Control system and photographing control method

Abstract

The invention provides a control system and a shooting control method, and relates to the technical field of photography. The control system comprises a control device, a terminal device, an imaging sensor and a connecting device. The control device is provided with a signal interface and / or a communication module. The control equipment is in communication connection with the terminal equipment, the imaging sensor and the connecting equipment through the signal interface and / or the communication module; the control equipment receives signal data sent by the terminal equipment, the imaging sensor and the connecting equipment based on the signal interface and / or the communication module; the signal data comprises demand data, shooting data and equipment parameters; the terminal device, the imaging sensor and the connecting device receive a control instruction sent by the control device based on the signal interface and / or the communication module. Through communication connection between the control device and the terminal device and between the imaging sensor and the connecting device, unified control is carried out on various devices, the operation difficulty during control and the learning and using cost of a user are effectively reduced, and the efficiency during control is improved.

Description

Technical Field

[0001] The present application relates to the field of photography technology, and in particular to a control system and a shooting control method. Background Art

[0002] The current astronomical photography system requires the use of professional processing equipment to connect the camera, and the processing equipment needs to be installed with professional photography software to control the multiple independent devices in the camera. Before shooting, it is necessary to set the parameters of each device through the photography software, and then set the shooting steps according to the shooting process of the software before starting to shoot.

[0003] Therefore, existing astronomical photography systems usually require the coordination and cooperation of multiple devices. The equipment is highly dispersed, and there may be complex connection situations and wiring problems between multiple devices. The overall size of the system is large, and the operation is cumbersome and difficult. Users are also required to be familiar with various equipment and software, and the time and energy costs of learning and debugging are high, resulting in low control efficiency and high control difficulty during shooting, which cannot meet the user's shooting needs. Summary of the invention

[0004] In view of this, the purpose of the embodiments of the present application is to provide a control system and a shooting control method to improve the problems of low control efficiency and high control difficulty when using an astronomical photography system composed of multiple devices coordinated and cooperated in the prior art.

[0005] In order to solve the above problems, in a first aspect, an embodiment of the present application provides a control system, the system comprising: a control device, a terminal device, an imaging sensor and a connection device; wherein the connection device comprises: an adjustment device and / or an astronomical positioning device;

[0006] The control device is provided with a signal interface and / or a communication module; the control device is communicatively connected with the terminal device, the imaging sensor and the connection device via the signal interface and / or the communication module;

[0007] The control device receives signal data sent by the terminal device, the imaging sensor and the connection device based on the signal interface and / or the communication module; wherein the signal data includes: demand data, shooting data and device parameters;

[0008] The terminal device, the imaging sensor and the connecting device receive the control instruction sent by the control device based on the signal interface and / or the communication module.

[0009] In the above implementation process, the control device can communicate with the terminal device, imaging sensor and various types of connection devices required for shooting through the set signal interface and / or communication module, so as to realize the data transmission function through the communication connection, and based on the communication connection, the control device receives the signal data sent by various devices, so as to generate various control instructions according to the various signal data, so as to realize the unified control of various types of devices. A variety of different control functions can be integrated into the control device, and there is no need to set up corresponding software in a variety of different devices for control, which effectively reduces the difficulty of operation when controlling the system and the time and energy cost of users when learning to use it. In addition, it also optimizes the complex connection and winding conditions when the system is used, improves the efficiency and effectiveness of the control of each device in the system, and meets the control requirements of various different shooting tasks.

[0010] Optionally, wherein the imaging sensor is integrated in the control device;

[0011] The imaging sensor is communicatively connected to the control device via an internal circuit.

[0012] In the above implementation process, the imaging sensor can be used as an external device connected to the control device, or the imaging sensor can be integrated inside the control device, and the imaging sensor and the control device are connected by internal circuit communication, so that the control device has corresponding control functions and shooting functions, which effectively reduces the device size of the control system and reduces the wiring complexity when the control device is connected to the external device through the signal interface.

[0013] Optionally, the control device comprises: a controller and a housing; the controller and the imaging sensor are arranged inside the housing, and the imaging sensor is connected to the controller; the signal interface and / or the communication module are arranged on the housing, and the signal interface and / or the communication module are connected to the controller;

[0014] On the housing, there is a preset first gap distance between the interface areas where two adjacent signal interfaces are located, and there is a preset second gap distance between the adjacent signal interfaces and the communication module;

[0015] Wherein, the signal interface includes: a USB interface and / or a Type-C interface;

[0016] The communication module includes: a WiFi antenna.

[0017] In the above implementation process, the control device may include a corresponding housing for external protection, and a controller for realizing the control function. When the imaging sensor is integrated inside the control device, the controller and the imaging sensor are both arranged inside the housing, and the communication connection is realized through the corresponding internal circuit. The signal interface and / or the communication module are distributed on the housing, and can also be connected to the controller through the corresponding internal circuit to realize the corresponding data transmission function. In order to adapt to a variety of different communication connection requirements, the signal interface may include multiple types of interfaces, and the communication module may also include an antenna structure with multiple communication protocols, which can be applied to a variety of different communication scenarios. In addition, in order to further optimize the complex connection during wiring connection, the position of the signal interface and / or the communication module can be designed in an isolated arrangement manner, and the interface area where the two adjacent signal interfaces are located has a preset first gap distance. If the signal interface and the communication module exist at the same time, the adjacent signal interface and the communication module have a preset second gap distance to reduce the unfavorable conditions such as winding and failure to connect normally caused by the close spatial position between multiple signal interfaces and / or communication modules.

[0018] Optionally, the adjustment device includes: a focus adjustment component; the device parameter includes: a current focal length parameter; the control instruction includes: a focus adjustment instruction;

[0019] The control device determines the focus instruction based on the received focal length parameter and the demand data, and sends the focus instruction to the focus component based on the signal interface and / or the communication module; wherein the focus instruction includes: a target focal length parameter;

[0020] The focusing component performs focal length adjustment based on the received focusing instruction.

[0021] In the above implementation process, considering the impact of focal length on the imaging sensor when shooting, the user may have a variety of different focusing requirements for different shooting scenes. Therefore, the adjustment device may include a focusing component for focusing the imaging sensor. Correspondingly, the device parameters in the signal data may include the current focal length parameters of the focusing component. The control device can determine the focusing instruction containing the target focal length parameters currently required by the imaging sensor according to the received focal length parameters and the required data, so as to send the focusing instruction to the focusing component through the communication connection, and the focusing component responds to the focusing instruction to perform focal length adjustment processing. Before or during shooting, the focusing component can be controlled to perform real-time focal length adjustment processing according to the actual focusing requirements of the user for the imaging sensor, so as to provide a suitable focal length for the shooting of the imaging sensor, thereby meeting the user's various different focusing requirements and improving the quality of the data obtained by the imaging sensor.

[0022] Optionally, the adjustment device includes: a filter component; the device parameters include: current filter parameters; the control instructions include: filter instructions;

[0023] The control device determines the filter instruction based on the received filter parameters and the demand data, and sends the filter instruction to the filter component based on the signal interface and / or the communication module; wherein the filter instruction includes: target filter parameters;

[0024] The filter component switches filters based on the received filter instruction.

[0025] In the above implementation process, considering the influence of the filter on the imaging sensor when shooting, the user may have a variety of different filter requirements for different shooting scenes. Therefore, the adjustment device may include a filter component that provides shooting filters to the imaging sensor. Correspondingly, the device parameters in the signal data may include the current filter parameters of the filter component. The control device can determine the filter instruction containing the target filter parameters currently required by the imaging sensor according to the received filter parameters and demand data, so as to send the filter instruction to the filter component through the communication connection, and the filter component responds to the filter instruction to perform filter switching processing. Before or during shooting, the filter component can be controlled to perform real-time filter switching processing according to the actual filter requirements of the user for the imaging sensor, so as to provide suitable filters for the shooting of the imaging sensor, thereby meeting the user's various filter requirements and improving the quality of the data obtained by the imaging sensor.

[0026] Optionally, the astronomical positioning device includes: an equatorial mount or a theodolite; the shooting data includes: correction data; the control instructions include: correction instructions and correction instructions;

[0027] The imaging sensor captures the correction data of the target area based on the received correction instruction, and sends the correction data to the control device based on the signal interface and / or the communication module; wherein the target area is determined based on the astronomical positioning device;

[0028] The control device performs analysis based on the received correction data to generate the correction instruction, and sends the correction instruction to the astronomical positioning device based on the signal interface and / or the communication module;

[0029] The astronomical positioning device performs attitude correction based on the received correction instruction, and the imaging sensor adjusts the shooting position based on the corrected astronomical positioning device.

