Automatic star finding and tracking method and imaging equipment

Abstract

The invention belongs to the technical field of astronomical observation, and discloses an automatic star finding and tracking method and imaging equipment, and the method comprises the steps: collecting one or more first images through a shooting part of the imaging equipment, obtaining the coordinates of each first image in a space-time coordinate system according to all first images and corresponding collection moments, and obtaining the coordinates of each first image in the space-time coordinate system; determining a mapping relation between the imaging equipment and the space-time coordinate system according to the coordinates of all the first images in the space-time coordinate system, and performing automatic star finding and star tracking processing on the target celestial body by using the mapping relation; in the whole process, the imaging equipment can be calibrated at any attitude angle of any placement position, the target celestial body can be automatically and accurately shot and continuously tracked, manual intervention is not needed, and complex astronomical observation requirements can be met.

Description

Technical Field

[0001] The present application belongs to the technical field of astronomical observation, and in particular relates to an automatic star-finding and star-chasing method and imaging equipment. Background Art

[0002] The vast universe is full of mysteries and unknowns, which constantly arouse people's imagination and exploration. However, current astronomical telescopes require technical personnel with a certain professional foundation to manually calibrate and then locate the target star, and then realize the observation of the target star. For some ordinary people who are interested in celestial bodies, the complex operation and high operation threshold brought by the equipment make it particularly difficult to use astronomical telescopes to find targets of interest from the vast sea of ​​stars and continue to observe them.

[0003] Generally, when using an astronomical telescope, people can plan a star-seeking path in advance on a star map, and follow the star-seeking path to find the target in a place with a good observation environment. The whole process is time-consuming and labor-intensive, not only requiring high astronomy, but also easily increases the difficulty of the star-seeking process in places with poor observation environments. In addition, due to the continuous rotation of the earth, the target can easily move out of the field of view at a very small viewing angle of the astronomical telescope, and continuous observation requires the astronomical telescope to follow the rotation of the target at all times, and the entire manual operation process is rather cumbersome.

[0004] In order to optimize the above technical problems, the common astronomical observation method is to query the current star map through a handheld device, and obtain the current inclination of the lens barrel through a sensor to control the motor to rotate to the target position. However, this method requires querying the current star position through a handheld device, and also requires adding a sensor to read the inclination of the lens barrel, and the use process is relatively complicated; secondly, when using an astronomical telescope, the prior art proposes to first perform polar axis alignment on the basis of using an equatorial mount, and then find the current starry sky from the star catalog to calculate the current angle difference with the target, and then reach the target position. However, the use of the equatorial mount is too complicated and difficult to calibrate; or it is also proposed to use software-assisted polar axis alignment to lower the threshold of the equatorial mount for the polar axis, but it still requires a certain learning cost and requires repeated attempts. Summary of the invention

[0005] In order to solve the above-mentioned technical defects of astronomical telescopes, such as high learning cost and complicated stargazing operation, this application proposes an automatic star-finding and star-chasing method and imaging device, including: In a first aspect, an embodiment of the present application provides an automatic star-finding and star-chasing method, which is applied to an imaging device including a shooting component, and the method includes: Acquire at least one first image captured by the shooting component, and obtain the coordinates of each first image in the space-time coordinate system according to each first image and the corresponding acquisition time; Based on the coordinates of all the first images in the space-time coordinate system, a mapping relationship between the imaging device and the space-time coordinate system is obtained, so as to use the mapping relationship to perform star search and star chasing processing on the target celestial body.

[0006] In an optional solution of the first aspect, acquiring at least one first image captured by the shooting component includes: Controlling the exposure time of the shooting component to be a preset exposure time, and acquiring a first image captured by the shooting component; or Acquire a first image captured by a photographing component, and rotate the photographing component according to a preset angle; The second image collected by the shooting component after each rotation process is acquired, and the first image and all the second images are used as at least two first images.

[0007] In yet another optional solution of the first aspect, obtaining the coordinates of each first image in the space-time coordinate system according to each first image and the corresponding acquisition time includes: Identify the star point position from each first image based on a preset algorithm, and query the space coordinates corresponding to the star point position in a preset star database; According to the spatial coordinates corresponding to the star point position and the acquisition time of the corresponding first image, the coordinates of the star point in the space-time coordinate system are converted, and the coordinates of the star point corresponding to each first image in the space-time coordinate system are used as the coordinates of the corresponding first image in the space-time coordinate system.

