Rotary radar time synchronization method, rotary radar and agricultural unmanned aerial vehicle

Abstract

The invention provides a rotary radar time synchronization method, a rotary radar and an agricultural unmanned aerial vehicle. A rotor and a stator of the rotary radar are both provided with an infrared transmitter and an infrared receiver, and the stator and the rotor can receive infrared signals at the same time and respectively record the infrared signals as a first moment and a second moment. The stator may synchronize the first time to the rotor such that the rotor may perform time synchronization according to the first time, the second time, and a third time at which the first time is received. The rotating radar time synchronization method provided by the invention can improve the precision of time synchronization.

Description

Technical Field

[0001] The present application relates to the field of agricultural technology, and more specifically, to a method for time synchronization of a rotating radar, a rotating radar and an agricultural drone. Background Art

[0002] With the development of technology, agricultural drones are increasingly used in agricultural production for operations such as fertilization and spraying. In order to adapt agricultural drones to complex and changeable production environments, agricultural drones can be equipped with rotating radars. Rotating radars can transmit and receive millimeter waves, and agricultural drones can accurately identify surrounding obstacles through rotating radars. Rotating radars include stators and rotors, and time synchronization is required between the stators and rotors. At present, the stator and rotor rely on wireless communication for time synchronization, but this method has a large time delay, resulting in poor accuracy of the time synchronization results. Based on this, how to improve the accuracy of the time synchronization of rotating radars has become a technical problem that needs to be solved urgently. Summary of the invention

[0003] The present application provides a rotating radar time synchronization method, a rotating radar and an agricultural drone, which can improve the accuracy of rotating radar time synchronization.

[0004] In a first aspect, a method for time synchronization of a rotating radar is provided. The method is applied to a rotating radar (200). The rotating radar (200) comprises a stator and a rotor. The rotor (220) rotates relative to the stator (210). The stator (210) comprises: a first control unit (212), a first infrared transmitter (213), and a first infrared receiver (214). The first infrared transmitter (213) is used to send a first infrared signal. The rotor (220) comprises: a second control unit (223), a second infrared transmitter (224), and a second infrared receiver The invention relates to a device (225), wherein the second infrared transmitter (224) and the second infrared receiver (225) rotate with the rotation of the rotor (220), the second infrared transmitter (224) is used to send a second infrared signal, the stator (210) and the rotor (220) are configured such that when the first infrared transmitter (213) is aligned with the second infrared receiver (225), the second infrared transmitter (224) is aligned with the first infrared receiver (214), and the first control unit (212) is wirelessly connected to the second control unit (223); the method comprises: the first The control unit (212) sends first information to the second control unit (223) when detecting that the first infrared receiver (214) receives the second infrared signal emitted by the second infrared transmitter (224), wherein the first information is used to indicate a first moment, wherein the first moment is the system time of the first control unit (212) when the first infrared receiver (214) receives the second infrared signal; and the second control unit (223) sends first information to the second control unit (223) when detecting that the second infrared receiver (225) receives the first infrared signal emitted by the first infrared transmitter (213), A second moment is obtained, wherein the second moment is the system time of the second control unit (223) when the second infrared receiver (225) receives the first infrared signal; when the second control unit (223) receives the first information sent by the first control unit (212), the third moment of receiving the first information is obtained, wherein the third moment is the system time of the second control unit (223) when the second control unit (223) receives the first information; and the second control unit (223) performs time synchronization according to the first moment, the second moment and the third moment.

[0005] In the embodiment of the present application, the rotor (220) and the stator (210) of the rotating radar are both equipped with an infrared transmitter and an infrared receiver, and the stator (210) and the rotor (220) can receive infrared signals at the same time and record them as a first moment and a second moment, respectively. The stator (210) can synchronize the first moment to the rotor (220), so that the rotor (220) can perform time synchronization according to the first moment, the second moment, and the third moment of receiving the first moment. Since the infrared transmitter and the infrared receiver are wired to the control unit, the delay of the wired communication is very short, which helps to improve the accuracy of time synchronization.

[0006] In combination with the first aspect, in certain implementations of the first aspect, the rotating radar (200) further includes a satellite positioning module, which is wired to the stator (210), and the method further includes: the first control unit (212) obtains the system time from the satellite positioning module, wherein the first moment is a moment determined by the first control unit (212) through the satellite positioning module.

[0007] The first moment in the embodiment of the present application can be determined by the stator (210) through a satellite positioning module, which further improves the accuracy of time synchronization.