[0030] In the above implementation process, in the field of astronomical photography, in order to realize the corresponding guiding and celestial body tracking functions during shooting, the astronomical positioning device may include an equatorial mount or a theodolite. In order to improve the accuracy of guiding and celestial body tracking, the correction data of the imaging sensor shooting target area can be controlled by the correction instruction first, so that the correction data can be analyzed by the control device according to the correction data to analyze the position offset of the astronomical positioning device, and the correction instruction for the attitude correction of the astronomical positioning device is generated, so that the correction instruction can be used to control various types of astronomical positioning devices to perform attitude correction processing, and due to the fixed relative position between the astronomical positioning device and the imaging sensor, the imaging sensor can perform synchronous shooting position adjustment based on the attitude-corrected astronomical positioning device. The astronomical positioning device can be corrected in real time before or during shooting to adjust the position of the imaging sensor in real time, effectively reducing the position error of the imaging sensor during shooting, so that the imaging sensor can follow the movement of the shooting target with high precision and generate corresponding movement, reducing the unfavorable situation of the shooting target deviating or not shooting the shooting target, and further improving the validity of the data obtained by shooting.

[0031] Optionally, the device parameters include: operating parameters; wherein the operating parameters include: at least one of the current field parameters, exposure parameters, shooting parameters, gain parameters and cooling parameters of the imaging sensor; the control instructions include: parameter adjustment instructions;

[0032] The control device generates the parameter adjustment instruction based on the received operating parameters and the demand data, and sends the parameter adjustment instruction to the imaging sensor based on the signal interface and / or the communication module; wherein the parameter adjustment instruction includes: target operating parameters;

[0033] The imaging sensor performs parameter adjustment processing based on the received parameter adjustment instruction.

[0034] In the above implementation process, considering the impact of various working parameters of the imaging sensor, such as field parameters, exposure parameters, shooting parameters, gain parameters and cooling parameters, on shooting, users may have various different parameter requirements for different shooting scenes. The control device can generate parameter adjustment instructions for adjusting the working parameters according to the working parameters sent by the imaging sensor and the user's demand data, so as to control the imaging sensor to adjust various working parameters during shooting in real time based on the parameter adjustment instructions. Before or during shooting, the imaging sensor can be controlled to perform real-time parameter adjustment processing according to the user's actual parameter requirements for the imaging sensor, so as to configure appropriate parameters for shooting, thereby meeting the user's various shooting requirements and improving the quality of the data obtained by the imaging sensor.

[0035] In a second aspect, an embodiment of the present application further provides a shooting control method, the method comprising:

[0036] Based on the demand data sent by the terminal device, configure the target parameters of each shooting target;

[0037] Based on the target parameters, an imaging sensor and a connecting device are controlled to shoot the shooting target to obtain shooting data.

[0038] In the above implementation process, the control device can receive the demand data sent by the user on the terminal device, analyze the user's various shooting needs based on the demand data, configure the working parameters of various devices when shooting each shooting target, and obtain the corresponding target parameters, thereby controlling the connected imaging sensor and the connected device through the target parameters, shooting and processing the shooting target, and obtaining shooting data. A variety of different control functions can be integrated into the control device, and there is no need to set up corresponding software in a variety of different devices for control, which effectively reduces the difficulty of operation during shooting control and the time and energy cost of users in learning to use, and meets the control needs of a variety of different shooting targets.

[0039] Optionally, the demand data includes: selection information and adjustment information; and configuring target parameters of each shooting target based on the demand data sent by the terminal device includes:

[0040] Determining the shooting target from a plurality of targets to be selected according to the selection information;

[0041] Determining a corresponding parameter template based on the identity information and historical information of each of the photographed targets;

[0042] The parameter template is adjusted according to the adjustment information to determine the target parameter.

[0043] In the above implementation process, the demand data may include selection information for selecting a target, and adjustment information for adjusting the parameters of various devices during shooting. The control device may provide multiple selectable targets for the user to select, so as to determine one or more shooting targets from the multiple targets to be selected to wait for shooting based on the selection information fed back by the user. Moreover, for each shooting target, its corresponding identity information and historical information may be extracted to generate a corresponding parameter template, and the user may make adjustments based on the parameter template, and adjust the parameter template according to the adjustment information input by the user, so that the obtained target parameters are more in line with the user's usage habits and meet the user's shooting needs. It is possible to recommend a suitable shooting parameter template to the user based on the identity and historical shooting conditions of the selected shooting target, and provide corresponding adjustment functions to improve the diversity and effectiveness of the configured target parameters.

[0044] Optionally, determining the shooting target from a plurality of targets to be selected according to the selection information includes:

[0045] Determine the elevation angles of multiple target objects based on the current position information and time information of the control system;

[0046] According to the multiple altitude angle conditions, determining the to-be-selected targets that can be photographed from the multiple target objects, and the available photographing time for each of the to-be-selected targets;

[0047] At least one of the shooting targets selected by the user from the multiple targets to be selected is determined according to the selection information.

[0048] In the above implementation process, considering that in the field of astronomical photography, the targets to be photographed are usually various types of celestial bodies, and due to the rotation and revolution of the earth, the altitude angles of celestial bodies are different at different times and positions. Therefore, the altitude angles of multiple target objects in the corresponding sky area can be determined according to the current position information and time information of the control system, so as to determine whether each target can be photographed according to the altitude angle, thereby screening and determining the target to be selected that can be photographed from the multiple target objects, and the photographable time of each target to be selected, and the user makes a selection based on the target to be selected and the corresponding photographable time to determine the shooting target required by the user. It is possible to determine multiple shootable targets for the user to select according to the actual position and time of the control system, effectively reducing the adverse effects of non-photographic targets on normal shooting, and improving the feasibility of shooting the shooting target.

[0049] Optionally, if a plurality of shooting targets are included, the method further includes:

[0050] Determining the shooting time of each of the shooting targets;

[0051] According to the shooting duration and the available shooting time of each shooting target, the multiple shooting tasks corresponding to the multiple shooting targets are sorted.

[0052] In the above implementation process, when there are multiple shooting targets, the shooting time required for each shooting target can be determined first, and then the multiple shooting tasks corresponding to the multiple shooting targets can be sorted in combination with the shooting time corresponding to the shooting time required for each shooting target, thereby creating an automatic shooting process for automatically shooting multiple targets, so as to control the shooting of multiple shooting tasks in sequence according to the sorting. The shooting tasks corresponding to the multiple shooting targets can be reasonably sorted according to the time situation, effectively reducing the confusion, interruption and other unfavorable situations when executing multiple shooting tasks, and improving the reliability of multi-target shooting.

[0053] Optionally, the method further comprises:

[0054] Determining a control sequence of the terminal device, the imaging sensor, and the connection device in each of the shooting tasks;

[0055] Based on the control sequence, the terminal device, the imaging sensor and the connection device are controlled in a single line or in sequence.

[0056] In the above implementation process, since the control device needs to control multiple different types of connected devices, therefore, considering the computing power limitations of the control device and other factors, when multiple different types of devices are controlled in parallel, there may be unfavorable situations such as program confusion, task interruption, and control jamming. Therefore, the control sequence of the terminal devices, imaging sensors, and connection devices controlled by the control device in each shooting task can be determined first, and then during the execution of each shooting task, the multiple connected devices can be controlled in a single line or sequentially based on the control sequence to reduce the various unfavorable situations caused by parallel control and improve the reliability of the execution of each shooting task.

[0057] Optionally, the method further comprises:

[0058] Determine a first position of the photographic target in the photographic data and a second position of the imaging sensor during the photographing process;

[0059] If it is determined that the first position is not in the central range of the shooting data, analyzing the shooting data to control the imaging sensor to move until the shooting target is in the central range;

[0060] If it is determined that the second position is at the mid-height position, the imaging sensor is controlled to perform a mid-height flip.

