second transceiver 41 is 0.6mm. Therefore, the distance between the first transceiver 31 and the first code disk is 1.4mm, and the distance between the second transceiver 41 and the second code disk 42 is 1.4mm. It should be noted that the spacing between the first transceiver 31 and the first code disk, and the spacing between the second transceiver 41 and the second code disk 42 are not limited to these. Technicians can set them according to actual usage requirements. For example, the above spacing can also be 1.3 mm, 1.5 mm, etc. These changes in specific values do not deviate from the basic principles of the present invention.

[0058] Due to the small distance between the code disc and the transceiver, if the rotating plate 1 experiences an eccentric angle during rotation or vibrates due to external vibrations, the code disc is likely to collide with the transceiver and damage it. To address this technical problem, the rotating radar provided in this embodiment also includes a protective post. Specifically, a protective post is connected to the first side surface, located on one side of the second transceiver 41, and the height of the protective post is greater than that of the second transceiver 41.

[0059] Since the height of the protective column is greater than the height of the second transceiver 41, when the rotating plate 1 has an eccentric angle or is subjected to external vibration during rotation, causing the second code disk 42 to approach the second transceiver 41, the second code disk 42 first contacts the protective column. The protective column can limit the second code disk 42 from further approaching the second transceiver 41, thereby preventing the second code disk 42 from touching the second transceiver 41, thereby achieving the purpose of protecting the second transceiver 41.

[0060] Preferably, a protective column is also connected to the second side surface. The protective column is located on one side of the first transceiver 31 and is taller than the first transceiver 31. This prevents the first code disk from contacting the first transceiver 31, thereby protecting the first transceiver 31. In other optional embodiments, the protective column may be provided only on the first side surface or the second side surface.

[0061] In the prior art, to connect the rotating plate 1 to the shaft, a through-hole is often provided in the rotating plate 1, the shaft is inserted into the through-hole, and the shaft is connected to the rotating plate 1 with screws. However, because the shaft is located at the center of the rotating plate 1, the rotating plate 1 often vibrates during rotation due to external vibrations. Furthermore, due to the small gap between the code disk and the transceiver, the vibration of the rotating plate 1 often causes the code disk to collide with the transceiver, thereby damaging the transceiver.

[0062] like Figure 2 As shown, to improve the stability of the rotating plate 1 and reduce its vibration amplitude, the first side surface preferably further includes a fifth annular area 13 located outside the first annular area 11 and the second annular area 12. The rotating radar further includes a rotating drive member and a mounting bracket 5, which connects the rotating drive member and the fifth annular area 13. Specifically, the mounting bracket 5 is connected to the edge of the rotating plate 1, thereby ensuring the stability of the rotating plate 1. Preferably, the rotating drive member is a motor or a motor shaft.

[0063] Since the code disc has high precision requirements, the prior art requires relatively thin and precisely slotted structural parts to make the code disc, which results in a complex structure and high cost. Figure 4 As shown, in this embodiment, in order to solve the above technical problems, the fourth annular area 22 is coated with a first coating area 421 and a second coating area 422 alternately along its circumference, and the color of the first coating area 421 is different from the color of the second coating area 422 to form a second code wheel 42. And / or, the first annular area 11 is coated with a third coating area and a fourth coating area alternately along its circumference, and the color of the third coating area is different from the color of the fourth coating area to form a first code wheel.

[0064] The color of the first coating area 421 differs from that of the second coating area 422, resulting in different amounts of light reflected from the first and second coating areas 421 and 422 to the second transceiver 41, thereby forming a pulse signal. The color of the third coating area differs from that of the fourth coating area, resulting in different amounts of light reflected from the third and fourth coating areas to the first transceiver 31, thereby forming a pulse signal. In other words, the first code disk is directly drawn onto the rotating plate 1, and the second code disk 42 is directly drawn onto the fixed plate 2, eliminating the need for slots in the code disk. This simplifies the code disk structure and reduces production costs.

[0065] Preferably, to increase the difference in luminous flux reflected from the first coating area 421 and the second coating area 422 to the second transceiver 41, and to increase the difference in luminous flux reflected from the third coating area and the fourth coating area to the first transceiver 31, the first coating area 421 and the third coating area are black, and the second coating area 422 and the fourth coating area are white. The first coating area 421, the second coating area 422, the third coating area, and the fourth coating area are preferably printed by silk screen printing.