[0008] In combination with the first aspect, in some implementations of the first aspect, the satellite positioning module includes a Beidou positioning module and / or a GPS positioning module.

[0009] In combination with the first aspect, in certain implementations of the first aspect, the rotating radar (200) is applied to an agricultural drone.

[0010] In combination with the first aspect, in some implementations of the first aspect, the second control unit (223) performs time synchronization according to the first moment, the second moment, and the third moment, including: the second control unit (223) performs time synchronization according to the following formula:

[0011] T=T1+|T3-T2|

[0012] Wherein, T is the system time after the second control unit (223) performs time synchronization, T1 is the first moment, T2 is the second moment, and T3 is the third moment.

[0013] In the embodiment of the present application, the rotor (220) also eliminates the influence of the time delay of wireless communication when performing time synchronization.

[0014] In a second aspect, a rotating radar is provided. The rotating radar (200) comprises a stator (210) and a rotor (220), wherein the rotor (220) rotates relative to the stator (210); the stator (210) comprises: a first control unit (212), a first infrared transmitter (213), and a first infrared receiver (214), wherein the first infrared transmitter (213) is used to send a first infrared signal; the rotor (220) comprises: a second control unit (223), a second infrared transmitter (224), and a second infrared receiver (225), wherein wherein the second infrared transmitter (224) and the second infrared receiver (225) rotate with the rotation of the rotor (220), the second infrared transmitter (224) is used to send a second infrared signal, the stator (210) and the rotor (220) are configured such that when the first infrared transmitter (213) is aligned with the second infrared receiver (225), the second infrared transmitter (224) is aligned with the first infrared receiver (214), the first control unit (212) is wirelessly connected to the second control unit (223); the first control unit (212) When it is detected that the first infrared receiver (214) receives the second infrared signal emitted by the second infrared transmitter (224), first information is sent to the second control unit (223), the first information being used to indicate a first moment, wherein the first moment is the system time of the first control unit (212) when the first infrared receiver (214) receives the second infrared signal; when it is detected that the second infrared receiver (225) receives the first infrared signal emitted by the first infrared transmitter (213), the second control unit (223) obtains a second moment, wherein the second moment is the system time of the second control unit (223) when the second infrared receiver (225) receives the first infrared signal; when it receives the first information sent by the first control unit (212), the second control unit (223) obtains a third moment when the first information is received, wherein the third moment is the system time of the second control unit (223) when the second control unit (223) receives the first information; and the second control unit (223) performs time synchronization according to the first moment, the second moment and the third moment.

[0015] In the embodiment of the present application, the rotor (220) and the stator (210) of the rotating radar are both equipped with an infrared transmitter and an infrared receiver, and the stator (210) and the rotor (220) can receive infrared signals at the same time and record them as a first moment and a second moment, respectively. The stator (210) can synchronize the first moment to the rotor (220), so that the rotor (220) can perform time synchronization according to the first moment, the second moment, and the third moment of receiving the first moment. Since the infrared transmitter and the infrared receiver are wired to the control unit, the delay of the wired communication is very short, which helps to improve the accuracy of time synchronization.

[0016] In combination with the second aspect, in certain implementations of the second aspect, the rotating radar (200) further includes a satellite positioning module, which is wiredly connected to the stator (210), and the satellite positioning module synchronizes time with the first control unit (212).

[0017] In combination with the second aspect, in some implementations of the second aspect, the satellite positioning module includes a Beidou positioning module and / or a GPS positioning module.

[0018] The first moment in the embodiment of the present application can be determined by the stator (210) through a satellite positioning module, which further improves the accuracy of time synchronization.

[0019] In combination with the second aspect, in certain implementations of the second aspect, the rotating radar (200) is applied to an agricultural drone.

[0020] In conjunction with the second aspect, in certain implementations of the second aspect, the second control unit (223) performs time synchronization according to the following formula:

[0021] T=T1+|T3-T2|

[0022] Wherein, T is the system time after the second control unit (223) performs time synchronization, T1 is the first moment, T2 is the second moment, and T3 is the third moment.

[0023] In the embodiment of the present application, the rotor (220) also eliminates the influence of the time delay of wireless communication when performing time synchronization.

[0024] In a third aspect, an agricultural UAV is provided, comprising the rotating radar in the second aspect and any possible implementation of the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of an agricultural drone provided by the implementation of this application.

[0026] Figure 2 It is a mechanical structure diagram of the rotating radar provided in an embodiment of the present application.