[0061] In the above implementation process, during the shooting process, the first position of the shooting target in the shooting data and the second position of the imaging sensor during the movement can be detected in real time, and whether the shooting target is in the center range of the shooting data can be determined based on the first position, so that when it is not in the center range, the pointing position of the imaging sensor can be analyzed based on the shooting data, thereby controlling the imaging sensor to move until the shooting target is in the center range; and, considering that the imaging sensor needs to follow the movement of the shooting target and produce corresponding movement during the shooting process, it can also be determined whether it is necessary to control the imaging sensor to perform mid-sky flipping according to the actual situation of the second position. The automatic centering of the shooting target can be realized according to the position detection of the shooting target in the data during the shooting process, further reducing the adverse situation of the shooting target deviation, and the automatic mid-sky flipping function of the imaging sensor can be realized according to the position detection of the imaging sensor during the movement of the shooting target, without manual processing, and improving the efficiency and accuracy of the imaging sensor in target tracking.

[0062] In summary, the embodiments of the present application provide a control system and a shooting control method, which can integrate a variety of different control functions in a control device. There is no need to set up corresponding software in a variety of different devices for control, which effectively reduces the operational difficulty during system control and the time and energy cost of users in learning to use the system. In addition, it also optimizes the complex connection and winding conditions when the system is used, improves the efficiency and effectiveness of controlling each device in the system, and meets the control requirements of a variety of different shooting tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0064] Figure 1 A schematic diagram of the structure of a control system provided in an embodiment of the present application;

[0065] Figure 2 A schematic diagram of the structure of another control system provided in an embodiment of the present application;

[0066] Figure 3 A schematic diagram of a flow chart of a first shooting control method provided in an embodiment of the present application;

[0067] Figure 4 A detailed flow chart of step S200 provided in an embodiment of the present application;

[0068] Figure 5 A detailed flowchart of step S210 provided in an embodiment of the present application;

[0069] Figure 6 A detailed flowchart of a second shooting control method provided in an embodiment of the present application;

[0070] Figure 7 A detailed flowchart of a third shooting control method provided in an embodiment of the present application;

[0071] Figure 8 A detailed flowchart of the fourth shooting control method provided in an embodiment of the present application.

[0072] Icon: 110 - control device; 120 - terminal device; 130 - imaging sensor; 140 - connection device; 111 - controller; 112 - housing; 113 - signal interface; 114 - communication module; d1 - first gap distance; d2 - second gap distance. DETAILED DESCRIPTION

[0073] The technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments of the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the embodiments of the present application.

[0074] Existing astronomical photography systems usually require the coordination and cooperation of multiple devices. For example, professional processing equipment is needed to connect multiple devices such as cameras, equatorial mounts or theodolites, and professional photography software is installed in the processing equipment to control multiple independent devices in the camera respectively. The equipment is highly dispersed, and there may be complex connection situations and winding problems between multiple devices. The overall size of the system is large, and the operation is cumbersome and difficult. Users are also required to be familiar with various equipment and software. The time and energy costs of learning and debugging are high, resulting in low control efficiency and high control difficulty during shooting, which cannot meet the shooting needs of users.

[0075] In order to solve the above problems, an embodiment of the present application provides a control system, which uniformly controls multiple devices through communication connections between the control device in the control system and the terminal device, imaging sensor and connection device, effectively reducing the operational difficulty during control and the cost of user learning and use, and improving the efficiency of control.

[0076] See also Figure 1 , Figure 1A structural schematic diagram of a control system provided in an embodiment of the present application, wherein the control system may include: a control device 110, a terminal device 120, an imaging sensor 130 and a connection device 140.

[0077] Optionally, taking into account various needs in astronomical photography scenes such as focusing, filtering, guiding, target tracking, etc., the connecting device 140 may include: an adjustment device and / or an astronomical positioning device, the adjustment device may include corresponding focusing components, filter components and other devices, and the astronomical positioning device may include an equatorial mount or a theodolite and other observation instruments used in astronomy.

[0078] Optionally, the terminal device 120 may be an electronic device with logic computing functions such as a server, a personal computer (PC), a tablet computer, a smart phone, a personal digital assistant (PDA), etc. The terminal device 120 may be provided with a corresponding human-computer interaction interface to obtain various information input by the user and to display the corresponding shooting process, shooting data, etc. to the user. The imaging sensor 130 may include one or more image sensors, and the image sensor may be set to various types of CMOS (Complementary Metal-Oxide-Semiconductor) sensors, CCD (Charge-Coupled Device), etc., which can convert optical signals into electrical signals to achieve corresponding imaging functions.

[0079] It should be noted that the control device 110 is provided with a signal interface and / or a communication module; the control device 110 is connected to the terminal device 120, the imaging sensor 130 and the connection device 140 through the signal interface and / or the communication module. The control device 110 can realize electrical line connection with the terminal device 120, the imaging sensor 130 and the connection device 140 through the signal interface provided. For example, the terminal device 120, the imaging sensor 130 and the connection device 140 can be connected to the signal interface through a transmission line to realize the corresponding communication connection. The control device 110 can also realize wireless connection with the terminal device 120, the imaging sensor 130 and the connection device 140 through the communication module provided. The specific communication connection mode can be set and adjusted according to the actual device situation of the control device 110 and the actual needs of the scene.

[0080] On the basis of the communication connection, the control device 110 can receive the signal data sent by the terminal device 120, the imaging sensor 130 and the connection device 140 based on the signal interface and / or the communication module. It should be noted that due to the different types of devices, the signal data can also include a variety of different types of data. For example, the signal data can include: demand data, shooting data, device parameters and other device-related data.

[0081] For example, the demand data in the signal data may be data transmitted in the terminal device 120, and the demand data may include a variety of shooting-related demand conditions input by the user, such as the user's demand conditions for the shooting target, shooting duration, focal length used during shooting, filter used during shooting, device parameters required for shooting, and other shooting-related situations. The shooting data may be data transmitted in the imaging sensor 130, and the shooting data may include multiple frames of images or video data captured by the imaging sensor 130. The device parameters may be parameter data related to the work of various devices sent by various devices that are communicatively connected to the control device 110, so that the control device 110 can determine the working conditions of each device based on the device parameters.

[0082] Optionally, the control device 110 can analyze and process the received signal data to generate various types of control instructions, and perform scheduling and allocation of shooting tasks. The terminal device 120, the imaging sensor 130, and the connection device 140 can receive the control instructions sent by the control device 110 based on the signal interface and / or the communication module, so as to respond to the corresponding control instructions and cooperate to perform the corresponding shooting tasks.

[0083] exist Figure 1 In the illustrated embodiment, the control device 110 can communicate with the terminal device 120, the imaging sensor 130, and various types of connection devices 140 required for shooting through the provided signal interface and / or communication module, so as to realize the data transmission function through the communication connection, and based on the communication connection, the control device 110 receives the signal data sent by various devices, so as to generate various control instructions according to the various signal data, so as to realize the unified control of various types of devices. It is possible to integrate various different control functions into the control device 110, and there is no need to respectively set up corresponding software in various different devices for control, which effectively reduces the operational difficulty of system control and the time and energy cost of users in learning to use the system, and also optimizes the complex connection and winding conditions when the system is used, improves the efficiency and effectiveness of the control of each device in the system, and meets the control requirements of various different shooting tasks.

[0084] It should be noted that the imaging sensor 130 can be used as an external device connected to the control device 110. In some cases where high device integration is required, the imaging sensor 130 can also be integrated into the control device 110. The imaging sensor 130 can be communicated with the control device 110 through an internal circuit so that the control device 110 has corresponding control functions and shooting functions, which effectively reduces the device volume of the control system and reduces the wiring complexity when the control device 110 is connected to external devices through a signal interface.

[0085] For example, the internal circuit may include corresponding connection lines or communication buses, and the wiring structure of the internal circuit may be designed according to the actual space conditions inside the control device 110 .

[0086] It should be noted that, in the case where the integration requirement of some devices is high and the internal space of the control device 110 is large enough, the connection device 140 can also be integrated into the control device 110 and communicate with the control device 110 through the internal circuit.

[0087] Optionally, the control device 110 may also be provided with corresponding temperature modulation devices, which may include devices such as TEC and radiator that control the temperature of the imaging sensor 130 to reduce thermal noise, and structures such as heating rings that control the temperature of the lens to reduce lens fogging.

