Method for rotating radar time synchronization, rotating radar and agricultural unmanned aerial vehicle

Abstract

The application provides a rotating radar time synchronization method, a rotating radar and an agricultural unmanned aerial vehicle. The rotor and the stator of the rotating radar are both configured with infrared transmitters and infrared receivers. The stator and the rotor can simultaneously receive infrared signals and record the first time and the second time respectively. The stator can synchronize the first time to the rotor, so that the rotor can perform time synchronization according to the first time, the second time and the third time when the first time is received. The rotating radar time synchronization method provided by the application can improve the accuracy of time synchronization.

Description

Technical Field

[0001] This application relates to the field of agricultural technology, and more specifically, to a method for time synchronization of rotating radar, rotating radar, and agricultural unmanned aerial vehicles. Background Technology

[0002] With technological advancements, agricultural drones are increasingly being used for fertilization, spraying, and other agricultural operations. To adapt agricultural drones to complex and ever-changing production environments, they can be equipped with rotating radar. Rotating radar can transmit and receive millimeter waves, allowing agricultural drones to accurately identify surrounding obstacles. A rotating radar consists of a stator and a rotor, which require time synchronization. Currently, stator and rotor rely on wireless communication for time synchronization; however, this method suffers from significant latency, resulting in poor synchronization accuracy. Therefore, improving the time synchronization accuracy of rotating radar has become a pressing technical challenge. Summary of the Invention

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

[0004] In a first aspect, a method for time synchronization of a rotating radar is provided. This method is applied to a rotating radar (200), which includes a stator and a rotor, the rotor (220) rotating relative to the stator (210). The stator (210) includes 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 transmit a first infrared signal. The rotor (220) includes a second control unit (223), a second infrared transmitter (224), and a second infrared receiver. The device (225), wherein the second infrared transmitter (224) and the second infrared receiver (225) rotate with the rotor (220), the second infrared transmitter (224) is used to transmit 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 includes: the first When the control unit (212) detects that the first infrared receiver (214) has received the second infrared signal emitted by the second infrared transmitter (224), it sends first information to the second control unit (223). This first information indicates a first moment, where 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 the second control unit (223) detects that the second infrared receiver (225) has received the first infrared signal emitted by the first infrared transmitter (213), The system acquires a second time, wherein the second time 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 system acquires 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 first information is received; the second control unit (223) performs time synchronization based on the first time, the second time and the third time.

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

[0006] In conjunction with the first aspect, in some implementations of the first aspect, the rotating radar (200) further includes a satellite positioning module connected to the stator (210) by wire, and the method further includes: the first control unit (212) obtaining 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.

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

[0008] In conjunction 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 conjunction with the first aspect, in some implementations of the first aspect, the rotating radar (200) is applied to agricultural drones.

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

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

[0012] Where 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 this embodiment of the application, the rotor (220) also eliminates the effect of wireless communication delay when performing time synchronization.

[0014] Secondly, a rotating radar (200) is provided, comprising a stator (210) and a rotor (220) that rotates relative to the stator (210); the stator (210) includes 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 transmit a first infrared signal; the rotor (220) includes a second control unit (223), a second infrared transmitter (224), and a second infrared receiver (225), wherein... In this configuration, the second infrared transmitter (224) and the second infrared receiver (225) rotate with the rotor (220). The second infrared transmitter (224) is used to transmit 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) in... When the first infrared receiver (214) detects that it has received the second infrared signal emitted by the second infrared transmitter (224), it sends a first message to the second control unit (223). The first message indicates a first time, wherein the first time is the system time of the first control unit (212) when the first infrared receiver (214) receives the second infrared signal. When the second control unit (223) detects that the second infrared receiver (225) has received the first infrared signal emitted by the first infrared transmitter (213), it acquires a second time, wherein the second time 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 message sent by the first control unit (212), it acquires a third time when it receives the first message, wherein the third time is the system time of the second control unit (223) when it receives the first message. The second control unit (223) performs time synchronization based on the first time, the second time, and the third time.

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

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

[0017] In conjunction 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] In this embodiment, the first moment can be determined by the stator (210) through the satellite positioning module, which further improves the accuracy of time synchronization.

[0019] In conjunction with the second aspect, in some implementations of the second aspect, the rotating radar (200) is applied to agricultural drones.

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

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

[0022] Where 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 this embodiment of the application, the rotor (220) also eliminates the effect of wireless communication delay when performing time synchronization.

[0024] Thirdly, an agricultural drone is provided, including a rotating radar as described in either of the second and third possible implementations. Attached Figure Description

[0025] Figure 1 This is a structural schematic diagram of an agricultural drone provided in this application.