[0027] Figure 3 It is a schematic diagram of the structure of the rotating radar provided in the embodiment of the present application.

[0028] Figure 4 It is a schematic flow chart of the method for rotating radar time synchronization provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] The technical solution in this application will be described below in conjunction with the accompanying drawings.

[0030] The terms used in the following embodiments are only for the purpose of describing specific embodiments, and are not intended to be used as limitations on the present application. As used in the specification and the appended claims of the present application, the singular expressions "one", "a kind of", "said", "above", "the" and "this" are intended to also include expressions such as "one or more", unless there is a clear contrary indication in the context. It should also be understood that in the following embodiments of the present application, "at least one", "one or more" refer to one, two or more. The term "and / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist; for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship.

[0031] References to "one embodiment" or "some embodiments" etc. described in this specification mean that a particular feature, structure or characteristic described in conjunction with the embodiment is included in one or more embodiments of the present application. Thus, the phrases "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear at different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0032] With the development of technology, agricultural drones are increasingly used in agricultural production for operations such as fertilization and spraying. In order to adapt agricultural drones to complex and changing production environments, agricultural drones can be equipped with rotating radars. Rotating radars can transmit and receive millimeter waves, and agricultural drones can accurately identify surrounding obstacles through rotating radars.

[0033] Figure 1 A schematic diagram of an agricultural drone provided in an embodiment of the present application is shown.

[0034] like Figure 1 As shown, the agricultural drone 100 mainly includes a flight component 101, a functional component 102, a support component 103 and a rotating radar 104. The functional component 102 is used to realize operation functions, such as spraying pesticides, sowing seeds, etc.

[0035] The rotating radar includes a stator and a rotor, and the rotor rotates relative to the stator. The stator is provided with a first control unit, and the rotor is provided with a second control unit. The first control unit is connected to the main controller of the agricultural drone, and the first control unit and the second control unit are wirelessly connected.

[0036] Since the accuracy of the positions of surrounding obstacles acquired by the rotating radar is positively correlated with the time synchronization accuracy of the first control unit and the second control unit, the rotating radar will perform time synchronization between the first control unit and the second control unit when working.

[0037] At present, the first control unit and the second control unit can send time request information and time reply information to each other for time synchronization, that is, the first control unit and the second control unit perform time synchronization through wireless communication. However, due to the large delay in wireless communication, large deviations may occur when performing time synchronization through the above method, resulting in poor time synchronization accuracy, which in turn leads to a decrease in the accuracy of the rotating radar in identifying obstacles.

[0038] Based on this, an embodiment of the present application provides a method for time synchronization of a rotating radar, which can improve the accuracy of time synchronization of a rotating radar. When the rotating radar is applied to agricultural drones, it helps to improve the production efficiency of the agricultural drones.

[0039] Figure 2 The figure shows a mechanical schematic diagram of a rotating radar provided in an embodiment of the present application. Figure 3 A schematic diagram of the structure of a rotating radar provided in an embodiment of the present application is shown.

[0040] like Figure 2 and 3 As shown, the rotating radar 200 includes a stator 210 and a rotor 220 , and the rotor 220 rotates relative to the stator 210 .

[0041] The stator 210 includes a fixing plate 211, a first control unit 212, a first infrared transmitter 213, and a first infrared receiver 214, wherein the first control unit 212, the first infrared transmitter 213, and the first infrared receiver 214 are arranged on the fixing plate 211. The first control unit 212 is connected to the main control unit of the agricultural drone by wire. The first control unit 212 can also be connected to the first infrared receiver 214 by wire, so that when the first infrared receiver receives an infrared signal, the first control unit 212 can determine that the first infrared receiver 214 receives the infrared signal.

[0042] In some embodiments, the first control unit 212 may also be connected to the first infrared transmitter 213 by wire, and the first control unit 212 may control the first infrared transmitter 213 to transmit infrared signals.

[0043] The rotor 220 includes a rotating bracket 221, a rotating plate 222, a second control unit 223, a second infrared transmitter 224, and a second infrared receiver 225. The rotating plate 222 is fixed to the rotating bracket 221. The second infrared transmitter 224 and the second infrared receiver 225 are fixed to the rotating plate 222.

[0044] The rotating bracket 221 in the embodiment of the present application is connected to the rotating shaft of the motor. Under the driving action of the motor, the rotating bracket 221 can rotate relative to the stator 210, thereby driving the second infrared transmitter 224 and the second infrared receiver 225 on the rotating plate 222 to rotate, wherein when the first infrared transmitter 213 is aligned with the second infrared receiver 225, the first infrared receiver 214 is aligned with the second infrared transmitter 224.