[0088] Optionally, see Figure 2 , Figure 2A structural diagram of another control system provided in an embodiment of the present application. The control device 110 may include: a controller 111 for realizing the control function and a housing 112 for external protection. The controller 111 may be set as a plurality of types of integrated circuit chips, having the ability to process signals. For example, the controller 111 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The housing 112 may be made of corresponding materials according to actual use requirements, weight requirements and cost requirements, and the shape of the housing 112 may be designed according to the size of the internal devices such as the controller 111. For example, in order to effectively protect the internal devices such as the controller 111 and improve the reliability of the control device 110 during use, a cylindrical or box-shaped housing 112 may be made of metal materials.

[0089] In the case where the imaging sensor 130 is integrated into the control device 110, the controller 111 and the imaging sensor 130 may be arranged inside the housing 112, and the imaging sensor 130 is connected to the controller 111, and a communication connection is achieved through a corresponding internal circuit. The signal interface 113 and / or the communication module 114 are arranged on the housing 112, and the signal interface 113 and / or the communication module 114 are connected to the controller 111, and may also be connected to the controller 111 through a corresponding internal circuit to achieve a corresponding data transmission function.

[0090] It should be noted that in order to further optimize the complex connection situation during wiring connection, on the shell 112, there is a preset first gap distance d1 between the interface areas where two adjacent signal interfaces 113 are located, and there is a preset second gap distance d2 between adjacent signal interfaces 113 and the communication module 114. The positions of the signal interfaces 113 and / or the communication module 114 are designed in an isolated arrangement manner. There is a preset first gap distance d1 between the interface areas where two adjacent signal interfaces 113 are located. If the signal interface 113 and the communication module 114 exist at the same time, there is a preset second gap distance d2 between the adjacent signal interfaces 113 and the communication module 114, so as to reduce the adverse conditions such as winding and failure of normal connection caused by the close spatial positions of multiple signal interfaces 113 and / or communication modules 114.

[0091] For example, the first gap distance d1 and the second gap distance d2 can be designed according to the shape and size of the mounting surface of the shell 112 where the signal interface 113 and / or the communication module 114 are set, and the number and size of the signal interface 113 and / or the communication module 114. For example, the first gap distance d1 and / or the second gap distance d2 are set to an area with a gap width greater than 1 cm.

[0092] Optionally, the communication module 114 may also be disposed inside the housing 112 .

[0093] Optionally, in order to adapt to a variety of different communication connection requirements, the signal interface 113 may include multiple types of interfaces. For example, the signal interface 113 may include: a USB interface and / or a Type-C interface to respectively connect to the transmission lines of a variety of externally connected devices; the communication module 114 may also include an antenna structure with a variety of communication protocols. For example, the communication module 114 may include a variety of types of WAP protocols and a variety of types of WiFi antennas operating on the 2.4GHz and / or 5GHz frequency bands. The communication module 114 can be set according to the actual transmission efficiency requirements to suit a variety of different communication scenarios.

[0094] Optionally, the control chip in the imaging sensor 130 can be set inside the shell 112, and the control chip and the controller 111 can be connected through an internal circuit to realize corresponding signal and command transmission. The controller 111 can also be directly used as a chip for controlling and processing the imaging sensor 130, and the controller 111 can be directly connected to the imaging sensor 130 through the internal circuit to control the shooting work of the imaging sensor 130.

[0095] Optionally, considering the impact of focal length on the imaging sensor 130 when shooting, the user may have a variety of different focusing requirements for different shooting scenes. Therefore, the adjustment device may include: a focusing component. Accordingly, the device parameters sent by the focusing component may include: a current focal length parameter, and the control instruction generated by the control device based on the device parameter may include: a focusing instruction. The control device 110 determines the focusing instruction based on the received focal length parameter and the required data, and sends the focusing instruction to the focusing component based on the signal interface and / or the communication module; wherein the focusing instruction may include: a target focal length parameter; and the focusing component performs focal length adjustment based on the received focusing instruction. The control device 110 can determine the focusing instruction containing the target focal length parameter currently required by the imaging sensor 130 according to the received focal length parameter and the required data, so as to send the focusing instruction to the focusing component through the communication connection, and the focusing component responds to the focusing instruction to perform focal length adjustment processing. Before or during shooting, the focusing component can be controlled to perform real-time focal length adjustment processing according to the user's actual focusing requirements for the imaging sensor 130, so as to provide a suitable focal length for the shooting of the imaging sensor 130, thereby meeting the user's various different focusing requirements and improving the quality of the data obtained by the imaging sensor 130.

[0096] For example, the focusing assembly may include corresponding electric focusing seats and other devices, and external electric focusing may be implemented on the manual focusing seat by electric control, so as to cooperate with the control device 110 to realize a series of functions such as automatic focusing and automatic correction of focus during shooting. The electric focusing seat may be connected to the USB interface in the signal interface through a connecting line to realize the communication connection between the control device 110 and the electric focusing seat through a serial communication protocol. The device parameters sent by the electric focusing seat may include: the current focusing position (i.e., the current focal length parameter), the current temperature of the temperature probe, the upper limit of the motor stroke, and the basic information of the electric focusing seat, including the name, firmware version information, etc. The focusing instruction may include: the instruction to control the motor movement of the electric focusing seat, the moving direction and moving stroke corresponding to the target focal length parameter, etc.

[0097] Optionally, considering the influence of the filter on the imaging sensor 130 when shooting, the user may have a variety of different filter requirements for different shooting scenes, therefore, the adjustment device may include: a filter component, and accordingly, the device parameters sent by the filter component may include: current filter parameters, and the control instructions generated by the control device based on the device parameters may include: filter instructions. The control device 110 determines the filter instruction based on the received filter parameters and demand data, and sends the filter instruction to the filter component based on the signal interface and / or the communication module, wherein the filter instruction may include: target filter parameters, and the filter component switches the filter based on the received filter instruction. The control device 110 can determine the filter instruction containing the target filter parameters currently required by the imaging sensor 130 according to the received filter parameters and demand data, so as to send the filter instruction to the filter component through the communication connection, and the filter component responds to the filter instruction to perform the filter switching process. Before or during shooting, the filter component can be controlled to perform real-time filter switching processing according to the user's actual filter requirements for the imaging sensor 130, so as to provide a suitable filter for the shooting of the imaging sensor 130, thereby meeting the user's various different filter requirements and improving the quality of the data obtained by the imaging sensor 130.

[0098] For example, the filter assembly may include a corresponding electric filter wheel or a push-pull filter assembly. The filter assembly may include a variety of different types of optical filters, and the optical filter to be used may be switched by electric control. The filter assembly may be connected to the USB interface in the signal interface via a connecting line to achieve communication connection between the control device 110 and the filter assembly via a serial communication protocol. Taking the electric filter wheel as an example, the device parameters sent by the filter assembly may include: basic information of the filter wheel, including the number of holes, firmware version information, name, etc., and the current hole position (i.e., the current filter parameter). The filter instructions may include: instructions for controlling the rotation of the filter wheel, the direction and stroke of the one-way / two-way rotation corresponding to the target filter parameters, and instructions for recalibrating the filter wheel.

[0099] Optionally, in the field of astronomical photography, in order to realize corresponding guiding and celestial body tracking functions during shooting, the astronomical positioning device may include: an equatorial mount or a theodolite. In order to improve the accuracy of guiding and celestial body tracking, the shooting data may include correction data obtained by the imaging sensor 130, and the correction data may also include multiple frames of images or video data obtained by shooting. The control instructions generated by the control device 110 based on the shooting data may include: correction instructions and correction instructions.

[0100] It should be noted that, considering that in the field of astronomical photography, the targets to be photographed are usually various types of celestial bodies, and due to the rotation and revolution of the earth, the targets to be photographed may move during a long period of photographing. In order to photograph the targets, the imaging sensor 130 needs to move with the targets to improve the accuracy of the movement of the imaging sensor 130 and the validity of the photographing data. The control device 110 may send the location information of the control system area to the astronomical positioning device, such as the longitude and latitude location information, etc. The equatorial mount or theodolite may drive the imaging sensor 130 to point to the target sky area that can be photographed normally based on the received location information. Before the formal shooting or during the shooting process, the imaging sensor 130 may shoot the correction data of the target area based on the received correction instruction, and send the correction data obtained by shooting to the control device 110 based on the signal interface and / or the communication module.