[0066] Example 2

[0067] like Figure 5 As shown, the rotating radar of the second embodiment is basically the same as the above-mentioned first embodiment. The difference between the two is that the first code disk and the second code disk 42 are formed in different ways.

[0068] In this embodiment, the fixed plate 2 is a circuit board, and the fourth annular region 22 is printed with multiple fifth coating regions 423 spaced apart along its circumference. The color of the fifth coating regions 423 is different from the surface color of the circuit board, so that the surface of the circuit board between two adjacent fifth coating regions 423 and the fifth coating regions 423 form a second code wheel 42. Specifically, in this embodiment, by printing the fifth coating regions 423, which are a different color from the surface of the circuit board, a pattern of alternating colors is formed on the circuit board, thereby directly drawing the second code wheel 42 on the circuit board, saving parts and simplifying the installation process. The fifth coating regions 423 are preferably printed on the surface of the circuit board by silk screen printing.

[0069] The first code disk on rotating plate 1 can be formed in the same manner as the second code disk 42 on fixed plate 2: rotating plate 1 is a circuit board, and first annular region 11 is printed with multiple sixth coating regions spaced apart along its circumference. The color of the sixth coating regions differs from the surface color of the circuit board, so that the surface of the circuit board between two adjacent sixth coating regions and the sixth coating regions form the first code disk. Specifically, by printing the sixth coating regions on the circuit board with a color different from that of the circuit board surface, a pattern of alternating colors is formed, thereby directly drawing the first code disk on the circuit board, saving parts and simplifying the installation process. The sixth coating regions are preferably printed on the surface of the circuit board by silk screen printing.

[0070] The circuit board and the surface of the circuit board may be one of white and black, and the fifth coating area 423 and the sixth coating area may be the other of white and black.

[0071] Example 3

[0072] like Figure 6 As shown, the rotating radar of the third embodiment is basically the same as the first embodiment and the second embodiment. The difference between the two is that the first code disk and the second code disk 42 are formed in different ways.

[0073] The fixed plate 2 is a circuit board, and the rotating plate 1 is a circuit board. Both the circuit board and the circuit board include a base component and a solder resist layer 24 that are sequentially arranged.

[0074] On the circuit board, the solder resist layer 24 has multiple first windows 23 spaced circumferentially along the fourth annular area 22 to expose the base component. The color of the solder resist layer 24 is different from the color of the base component, so that the solder resist layer 24 between two adjacent first windows 23 and the base component under the first window 23 form a second code disk 42.

[0075] Because the first window 23 is the color of the base component, the color of the base component and the solder resist layer 24 form a light and dark pattern, thereby forming the second code wheel 42. The solder resist layer 24 coating can be white or other colors with a large difference in brightness from the base component.

[0076] The first code disk on the rotating plate 1 can be formed in the same way as the second code disk 42 on the fixed plate 2: on the circuit board, the solder resist layer 24 has multiple second windows 25 spaced apart along the circumference of the first annular area 11 to expose the base component. The color of the solder resist layer 24 is different from the color of the base component, so that the solder resist layer 24 between two adjacent second windows 25 and the base component under the second window 25 form a first code disk.

[0077] Because the second window 25 is the color of the base component, the color of the base component and the solder resist layer 24 form a light and dark pattern, thereby forming a first code wheel. The solder resist layer 24 coating can be white or other colors with a large difference in brightness from the base component.

[0078] The base assembly may include a copper layer and a substrate, wherein the copper layer is disposed between the substrate and the solder resist layer 24. The color exposed at the first window 23 and the second window 25 is the color of the copper layer. Of course, in another optional embodiment, the substrate corresponding to the first and second code discs 42 is left blank, i.e., no copper layer is laid on the substrate corresponding to the code discs. In this case, the color exposed at the first and second window 23, 25 is the color of the substrate.