[0045] In some embodiments, Figure 2 As shown, the second control unit 223 is fixed on the rotating plate 222 .

[0046] In some embodiments, the second control unit 223 may also be fixed on the rotating bracket 221 .

[0047] The first control unit 212 and the second control unit 223 are wirelessly connected.

[0048] The second control unit 223 may also be connected to the second infrared receiver 225 by wire, so that when the second infrared receiver 225 receives the infrared signal, the second control unit 223 may determine that the second infrared receiver 225 receives the infrared signal.

[0049] In some embodiments, the second control unit 223 may also be connected to the second infrared transmitter 224 by wire, and the second control unit 223 may control the second infrared transmitter 224 to transmit infrared signals.

[0050] The first control unit 212 and the second control unit 223 are equipped with an operating system for time synchronization. In the embodiment of the present application, the operating system equipped with the first control unit 212 and the second control unit 223 is not specifically limited. For example, the first control unit 212 and the second control unit 223 can both be equipped with Linux.

[0051] It should be noted that Figure 2 and Figure 3The rotating radar shown is only a schematic structure and should not be understood as a specific limitation on the embodiments of the present application. In other embodiments of the present application, the rotating radar may be arranged in other ways, as long as the stator includes a first infrared transmitter and a first infrared receiver, the rotor includes a second infrared transmitter and a second infrared receiver, and when the first infrared transmitter is aligned with the second infrared receiver, the first infrared receiver is aligned with the second infrared transmitter, the rotating radar time synchronization method provided in the embodiments of the present application can be implemented.

[0052] The above exemplarily introduces the rotating radar provided in the embodiment of the present application. The following will introduce the method for time synchronization of the rotating radar provided in the embodiment of the present application.

[0053] Figure 4 A schematic flow chart of a method for time synchronization of a rotating radar provided in an embodiment of the present application is shown. The method 400 is applied to Figure 2 Or the rotating radar shown in 3, such as Figure 4 As shown, the method 400 includes:

[0054] S401 : The first control unit 212 sends first information to the second control unit 223 .

[0055] Correspondingly, the second control unit 223 receives the first information sent by the first control unit 212 .

[0056] Specifically, when the first control unit 212 detects that the first infrared receiver 214 receives the second infrared signal emitted by the second infrared transmitter 224, the first control unit 212 can send first information to the second control unit 223, where the first information is used to indicate a first moment, wherein the first moment is the system time of the first control unit 212 when the first infrared receiver 214 receives the second infrared signal.

[0057] It is understandable that when the rotating radar is working, the rotor 220 starts to rotate, and the second infrared transmitter 224 and the second infrared receiver 225 will also rotate accordingly. During the rotation process, the second infrared transmitter 224 and the second infrared receiver 225 can be opposite to the first infrared transmitter 213 and the first infrared receiver 214, and when the second infrared transmitter 224 is aligned with the first infrared receiver 214, the first infrared transmitter 213 is aligned with the second infrared receiver 225. The first infrared transmitter 213 and the second infrared transmitter 224 can continuously send infrared signals, and then the first infrared receiver 214 can receive the infrared signal sent by the second infrared transmitter 224 when it is aligned with the second infrared transmitter 224. When the first infrared receiver 214 receives the infrared signal sent by the second infrared transmitter 224, an infrared interrupt can be generated, and the first control unit 212 can sense the infrared interrupt, and then send the first information to the second control unit 223.

[0058] In some embodiments, the rotating radar further includes a satellite positioning module, which is wired to the first control unit 212. The satellite positioning module can receive a time signal from a positioning satellite, and the satellite positioning module can parse the time signal from the positioning satellite to obtain the time of the satellite system. The satellite positioning module can synchronize the time of the satellite system to the first control unit 212. In other words, the first moment indicated by the first information is the moment determined by the first control unit 212 through the satellite positioning module.

[0059] It should be noted that the type of positioning satellites in the embodiments of the present application is not specifically limited, and positioning satellites include but are not limited to global positioning system (GPS) satellites, Beidou satellites, etc.

[0060] It is understandable that both GPS satellites and BeiDou satellites are equipped with atomic clocks and can therefore provide an accurate time reference. The satellite positioning system can generate one second pulse per second to transmit the accurate time to the first control unit 212.