[0101] Optionally, the target area is determined based on the direction of the astronomical positioning device. Taking the equatorial mount as an example, before the formal shooting, the equatorial mount usually performs polar axis calibration to automatically track the target, offset the rotation of the earth, and control the imaging sensor 130 to track the target, so as to ensure that the target is relatively still in the image of the imaging sensor 130 to achieve long exposure. However, in actual situations, the accuracy of the polar axis calibration of the equatorial mount is unstable. In addition, there are various analytical structural errors, errors between the bodies, and disturbances received by external forces in the environment (ground vibration, wind, etc.), which may cause the imaging sensor 130 to be unable to achieve relative stillness with the shooting target. Therefore, the corresponding main camera, as well as guide mirror + guide camera, OAG offset guide, dual sensor camera and other guide devices can be set in the imaging sensor 130. The focal length of the guide device is smaller than the focal length of the main camera. The main camera is imaged through the main mirror, and the guide device is imaged through the guide mirror. When shooting, the main camera normally performs long exposure, and the guide device can perform short exposure to obtain corresponding correction data.

[0102] It should be noted that the target area can be an area suitable for shooting determined by the astronomical positioning device based on the position information of the control system. For example, the target area is set to an area within the range of plus or minus 30 degrees of declination and with an altitude angle greater than 30 degrees, so that the imaging sensor 130 can obtain effective correction data based on shooting in the target area.

[0103] The control device 110 can perform analysis processing based on the received correction data, and the analysis processing can include image analysis and image positioning, etc., to generate correction instructions, and send the correction instructions to the astronomical positioning device based on the signal interface and / or the communication module. The astronomical positioning device can be corrected in real time before or during shooting to adjust the position of the imaging sensor 130 in real time, effectively reducing the position error of the imaging sensor 130 during the shooting process, so that the imaging sensor 130 can follow the movement of the shooting target with high precision and generate corresponding movement, reducing the unfavorable situation of the shooting target deviating or not shooting the shooting target, and further improving the validity of the data obtained by shooting.

[0104] For example, considering that the correction data contains multiple different targets, in order to improve the effectiveness of the generated correction instructions, the control device 110 can use the analytical method of target positioning to perform correction processing. In order to improve the effectiveness of target positioning, the reference target can be determined in the correction data according to the preset brightness condition to improve the effectiveness of the reference target and the accuracy of positioning. The brightness condition can be set to a higher brightness value, and the reference target can be a star point, celestial body and other targets in the image. The determined position of the reference target is analyzed to determine its moving direction and amount, and generate corresponding correction instructions. For example, the correction data can be processed according to various types of guiding algorithms to determine the movement parameters of the reference target according to the movement of the reference target in multiple frames of images in the correction data under time changes. The movement parameters can include the movement direction of the reference target and movement component data in various directions. Since there is a corresponding relationship between the position of the reference target in the correction data screen and the pointing area of ​​the equatorial mount, the target attitude of the equatorial mount after calibration can be determined based on the movement parameters in combination with the corresponding relationship between the reference target and the equatorial mount. The reference target can also be used as the pointing target of the equatorial mount to capture a corresponding reference image, so as to determine the position offset of the reference target based on the position difference between the reference image and the reference target in the correction data screen, thereby determining the target attitude of the equatorial mount based on the position offset. Since the target attitude corresponds to the theoretical pointing area of ​​the equatorial mount, the offset of the equatorial mount can be determined based on the theoretical pointing area and the actual pointing area of ​​the equatorial mount, or the corresponding offset can be calculated based on the target posture and actual posture of the equatorial mount, so as to generate a correction instruction for controlling the equatorial mount to correct the attitude based on the offset.

[0105] For example, the guiding algorithm used may include a variety of algorithms, such as threshold segmentation, connected domain analysis, morphological processing algorithms for detecting celestial bodies, matching algorithms for identifying celestial bodies, and centroid calculation, Gaussian fitting, peak detection and other algorithms for locating celestial bodies. The guiding algorithm can automatically find and track stars, and can select star points with appropriate brightness near the observed target as guided stars, that is, reference targets, combined with the guiding tracking algorithm and the calculation of star point offsets for processing, and generate corresponding correction instructions. In addition, multiple reference targets can also be used for calculation. The algorithm for calculating the offset of multiple targets is similar to the algorithm for calculating the centroid of the star point. The weight of each star point is the ratio of the current star point signal-to-noise ratio to the brightest star point signal-to-noise ratio. The correction instruction may include the corresponding offset, so that the astronomical positioning device will adjust its own position according to the target position corresponding to the offset until the position offset reaches a certain accuracy requirement.

[0106] It should be noted that, since the correction instruction may include the corresponding offset, astronomical positioning devices such as equatorial mounts or theodolites can perform attitude correction based on the received correction instruction. The attitude correction may include angle correction and / or direction correction. Due to the fixed relative position between the astronomical positioning device and the imaging sensor, the imaging sensor can perform synchronous shooting position adjustment based on the attitude-corrected astronomical positioning device.

[0107] Optionally, in order to improve the accuracy of the correction of the astronomical positioning device, a preset offset value can also be set to compare the actual offset of the astronomical positioning device with the preset offset value to determine the offset degree of the astronomical positioning device. When the offset is greater than or equal to the preset offset value, it indicates that the offset degree of the astronomical positioning device is high. The correction instruction including the correction parameter can be determined according to the posture relationship between the actual posture and the target posture to control the astronomical positioning device to continue to perform attitude correction. For example, taking the equatorial mount as an example, the correction parameters in the correction instruction may include the direction and correction intensity of the equatorial mount correction. The preset offset value can be set to a smaller value, for example, the preset offset value is set to 0.5-0.8 arc seconds to improve the position accuracy of the equatorial mount. The attitude correction of the astronomical positioning device can be an iterative correction process. If it is detected that the corrected offset is still greater than or equal to the preset offset value, the attitude correction of the astronomical positioning device can continue until the offset is less than the preset offset value, which indicates that the offset degree of the astronomical positioning device is low, the correction process is completed, and the subsequent shooting task can be started.

[0108] Optionally, taking the equatorial mount as an example, the attitude of the equatorial mount can be corrected during the polar alignment process before the formal shooting, or the attitude of the equatorial mount can be corrected in real time before the formal shooting or during the guiding process during shooting. For example, the attitude of the astronomical positioning device can be automatically adjusted by controlling a motor or other device connected to the astronomical positioning device, or a correction instruction containing correction parameters can be sent to the terminal device through a signal interface and / or a communication module, and the user can manually adjust the attitude of the astronomical positioning device based on the correction parameters.

[0109] Optionally, considering the impact of various working parameters of the imaging sensor 130, such as field parameters, exposure parameters, shooting parameters, gain parameters and cooling parameters, on shooting, users may have various different parameter requirements for different shooting scenes. Therefore, the device parameters sent by the imaging sensor 130 may include: working parameters, which may include various shooting-related parameters such as the current field parameters, exposure parameters, shooting parameters, gain parameters and cooling parameters of the imaging sensor 130. The control instructions generated by the control device 110 based on the device parameters may include: parameter adjustment instructions.

[0110] For example, field parameters may include the type of field, such as bright field, bias field, flat field and dark field, and may also include the gain and time of the field, etc. Exposure parameters may include the exposure time and the number of repetitions, gain parameters may include corresponding gain, offset, sensitivity and other parameters, shooting parameters may include shooting duration, type, viewfinder size, shape, number of images captured, interval, video recording duration and other types of parameters.

[0111] The control device 110 can generate parameter adjustment instructions based on the received working parameters and demand data, and send parameter adjustment instructions to the imaging sensor 130 based on the signal interface and / or the communication module. The parameter adjustment instructions include: target working parameters, and the target working parameters can also include corresponding target field parameters, target exposure parameters, target shooting parameters, target gain parameters, target cooling parameters and other parameters that meet the user's parameter requirements. The imaging sensor 130 can perform parameter adjustment processing based on the received parameter adjustment instructions, and can control the imaging sensor 130 to perform real-time parameter adjustment processing according to the user's actual parameter requirements for the imaging sensor 130 before or during shooting, so as to configure appropriate parameters for shooting, thereby meeting the user's various shooting requirements and improving the quality of the data captured by the imaging sensor 130.

[0112] Optionally, see Figure 3 , Figure 3 This is a flow chart of a first shooting control method provided in an embodiment of the present application. The method may include steps S200-S300.