[0026] Figure 2 This is a mechanical structure diagram of the rotating radar provided in the embodiments of this application.

[0027] Figure 3 This is a schematic diagram of the rotating radar provided in an embodiment of this application.

[0028] Figure 4 This is a schematic flowchart of a rotating radar time synchronization method provided in an embodiment of this application. Detailed Implementation

[0029] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0030] The terminology used in the following embodiments is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used in the specification and appended claims of this application, the singular expressions “a,” “an,” “the,” “the,” “the,” and “this” are intended to also include expressions such as “one or more,” unless the context clearly indicates otherwise. It should also be understood that in the following embodiments of this application, “at least one” and “one or more” refer to one, two, or more than two. The term “and / or” is used to describe the relationship between related objects, indicating that three relationships may exist; for example, A and / or B can indicate: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character “ / ” generally indicates that the preceding and following related objects are in an “or” relationship.

[0031] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0032] With technological advancements, agricultural drones are increasingly being used for tasks such as fertilization and spraying in agricultural production. To enable agricultural drones to adapt to complex and ever-changing production environments, they can be equipped with rotating radar. Rotating radar can transmit and receive millimeter waves, allowing agricultural drones to accurately identify surrounding obstacles.

[0033] Figure 1 A schematic diagram of an agricultural drone provided in an embodiment of this 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 perform operational functions, such as spraying pesticides and sowing seeds.

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

[0036] Since the accuracy of the rotating radar in acquiring the position of surrounding obstacles is positively correlated with the time synchronization accuracy of the first control unit and the second control unit, the rotating radar will synchronize the time of the first control unit and the second control unit when it is working.

[0037] Currently, the first and second control units can synchronize their time by sending time request and response messages to each other, i.e., they synchronize their time wirelessly. However, due to the significant latency of wireless communication, large deviations may occur during time synchronization using this method, resulting in poor time synchronization accuracy and consequently reducing the accuracy of the rotating radar in identifying obstacles.

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

[0039] Figure 2 A mechanical schematic diagram of the rotating radar provided in an embodiment of this application is shown. Figure 3 A schematic diagram of the structure of the rotating radar provided in an embodiment of this application is shown.

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

[0041] The stator 210 includes a fixed 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 mounted on the fixed plate 211. The first control unit 212 is wiredly connected to the main control unit of the agricultural drone. The first control unit 212 can also be wiredly connected to the first infrared receiver 214, so that when the first infrared receiver receives an infrared signal, the first control unit 212 can determine that the first infrared receiver 214 has received an infrared signal.

[0042] In some embodiments, the first control unit 212 may also be wired to the first infrared transmitter 213, and the first control unit 212 may control the first infrared transmitter 213 to emit 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] In this embodiment, the rotating bracket 221 is connected to the motor shaft. 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. 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, such as 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 to 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 can also be wired to the second infrared receiver 225, so that when the second infrared receiver 225 receives an infrared signal, the second control unit 223 can determine that the second infrared receiver 225 has received an infrared signal.

[0049] In some embodiments, the second control unit 223 may also be wired to the second infrared transmitter 224, and the second control unit 223 may control the second infrared transmitter 224 to emit infrared signals.

[0050] The first control unit 212 and the second control unit 223 are equipped with operating systems for time synchronization. In this embodiment, the operating systems used by the first control unit 212 and the second control unit 223 are not specifically limited; for example, both the first control unit 212 and the second control unit 223 can 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 construed as a specific limitation on the embodiments of this application. In other embodiments of this application, the rotating radar can 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 this application can be implemented.

[0052] The rotating radar provided by the embodiments of this application has been exemplarily described above. The method for time synchronization of rotating radar provided by the embodiments of this application will be described below.

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

[0054] S401, the first control unit 212 sends the 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 has received the second infrared signal emitted by the second infrared transmitter 224, it can send first information to the second control unit 223. 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] Understandably, when the rotating radar is operating, the rotor 220 begins to rotate, and the second infrared transmitter 224 and the second infrared receiver 225 also rotate accordingly. During this rotation, the second infrared transmitter 224 and the second infrared receiver 225 can be aligned with the first infrared transmitter 213 and the first infrared receiver 214. 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 transmit infrared signals, and thus, when the first infrared receiver 214 is aligned with the second infrared transmitter 224, it can receive the infrared signals transmitted by the second infrared transmitter 224. When the first infrared receiver 214 receives the infrared signals transmitted by the second infrared transmitter 224, it can generate an infrared interruption. The first control unit 212 can detect this infrared interruption and then send first information to the second control unit 223.