[0061] S402 , the second control unit 223 acquires a second time when detecting that the second infrared receiver 225 receives the first infrared signal transmitted by the first infrared transmitter 213 .

[0062] The second moment is the system time of the second control unit 223 when the second infrared receiver 225 receives the first infrared signal.

[0063] Similarly, when the second infrared receiver 225 is aligned with the first infrared transmitter 213, it can receive the infrared signal sent by the first infrared transmitter 213. When the second infrared receiver 225 receives the infrared signal sent by the first infrared transmitter 213, an infrared interrupt can be generated, and the second control unit 223 can sense the infrared interrupt and then obtain its current system time.

[0064] S403, when the second control unit 223 receives the first information sent by the first control unit 212, it obtains a third time when the first information is received, wherein the third time is the system time of the second control unit 223 when the second control unit 223 receives the first information.

[0065] As described above, the first control unit 212 and the second control unit 223 are wirelessly connected, and the first control unit 212 can send the first information to the second control unit 223 via wireless communication. Therefore, the second control unit 223 can record its current system time when receiving the first information.

[0066] S404: The second control unit 223 performs time synchronization according to the first moment, the second moment and the third moment.

[0067] After the second control unit 223 determines the first moment, the second moment, and the third moment, time synchronization may be performed according to the first moment, the second moment, and the third moment.

[0068] In some embodiments, the second control unit 223 may perform time synchronization according to the following formula:

[0069] T=T1+|T3-T2|

[0070] Wherein, T is the system time after the second control unit 223 performs time synchronization, T1 is the first moment, T2 is the second moment, and T3 is the third moment.

[0071] Specifically, since the first infrared transmitter 213 and the second infrared transmitter 224 transmit at the same time, the first infrared receiver 214 and the second infrared receiver 225 also receive the infrared signal at the same time, |T3-T2| in the above formula can be understood as the wireless communication delay between the first control unit 212 and the second control unit 223. In other words, |T3-T2| is the time it takes for the first information to reach the second control unit 223.

[0072] Since |T3-T2| is the time when the first information reaches the second control unit 223, when the first information reaches the second control unit 223, the system time of the first control unit 212 can be recorded as T1+|T3-T2|. Therefore, when the second control unit 223 receives the first information, it can determine the first time corresponding to when the first control unit 212 sends the first information, and then it can be synchronized according to the above formula, and the determined system time is consistent with the system time of the first control unit 212.

[0073] It can be understood that when the rotor 220 performs time synchronization through the above formula, the wireless communication delay between the first control unit 212 and the second control unit 223 is utilized, thereby eliminating the influence of the wireless communication delay.

[0074] In the embodiment of the present application, the rotor 220 and the stator 210 of the rotating radar are both equipped with an infrared transmitter and an infrared receiver, and the stator 210 and the rotor 220 can receive infrared signals at the same time and record them as the first moment and the second moment respectively. The stator 210 can synchronize the first moment to the rotor 220, so that the rotor 220 can perform time synchronization according to the first moment, the second moment, and the third moment of receiving the first moment. Since the infrared transmitter and the infrared receiver are wired to the control unit, the delay of the wired communication is very short, which helps to improve the accuracy of time synchronization.

[0075] In the embodiment of the present application, the rotor 220 also eliminates the influence of the time delay of wireless communication when performing time synchronization.

[0076] The first moment in the embodiment of the present application may be determined by the stator 210 through a satellite positioning module, which further improves the accuracy of time synchronization.

[0077] An embodiment of the present application also provides an agricultural drone, which is equipped with the rotating radar provided in the above embodiment of the present application.

[0078] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described device can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0079] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative.