[0113] Step S200: configuring target parameters of each shooting target based on the demand data sent by the terminal device.

[0114] Among them, due to the differences in shooting targets, in order to effectively shoot each shooting target, corresponding target parameters can be configured for different shooting targets to perform corresponding shooting tasks.

[0115] Optionally, the target parameters may include the imaging sensor used during shooting, the astronomical positioning device and the device parameters required for the operation of various types of connected devices, such as the target operating parameters of the imaging sensor, the target focal length parameters of the focusing component in the connected device, the target filter parameters of the filter component, the target position of the astronomical positioning device, etc.

[0116] Optionally, the target parameters can be stored in corresponding sequence cards. The sequence cards can be named according to unique identity information such as the name, number, serial number, etc. of the shooting target, and the sequence cards can be deleted or backed up after the shooting is completed to reduce the storage pressure in the control device.

[0117] Step S300: Control the imaging sensor and the connection device to shoot the target based on the target parameters to obtain shooting data.

[0118] After configuring the target parameters of all current shooting targets, the imaging sensor and the connection device connected in communication can be controlled based on the target parameters to automatically shoot the shooting targets to obtain the required shooting data.

[0119] Optionally, the control device can control the communication-connected imaging sensor and various types of connected devices to perform operations such as movement, exposure, and shooting based on the target parameters.

[0120] exist Figure 3 In the embodiment shown, a variety of different control functions can be integrated into the control device, and there is no need to set up corresponding software in a variety of different devices for control, which effectively reduces the operational difficulty during shooting control and the time and energy cost of users in learning to use it, and meets the control needs of a variety of different shooting targets.

[0121] See also Figure 4 , Figure 4 A detailed flow chart of step S200 is provided for an embodiment of the present application, wherein the demand data may include selection information for selecting a target and adjustment information for adjusting parameters of various devices during shooting, and step S200 may include steps S210-S230.

[0122] Step S210: determining a shooting target from a plurality of targets to be selected according to the selection information.

[0123] Among them, the control device can provide multiple photographable targets to be selected for the user to choose. The user can make a selection based on the targets to be selected displayed in the terminal device to determine the corresponding selection information. The selection information can be various types of information such as tables and marks, so as to determine one or more shooting targets to be shot from multiple targets to be selected based on the user's selection.

[0124] It should be noted that the target to be selected can be determined according to the photography scene. For example, when the photography scene is an object photography scene, the target to be selected can be targets such as people, plants, buildings or animals. Whether the object can be photographed can be determined based on various factors such as the object's position, occlusion and brightness. When the photography scene is an astronomical photography scene, the target to be selected can be various types of celestial bodies such as the sun, moon, planets, deep sky objects, etc.

[0125] Step S220: determining a corresponding parameter template based on the identity information and history information of each shooting target.

[0126] Among them, for each shooting target, its corresponding identity information and history information can be extracted to generate a corresponding parameter template.

[0127] Optionally, the identity information of the shooting target may include unique identification information such as the name, number, serial number, etc. of the shooting target. The user's corresponding account database, or a database that is open and has usage permissions in the cloud can be queried based on the identity information to obtain corresponding historical information. The historical information may include historical parameters used for historical shooting based on the shooting target on the same device. When there are different historical parameters, the highest-rated historical parameter can be selected as the parameter template based on the evaluation of the historical shooting data corresponding to the historical parameter in the database, such as the clarity evaluation, or the number of likes, awards, and reposts on the social platform. Alternatively, multiple different historical parameters can be averaged or weighted to obtain the corresponding parameter template.

[0128] For example, a parameter template may include a plurality of different types of parameters and corresponding parameter options and / or parameter values.

[0129] It should be noted that a blank parameter template may also be directly provided for users to customize settings, thereby meeting various types of personalized needs.

[0130] Step S230: adjust the parameter template according to the adjustment information to determine the target parameters.

[0131] Among them, the user can make adjustments based on the parameter template, and the control device can obtain the adjustment information input by the user. The adjustment information may include voice information, text information, option information, adjustment range, size and other different types of information, and analyze the adjustment information to determine the direction and degree of adjustment of the parameter template. For example, increase the exposure time, change the field type or change the filter, increase the focal length, etc., to adjust the parameter template so that the obtained target parameters are more in line with the user's usage habits and meet the user's shooting needs.

[0132] Optionally, the control device can send the parameter template to a terminal device used by the user via the network, Bluetooth, etc., so that the human-computer interaction interface set on the terminal device can display the parameter template to the user for viewing, and provide corresponding options, buttons, etc. on the terminal device to collect adjustment information determined by the user based on the parameter template.

[0133] exist Figure 4 In the illustrated embodiment, a suitable shooting parameter template can be recommended to the user according to the identity of the selected shooting target and the historical shooting conditions, and a corresponding adjustment function can be provided to improve the diversity and effectiveness of the configured target parameters.

[0134] See also Figure 5 , Figure 5 A detailed flowchart of step S210 is provided for an embodiment of the present application. Step S210 may include steps S211-S213.

[0135] Step S211, determining the altitude angles of multiple target objects based on the current position information and time information of the control system.

[0136] Among them, considering that in the field of astronomical photography, the targets of photography are usually various types of celestial bodies. Due to the rotation and revolution of the earth, the altitude angles of celestial bodies are different at different times and positions. Therefore, the altitude angles of multiple target objects in the corresponding sky area can be determined separately according to the current position information and time information of the control system.

[0137] It should be noted that the altitude angle of the target object may include the angle between the celestial body and the horizon of the observer's location and the change in the angle. This angle is the angle between the line of sight of the celestial body and the horizon measured upward from the horizon. The altitude angle of the celestial body will change over time, and the observer's geographical location will also affect the altitude angle of the celestial body. The control device can be connected to external terminal devices such as theodolites and rangefinders to control the terminal devices to detect the altitude angle. In addition, considering that atmospheric refraction may affect the altitude angle measurement of celestial bodies, when light passes through the atmosphere, due to changes in atmospheric density, the light will be refracted, resulting in a certain deviation between the measured altitude angle and the actual value. Therefore, when performing detection, the control device can also make corresponding corrections to the obtained altitude angle based on the influence of atmospheric refraction.

[0138] Step S212, determining the to-be-selected targets that can be photographed from the multiple target objects according to the multiple altitude angles, and the available photographing time for each to-be-selected target.

[0139] Among them, the control device can determine the precise position of the celestial body in the sky according to the altitude angle, and then combine the system's position information to determine whether each target object can be photographed, so as to screen and determine the targets to be selected that can be photographed among multiple target objects, as well as the photographable time for each target to be selected.

[0140] Optionally, the control device can draw the altitude angle and photographable time of each target to be selected as a corresponding image, for example, draw a corresponding two-dimensional image with the altitude angle as the y-axis and the time node as the x-axis to construct the coordinate axis, and send the image to the user for review, so that the user can understand the actual photographable situation of each target to be selected.

[0141] Step S213: determining at least one shooting target selected by the user from the multiple targets to be selected according to the selection information.

[0142] The user may make a selection based on his / her own needs in combination with the target to be selected and the corresponding available shooting time to determine the shooting target desired by the user.

[0143] Optionally, multiple targets to be selected can be presented in the form of a table or image group in the terminal device used by the user, which can display the identity information, current location (such as longitude and latitude), altitude angle, available shooting time, and drawn two-dimensional image of each target to be selected.

[0144] exist Figure 5 In the illustrated embodiment, multiple photographable targets can be determined for user selection based on the actual position and time of the control system, effectively reducing the adverse effects of unphotographic targets on normal photography and improving the feasibility of photographing the target.

[0145] See also Figure 6 , Figure 6 This is a detailed flowchart of a second shooting control method provided in an embodiment of the present application. The method may further include steps S411-S412.

[0146] Step S411, determining the shooting duration of each shooting target.

[0147] Among them, in the scenario where the user has multiple targets to be photographed, there are multiple shooting targets. Since the user has different shooting requirements for each shooting target, in order to shoot the multiple shooting targets in an orderly manner, the shooting time required for each shooting target can be determined first, for example, the shooting time for the shooting target numbered 001 is 1 hour, the shooting time for the shooting target numbered 002 is 0.5 hours, and so on.

[0148] Optionally, in order to ensure the feasibility and effectiveness of shooting, an upper limit on the number of shooting targets may be set, for example, a maximum of 200 shooting targets may be shot in one shooting.