[0058] In some embodiments, the rotating radar further includes a satellite positioning module, which is wiredly connected to the first control unit 212. The satellite positioning module can receive time signals from positioning satellites and parse these signals to obtain the satellite system time. The satellite positioning module can then synchronize the satellite system time 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 satellite is not specifically limited in the embodiments of this application. Positioning satellites include, but are not limited to, Global Positioning System (GPS) satellites, BeiDou satellites, etc.

[0060] Understandably, both GPS and BeiDou satellites, equipped with atomic clocks, can provide a precise time reference. The satellite positioning system can generate a second pulse per second to transmit accurate time to the first control unit 212.

[0061] S402, when the second control unit 223 detects that the second infrared receiver 225 has received the first infrared signal emitted by the first infrared transmitter 213, it acquires the second moment.

[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, it can generate an infrared interruption. The second control unit 223 can sense this infrared interruption and thus 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 the 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. The first control unit 212 can send first information to the second control unit 223 via wireless communication. Therefore, the second control unit 223 can record its current system time when it receives the first information.

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

[0067] After determining the first moment, the second moment, and the third moment, the second control unit 223 can perform time synchronization based on the first moment, the second moment, and the third moment.

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

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

[0070] Where 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 simultaneously, and the first infrared receiver 214 and the second infrared receiver 225 also receive the infrared signals simultaneously, |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, the system time of the first control unit 212 when the first information arrives at the second control unit 223 can be recorded as T1+|T3-T2|. Therefore, when the second control unit 223 receives the first information, it can determine the first moment when the first control unit 212 sent the first information, and then synchronize according to the above formula, so that the determined system time is consistent with the system time of the first control unit 212.

[0073] It is understandable that when the rotor 220 performs time synchronization using the above formula, it utilizes the wireless communication delay between the first control unit 212 and the second control unit 223, thereby eliminating the impact of the wireless communication delay.

[0074] In this embodiment, both the rotor 220 and stator 210 of the rotating radar are equipped with infrared transmitters and receivers. The stator 210 and rotor 220 can simultaneously receive infrared signals and record them as a first moment and a second moment, respectively. The stator 210 can synchronize the first moment with the rotor 220, allowing the rotor 220 to perform time synchronization based on the first moment, the second moment, and a third moment after receiving the first moment. Since the infrared transmitter and receiver are wired to the control unit, the short latency of wired communication helps improve the accuracy of time synchronization.

[0075] In this embodiment, the rotor 220 also eliminates the effect of wireless communication latency when performing time synchronization.

[0076] In this embodiment, the first moment can be determined by the stator 210 through the satellite positioning module, which further improves the accuracy of time synchronization.

[0077] This application also provides an agricultural drone equipped with the rotating radar provided in the above embodiments of this application.

[0078] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

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

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

[0081] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the 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), which includes a stator (210) and a rotor (220), wherein the rotor (220) rotates relative to the stator (210); The stator (210) includes: 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 transmit a first infrared signal; The rotor (220) includes: 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 with the rotor (220), the second infrared transmitter (224) is used to transmit 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 includes: 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), it sends first information to the second control unit (223). 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. When the second control unit (223) detects that the second infrared receiver (225) receives the first infrared signal emitted by the first infrared transmitter (213), it acquires a second time, wherein the second time 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 the 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 based on the first time, the second time and the third time.

2. The method according to claim 1, characterized in that, The rotating radar (200) further includes a satellite positioning module, which is wiredly connected to the stator (210). The method further includes: The first control unit (212) obtains the system time from the satellite positioning module, wherein the first time is the time 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 used in agricultural drones.

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

6. A rotating radar, characterized in that, The rotating radar (200) includes a stator (210) and a rotor (220), wherein the rotor (220) rotates relative to the stator (210); The stator (210) includes: 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 transmit a first infrared signal; The rotor (220) includes: 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 with the rotor (220), the second infrared transmitter (224) is used to transmit 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); 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), it sends first information to the second control unit (223). 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. When the second control unit (223) detects that the second infrared receiver (225) receives the first infrared signal emitted by the first infrared transmitter (213), it acquires a second time, wherein the second time 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 the 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 based on the first time, the second time and the third time.

7. The rotating radar according to claim 6, characterized in that, The rotating radar (200) also includes a satellite positioning module, which is wired to the stator (210) and 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 used in agricultural drones.

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| Where T is the system time after the second control unit (223) performs time synchronization, T1 is the first time, T2 is the second time, and T3 is the third time.

11. An agricultural unmanned aerial vehicle, characterized in that, Including the rotating radar as described in any one of claims 6 to 10.

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