[0080] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0081] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for time synchronization of a rotating radar, characterized in that: The method is applied to a rotating radar (200), wherein the rotating radar (200) comprises a stator (210) and a rotor (220), wherein the rotor (220) rotates relative to the stator (210); The stator (210) comprises: a first control unit (212), a first infrared transmitter (213), and a first infrared receiver (214), wherein the first infrared transmitter (213) is used to send a first infrared signal; The rotor (220) comprises: a second control unit (223), a second infrared transmitter (224), and a second infrared receiver (225), wherein the second infrared transmitter (224) and the second infrared receiver (225) rotate along with the rotation of the rotor (220), the second infrared transmitter (224) is used to send a second infrared signal, the stator (210) and the rotor (220) are configured such that when the first infrared transmitter (213) is aligned with the second infrared receiver (225), the second infrared transmitter (224) is aligned with the first infrared receiver (214), and the first control unit (212) is wirelessly connected to the second control unit (223); The method comprises: The first control unit (212) sends first information to the second control unit (223) when detecting that the first infrared receiver (214) receives the second infrared signal emitted by the second infrared transmitter (224), wherein the first information is used to indicate a first moment, wherein the first moment is the system time of the first control unit (212) when the first infrared receiver (214) receives the second infrared signal; The second control unit (223) acquires a second moment when detecting that the second infrared receiver (225) receives the first infrared signal transmitted by the first infrared transmitter (213), wherein the second moment is the system time of the second control unit (223) when the second infrared receiver (225) receives the first infrared signal; When the second control unit (223) receives the first information sent by the first control unit (212), it obtains a third time when the first information is received, wherein the third time is the system time of the second control unit (223) when the second control unit (223) receives the first information; The second control unit (223) performs time synchronization according to the first moment, the second moment and the third moment.

2. The method according to claim 1, characterized in that: The rotating radar (200) further comprises a satellite positioning module, wherein the satellite positioning module is connected to the stator (210) by wire, and the method further comprises: The first control unit (212) obtains the system time from the satellite positioning module, wherein the first moment is the moment determined by the first control unit (212) through the satellite positioning module.

3. The method according to claim 2, characterized in that The satellite positioning module includes a Beidou positioning module and / or a global positioning system GPS positioning module.

4. The method according to any one of claims 1 to 3, characterized in that The rotating radar (200) is applied to an agricultural unmanned aerial vehicle.

5. The method according to any one of claims 1 to 4, characterized in that The second control unit (223) performs time synchronization according to the first moment, the second moment and the third moment, including: The second control unit (223) performs time synchronization according to the following formula: T=T1+|T3-T2| Wherein, T is the system time after the second control unit (223) performs time synchronization, T1 is the first moment, T2 is the second moment, and T3 is the third moment.

6. A rotating radar, characterized in that: The rotating radar (200) comprises a stator (210) and a rotor (220), wherein the rotor (220) rotates relative to the stator (210); The stator (210) comprises: a first control unit (212), a first infrared transmitter (213), and a first infrared receiver (214), wherein the first infrared transmitter (213) is used to send a first infrared signal; The rotor (220) comprises: a second control unit (223), a second infrared transmitter (224), and a second infrared receiver (225), wherein the second infrared transmitter (224) and the second infrared receiver (225) rotate along with the rotation of the rotor (220), the second infrared transmitter (224) is used to send a second infrared signal, the stator (210) and the rotor (220) are configured such that when the first infrared transmitter (213) is aligned with the second infrared receiver (225), the second infrared transmitter (224) is aligned with the second infrared receiver (225), and the first control unit (212) is wirelessly connected to the second control unit (223); The first control unit (212) sends first information to the second control unit (223) when detecting that the first infrared receiver (214) receives the second infrared signal emitted by the second infrared transmitter (224), wherein the first information is used to indicate a first moment, wherein the first moment is the system time of the first control unit (212) when the first infrared receiver (214) receives the second infrared signal; The second control unit (223) acquires a second moment when detecting that the second infrared receiver (225) receives the first infrared signal transmitted by the first infrared transmitter (213), wherein the second moment is the system time of the second control unit (223) when the second infrared receiver (225) receives the first infrared signal; When the second control unit (223) receives the first information sent by the first control unit (212), it obtains a third time when the first information is received, wherein the third time is the system time of the second control unit (223) when the second control unit (223) receives the first information; The second control unit (223) performs time synchronization according to the first moment, the second moment and the third moment.

7. The rotating radar according to claim 6, characterized in that: The rotating radar (200) further comprises a satellite positioning module, the satellite positioning module is connected to the stator (210) by wire, and the satellite positioning module synchronizes time with the first control unit (212).

8. The rotating radar according to claim 7, characterized in that: The satellite positioning module includes a Beidou positioning module and / or a GPS positioning module.

9. The rotating radar according to any one of claims 6 to 8, characterized in that: The rotating radar (200) is applied to an agricultural unmanned aerial vehicle.

10. The rotating radar according to any one of claims 6 to 9, characterized in that: The second control unit (223) performs time synchronization according to the following formula: T=T1+|T3-T2| Wherein, T is the system time after the second control unit (223) performs time synchronization, T1 is the first moment, T2 is the second moment, and T3 is the third moment.

11. An agricultural drone, characterized in that: Comprising the rotating radar as claimed in any one of claims 6 to 10.

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