[0149] Step S412: sorting the multiple shooting tasks corresponding to the multiple shooting targets according to the shooting duration and available shooting time of each shooting target.

[0150] Among them, the multiple shooting tasks corresponding to the multiple shooting targets can be sorted in combination with the corresponding shooting time required for each shooting target, so as to create an automatic shooting process for automatically shooting multiple targets, so as to control the shooting of multiple shooting tasks in sequence according to the sorting.

[0151] It should be noted that the sequence information obtained after sorting may include the shooting sequence number or code corresponding to each shooting task, as well as various types of information such as the start shooting time, shooting duration, and end shooting time of each shooting task. The interval between two adjacent shooting tasks can be set and selected according to the corresponding shooting time range and user needs.

[0152] exist Figure 6 In the illustrated embodiment, the shooting tasks corresponding to the multiple shooting targets can be reasonably sorted according to the time situation, effectively reducing the confusion, interruption and other unfavorable situations existing when the multiple shooting tasks are executed, and improving the reliability of multi-target shooting.

[0153] See also Figure 7 , Figure 7 This is a detailed flowchart of a third shooting control method provided in an embodiment of the present application. The method may further include steps S421-S422.

[0154] Step S421, determining the control sequence of the terminal device, the imaging sensor and the connection device in each shooting task.

[0155] Among them, since the control device needs to control multiple different types of connected devices, therefore, considering the computing power limitations of the control device and other factors, when controlling multiple different types of devices in parallel, there may be unfavorable situations such as program confusion, task interruption, and control jamming. Therefore, the control sequence of the terminal devices, imaging sensors, and connection devices controlled by the control device in each shooting task can be determined first. The control sequence can include the execution time and startup sequence of each device connected to the control device for communication.

[0156] Step S422, based on the control sequence, single-line or sequential control is performed on the terminal device, the imaging sensor and the connection device.

[0157] Among them, during the execution of each shooting task, multiple connected devices can be controlled single-line or sequentially based on the control sequence, so that multiple shooting targets can be photographed in sequence using a serial control method, reducing conflicts that exist during parallel control.

[0158] Optionally, if the computing power of the control device is sufficient, and if multiple connected devices in the control sequence can work simultaneously, the control device can also control multiple devices simultaneously to achieve stable and efficient multi-line simultaneous control.

[0159] exist Figure 7 In the illustrated embodiment, a serial control method can be used to reduce various adverse situations caused by parallel control, thereby improving the reliability of each shooting task when it is executed.

[0160] See also Figure 8 , Figure 8 This is a detailed flowchart of a fourth shooting control method provided in an embodiment of the present application. The method may further include steps S431-S433.

[0161] Step S431, determining a first position of the photographing target in the photographing data and a second position of the imaging sensor during the photographing process.

[0162] Since both the shooting target and the imaging sensor move during the shooting process, the first position of the shooting target in the shooting data and the second position of the imaging sensor during the movement can be detected in real time during the shooting process.

[0163] Optionally, the first position is the relative position of the shooting target in the imaging area such as the image or video of the shooting data. The position area of ​​the shooting target in the shooting data can be determined by image recognition, feature extraction, etc., and the second position of the imaging sensor during the movement can be determined by the corresponding guiding algorithm. The second position is the position of the shooting target in the celestial sphere of the observation field of the imaging sensor during the shooting process.

[0164] Step S432: If it is determined that the first position is not in the center range of the shooting data, analysis is performed based on the shooting data to control the imaging sensor to move until the shooting target is in the center range.

[0165] Among them, it can be determined based on the first position whether the shooting target is in the center range of the shooting data, so that when it is not in the center range, analysis processing is performed based on the shooting data, and the astronomical positioning device is controlled to perform attitude correction, and the imaging sensor corresponding to the astronomical positioning device is controlled to move until the shooting target is in the center range, so that the centering processing can be automatically re-performed in the case of offset.

[0166] It should be noted that the manner of analyzing and processing the photographed data to control the astronomical positioning device to perform attitude correction and control the movement of the imaging sensor is similar to that in the aforementioned embodiment and will not be described in detail.

[0167] Optionally, a center range of corresponding size and shape may be set based on factors such as the actual size and shape of the image and the proportion of the photographed target in the image, such as the center range of a circle or a rectangle. The midpoint of the photographed target may also be identified, and a corresponding numerical threshold may be set based on the positional difference between the midpoint of the photographed target and the midpoint of the image to determine whether it is within the center range of the photographed data.

[0168] For example, when photographing a deep-space target, an automatic centering algorithm can be loaded. After the imaging sensor is exposed for a certain period of time, the control device can parse the shooting target in the shooting data to obtain the current position of the shooting target, and then compare it with the theoretical position of the shooting target to calculate the position deviation value. The control device can generate a correction instruction for the astronomical positioning device based on the position deviation value to correct the attitude of the astronomical positioning device. The astronomical positioning device continuously corrects its own attitude based on the correction instruction, thereby adjusting the pointing area to drive the adjustment of the shooting position of the imaging sensor until the shooting target is in the center of the picture in the shooting data.

[0169] Step S433: if it is determined that the second position is at the zenith position, the imaging sensor is controlled to perform zenith flipping.

[0170] Considering that the imaging sensor needs to follow the movement of the shooting target and generate corresponding movement during the shooting process, it can also be determined whether it is necessary to control the imaging sensor to perform mid-air flipping according to the actual situation of the second position.

[0171] It should be noted that the zenith position refers to the position of the photographed target when it is directly above the observer's head, that is, the moment when the photographed target passes the zenith. At this time, the photographed target is at the highest point on the celestial sphere, and its altitude above the horizon is 90°. The zenith flip means that during the astronomical photography process, when the photographed target moves to the vicinity of the zenith position, in order to maintain the continuity and stability of the observation, the imaging sensor needs to be flipped 180 degrees to adjust the direction of the imaging sensor so that the photographed target always remains within the field of view of the imaging sensor, thereby ensuring the continuity and stability of data collection.

[0172] Optionally, the control device can automatically control the imaging sensor to perform a zenith flip when the second position reaches the zenith position. The control device can also analyze the angles of the images before and after the zenith flip to detect whether the imaging sensor has produced a zenith flip. If the front and back images produce an angle change of 180 degrees, that is, the direction of the analyzed image has changed by 180 degrees compared to the previous direction, then the zenith flip is successful.

[0173] exist Figure 8 In the embodiment shown, the automatic centering of the shooting target can be achieved based on the position detection of the shooting target in the data during the shooting process, further reducing the adverse situation of deviation of the shooting target. The automatic mid-sky flip function of the imaging sensor can also be achieved based on the position detection of the imaging sensor during the movement of the shooting target, without the need for manual processing, and improving the efficiency and accuracy of the imaging sensor in target tracking.

[0174] Optionally, after acquiring the shooting data, in order to improve the quality of the shooting data, the shooting data may be first classified by target. For example, in the field of astronomical photography, the classification results may include solar surface class, lunar surface class, planetary class and deep space class. According to the classification result, the superimposed target required by the user is determined in the shooting data, and the multiple shooting data of the superimposed target are superimposed according to the actual type of the classification result to obtain the superimposed data.

[0175] Optionally, considering the distinctiveness of different types of shooting targets, different superposition processing methods can be used for different classification results. For example, the superposition processing can include: video superposition processing and image superposition processing. Considering the requirements of multiple angles such as size, direction, brightness, color, etc., the superposition data can also be edited and processed in various operations to obtain the final target data. The editing process can include various types of processing methods such as histogram control, cropping, rotation, mirroring, Bin, brightness, contrast, saturation, sharpening, inversion, automatic coloring, etc.

[0176] It should be noted that since different types of classification results have different target types, and the target features, brightness conditions, etc. corresponding to different types of targets are different, the target requirements can be determined by the user through checking, numbering, etc., according to the target requirements of the user. The target requirements can include the user's selection of a certain target. The user can determine the target requirements by checking, selecting, etc., so as to determine the superimposed target and the corresponding classification result required by the user in the shooting data according to the target requirements. The superimposed target and the corresponding classification result are determined in the shooting data. If the classification result is a solar surface class, a lunar surface class, or a planetary class, frame extraction processing is performed based on the shooting data to obtain multiple single-frame data; quality analysis is performed on each single-frame data to determine the target frame that meets the preset quality conditions; inter-frame alignment is performed according to the first type of features of multiple target frames to obtain first alignment data; multiple first alignment data are superimposed to obtain superimposed data; if the classification result is a deep space class, parameter verification is performed on the shooting data to obtain initial data with the same image parameters; the initial data is preprocessed based on a preset calibration field to obtain calibration data; alignment is performed based on the second type of features in the calibration data to obtain second alignment data; multiple second alignment data are superimposed to obtain superimposed data.