[0079] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A rotating radar comprising a rotating drive member and a rotating plate (1) and a fixed plate (2) arranged opposite to each other, characterized in that: The rotating plate (1) is connected to the rotating shaft of the rotating drive member, the side of the rotating plate (1) close to the fixed plate (2) is a first side, and the side of the fixed plate (2) close to the rotating plate (1) is a second side, the first side includes a first annular area (11) and a second annular area (12) arranged concentrically, the second side includes a third annular area (21) and a fourth annular area (22) arranged concentrically, the centers of the first annular area (11) and the third annular area (21) are both located on the rotation axis of the rotating plate (1), the first annular area (11) is opposite to the third annular area (21), and the second annular area (12) is opposite to the fourth annular area (22); The rotating radar further includes: a first encoder, the first encoder comprising a first code disk and a first transceiver (31), the first code disk being arranged in the first annular area (11), and the first transceiver (31) being arranged in the third annular area (21); The first transceiver (31) is directly opposite to the first code disk, and the first transceiver (31) obtains the rotation speed of the first code disk. The rotation speed obtained by the first transceiver (31) is the rotation speed of the rotating shaft of the rotating drive component; a second encoder, the second encoder comprising a second code disk (42) and a second transceiver (41), the second transceiver (41) being arranged in the second annular area (12), and the second code disk (42) being arranged in the fourth annular area (22); The second transceiver (41) is directly opposite to the second code disk (42), and the rotating shaft of the rotating drive member drives the rotating plate (1) and the second transceiver (41) to rotate, and the rotation speed of the second code disk (42) detected by the second transceiver (41) is the rotation speed of the rotating shaft of the rotating drive member; The first side surface is connected to a protective column, the protective column is located on one side of the second transceiver (41), and the height of the protective column is greater than the height of the second transceiver (41); and / or, The second side surface is connected to a protective column, the protective column is located on one side of the first transceiver (31), and the height of the protective column is greater than the height of the first transceiver (31).

2. The rotating radar according to claim 1, characterized in that The widths of the first annular area (11), the second annular area (12), the third annular area (21) and the fourth annular area (22) are 3-4 mm.

3. The rotating radar according to claim 1, characterized in that The first side further includes a fifth annular area (13) located outside the first annular area (11) and the second annular area (12); The rotating radar further comprises a mounting frame (5), wherein the mounting frame (5) connects the rotating drive member and the fifth annular area (13).

4. The rotating radar according to claim 1, characterized in that The distance between the first transceiver (31) and the first code disk is 1.2-1.6 mm, and the distance between the second transceiver (41) and the second code disk (42) is 1.2-1.6 mm.

5. The rotating radar according to any one of claims 1 to 4, characterized in that: The fourth annular area (22) is coated with a first coating area (421) and a second coating area (422) alternately along its circumference, the color of the first coating area (421) being different from the color of the second coating area (422) to form the second code wheel (42); and / or, The first annular area (11) is coated with a third coating area and a fourth coating area alternately along its circumference, and the color of the third coating area is different from the color of the fourth coating area to form the first code disk.

6. The rotating radar according to claim 5, characterized in that The color of the first coating area (421) is black, and the color of the second coating area (422) is white; and / or, The color of the third coating area is black, and the color of the fourth coating area is white.

7. The rotating radar according to any one of claims 1 to 4, characterized in that: The fixed plate (2) is a circuit board, and the fourth annular area (22) is printed with a plurality of fifth coating areas (423) at intervals along its circumference, and the color of the fifth coating areas (423) is different from the surface color of the fixed plate (2), so that the surface of the fixed plate (2) between two adjacent fifth coating areas (423) and the fifth coating area (423) form the second code disk (42); and / or, The rotating plate (1) is a circuit board, and the first annular area (11) is printed with a plurality of sixth coating areas at intervals along its circumference, and the color of the sixth coating areas is different from the surface color of the rotating plate (1), so that the surface of the rotating plate (1) between two adjacent sixth coating areas and the sixth coating area form the first code disk.

8. The rotating radar according to any one of claims 1 to 4, characterized in that: The fixed plate (2) is a circuit board, the rotating plate (1) is a circuit board, and the fixed plate (2) and the rotating plate (1) both comprise a base assembly and a solder resist layer (24) that are sequentially arranged; On the circuit board, the solder resist layer (24) is provided with a plurality of first windows (23) spaced apart along the circumference of the fourth annular region (22) so that the base component is exposed to the outside, and the color of the solder resist layer (24) is different from the color of the base component so that the solder resist layer (24) between two adjacent first windows (23) and the base component under the first window (23) form the second code disk (42); and / or, On the circuit board, the solder resist layer (24) is provided with a plurality of second windows (25) spaced apart along the circumference of the first annular area (11) so that the base component is exposed to the outside, and the color of the solder resist layer (24) is different from the color of the base component so that the solder resist layer (24) between two adjacent second windows (25) and the base component under the second windows (25) form the first code disk.

9. A drone, characterized in that: The rotating radar comprises the rotating radar according to any one of claims 1 to 8.

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