[0177] For example, for solar, lunar and planetary targets, video overlay can be used for processing. Optionally, the shooting data of the solar, lunar and planetary overlay targets can be corresponding video data, such as AVI video. All frames can be extracted from the video data to obtain multiple single-frame data, and the image quality of each single-frame data can be analyzed. The preset quality condition can be a percentage condition or a quality threshold. For example, multiple single-frame data with a quality value higher than the quality threshold can be taken as the target frame, or multiple single-frame data with a quality in the top 5% can be taken as the target frame. Feature extraction is performed on the target frame to obtain the first type of feature. For example, the features of the solar and lunar overlay targets can be feature points on the morphology, such as craters, sunspots, etc. The features of the planetary overlay targets can be the position of their geometric center, so that inter-frame alignment is performed according to the first type of features of multiple target frames to obtain first alignment data, and then the first alignment data is superimposed to obtain superimposed data with higher clarity.

[0178] For example, for targets with low darkness such as deep sky, image superposition can be used for processing. Image superposition can superimpose n images with exposure of x seconds together to achieve the effect of equivalent exposure of n*x seconds. All images in the shooting data of the superimposed target can be traversed first to verify the parameters to ensure the legitimacy of the image and have the same image parameters, such as resolution, Bayer information, RGB information, etc. In addition, since deep sky objects are relatively dim, it is not enough to rely on a single long exposure image to achieve a better effect. Therefore, the initial data can also be pre-processed by the set calibration field. The pre-processing can include calibrating the unevenness and noise of the image through the calibration field (dark field, bias field, flat field), obtaining the corresponding calibration data, and then extracting the second type of features in the calibration data, such as star points, so as to align according to the second type of features to obtain the second alignment data, and then superimpose the obtained second alignment data to obtain superimposed data with higher clarity. According to user needs and actual target types, a calibration field can be pre-made by superimposing multiple images.

[0179] An embodiment of the present application further provides a computer program product, which includes a computer program / instructions. When the computer program / instructions are executed by a processor, the steps in the shooting control method are implemented.

[0180] In several embodiments provided in the present application, it should be understood that the disclosed device can also be implemented in other ways. The device embodiments described above are merely schematic, for example, the block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices according to the multiple embodiments of the present application. In this regard, each box in the block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram, and the combination of the block diagrams, can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0181] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0182] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0183] The above description is only an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0184] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the 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.

[0185] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

Claims

1. A control system, characterized in that: The system comprises: a control device, a terminal device, an imaging sensor and a connection device; wherein the connection device comprises: an adjustment device and / or an astronomical positioning device; The control device is provided with a signal interface and / or a communication module; the control device is communicatively connected with the terminal device, the imaging sensor and the connection device via the signal interface and / or the communication module; The control device receives signal data sent by the terminal device, the imaging sensor and the connection device based on the signal interface and / or the communication module; wherein the signal data includes: demand data, shooting data and device parameters; The terminal device, the imaging sensor and the connecting device receive the control instruction sent by the control device based on the signal interface and / or the communication module.

2. The system according to claim 1, characterized in that in, The imaging sensor is integrated in the control device; The imaging sensor is communicatively connected to the control device via an internal circuit.

3. The system according to claim 2, characterized in that in, The control device comprises: a controller and a housing; the controller and the imaging sensor are arranged inside the housing, and the imaging sensor is connected to the controller; the signal interface and / or the communication module are arranged on the housing, and the signal interface and / or the communication module are connected to the controller; On the housing, there is a preset first gap distance between the interface areas where two adjacent signal interfaces are located, and there is a preset second gap distance between the adjacent signal interfaces and the communication module; Wherein, the signal interface includes: a USB interface and / or a Type-C interface; The communication module includes: a WiFi antenna.

4. The system according to any one of claims 1 to 3, characterized in that: in, The adjustment device includes: a focus adjustment component; the device parameters include: a current focal length parameter; the control instructions include: a focus adjustment instruction; The control device determines the focus instruction based on the received focal length parameter and the demand data, and sends the focus instruction to the focus component based on the signal interface and / or the communication module; wherein the focus instruction includes: a target focal length parameter; The focusing component performs focal length adjustment based on the received focusing instruction.

5. The system according to any one of claims 1 to 3, characterized in that: in, The adjustment device includes: a filter component; the device parameters include: current filter parameters; the control instructions include: filter instructions; The control device determines the filter instruction based on the received filter parameters and the demand data, and sends the filter instruction to the filter component based on the signal interface and / or the communication module; wherein the filter instruction includes: target filter parameters; The filter component switches filters based on the received filter instruction.

6. The system according to any one of claims 1 to 3, characterized in that: in, The astronomical positioning equipment includes: an equatorial mount or a theodolite; the shooting data includes: correction data; the control instructions include: correction instructions and revision instructions; The imaging sensor captures the correction data of the target area based on the received correction instruction, and sends the correction data to the control device based on the signal interface and / or the communication module; wherein the target area is determined based on the astronomical positioning device; The control device performs analysis based on the received correction data to generate the correction instruction, and sends the correction instruction to the astronomical positioning device based on the signal interface and / or the communication module; The astronomical positioning device performs attitude correction based on the received correction instruction, and the imaging sensor adjusts the shooting position based on the corrected astronomical positioning device.

7. The system according to any one of claims 1 to 3, characterized in that: in, The device parameters include: working parameters; wherein the working parameters include: at least one of the current field parameters, exposure parameters, shooting parameters, gain parameters and cooling parameters of the imaging sensor; the control instructions include: parameter adjustment instructions; The control device generates the parameter adjustment instruction based on the received operating parameters and the demand data, and sends the parameter adjustment instruction to the imaging sensor based on the signal interface and / or the communication module; wherein the parameter adjustment instruction includes: target operating parameters; The imaging sensor performs parameter adjustment processing based on the received parameter adjustment instruction.

8. A shooting control method, characterized in that: The method comprises: Based on the demand data sent by the terminal device, configure the target parameters of each shooting target; Based on the target parameters, an imaging sensor and a connecting device are controlled to shoot the shooting target to obtain shooting data.

9. The method according to claim 8, characterized in that in, The demand data includes: selection information and adjustment information; the target parameters of each shooting target are configured based on the demand data sent by the terminal device, including: Determining the shooting target from a plurality of targets to be selected according to the selection information; Determining a corresponding parameter template based on the identity information and historical information of each of the photographed targets; The parameter template is adjusted according to the adjustment information to determine the target parameter.

10. The method according to claim 9, characterized in that The step of determining the shooting target from a plurality of targets to be selected according to the selection information includes: Determine the elevation angles of multiple target objects based on the current position information and time information of the control system; According to the multiple altitude angle conditions, determining the to-be-selected targets that can be photographed from the multiple target objects, and the available photographing time for each of the to-be-selected targets; At least one of the shooting targets selected by the user from the multiple targets to be selected is determined according to the selection information.

11. The method according to claim 10, characterized in that in, If a plurality of shooting targets are included, the method further includes: Determining the shooting time of each of the shooting targets; According to the shooting duration and the available shooting time of each shooting target, the multiple shooting tasks corresponding to the multiple shooting targets are sorted.

12. The method according to claim 11, characterized in that in, The method further comprises: Determining a control sequence of the terminal device, the imaging sensor, and the connection device in each of the shooting tasks; Based on the control sequence, the terminal device, the imaging sensor and the connection device are controlled in a single line or in sequence.

13. The method according to any one of claims 8 to 12, characterized in that: The method further comprises: Determine a first position of the photographic target in the photographic data and a second position of the imaging sensor during the photographing process; If it is determined that the first position is not in the central range of the shooting data, performing analysis based on the shooting data to control the imaging sensor to move until the shooting target is in the central range; If it is determined that the second position is at the mid-height position, the imaging sensor is controlled to perform a mid-height flip.

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