[0008] In yet another optional solution of the first aspect, obtaining a mapping relationship between an imaging device and the space-time coordinate system based on coordinates of all first images in the space-time coordinate system includes: Based on the coordinates of the star point corresponding to each first image in the space-time coordinate system, determining the coordinates of the corresponding first image fixed point in the space-time coordinate system; Calculate the coordinates of the center of the circle according to the coordinates of each fixed point of the first image in the space-time coordinate system and a preset equation; The coordinates of the center of the circle are used as the mapping relationship between the imaging device and the space-time coordinate system; or Substitute the coordinates of the center of the circle into the preset rotation matrix expression to obtain the mapping relationship between the imaging device and the space-time coordinate system.

[0009] In yet another optional solution of the first aspect, after acquiring at least one first image captured by the photographing component, the method further includes: Acquire two first images, and calculate the rotation center position according to the two first images; The rotation center position is converted into coordinates in the space-time coordinate system, and according to the coordinates of the rotation center position in the space-time coordinate system, a mapping relationship between the imaging device and the space-time coordinate system is obtained.

[0010] In another optional solution of the first aspect, acquiring two first images, and calculating the rotation center position according to the two first images specifically includes: The pixel coordinates of the same points in the two first images are obtained, and the rotation center position is calculated according to the pixel coordinates of the same points.

[0011] In yet another optional solution of the first aspect, after acquiring at least one first image captured by the photographing component, the method further includes: Obtaining the position of the star point trajectory in the first image, and calculating the position of the trajectory center according to the star point trajectory position; The center position of the trajectory is converted into coordinates in the space-time coordinate system, and the mapping relationship between the imaging device and the space-time coordinate system is obtained according to the coordinates of the center position of the trajectory in the space-time coordinate system.

[0012] In yet another alternative of the first aspect, the method further comprises: Obtain the spatial coordinates and target time of the target celestial body, and convert the first coordinates of the target celestial body in the device coordinate system according to the spatial coordinates, target time and mapping relationship of the target celestial body; The rotation angle is obtained according to the coordinates of the shooting component in the device coordinate system and the first coordinates of the target celestial body in the device coordinate system, and the shooting component is controlled to perform rotation processing according to the rotation angle.

[0013] In another optional solution of the first aspect, converting the first coordinate of the target celestial body in the device coordinate system according to the spatial coordinates of the target celestial body, the target time, and the mapping relationship includes: According to the spatial coordinates of the target celestial body and the target time, the coordinates of the target celestial body in the space-time coordinate system are converted, and based on the coordinates of the target celestial body in the space-time coordinate system and the mapping relationship, the first coordinates of the target celestial body in the device coordinate system are obtained.

[0014] In yet another alternative of the first aspect, the method further comprises: Determine the next moment based on the current moment and the preset moment difference, and convert the second coordinate of the target celestial body in the device coordinate system according to the spatial coordinates of the target celestial body, the next moment and the mapping relationship; The deviation angle is calculated according to the second coordinate and the third coordinate of the target celestial body in the device coordinate system, and the rotation speed is obtained based on the deviation angle and the preset time difference; wherein the third coordinate of the target celestial body in the device coordinate system is obtained by converting the spatial coordinate of the target celestial body, the current time and the mapping relationship; The shooting component is controlled to rotate according to the rotation speed until the next moment.

[0015] In another optional solution of the first aspect, after controlling the photographing component to perform rotation processing according to the rotation angle, the method further includes: Acquire at least one third image captured by the shooting component, and obtain the coordinates of a corresponding third image fixed point in the space-time coordinate system based on each third image and the corresponding capture time; According to the coordinates of the third image fixed point corresponding to each third image in the time-space coordinate system, the acquisition time and the mapping relationship, the coordinates of the corresponding third image fixed point in the device coordinate system are converted; According to the acquisition time corresponding to each third image, the spatial coordinates of the target celestial body and the mapping relationship, the fourth coordinates of the corresponding target celestial body in the device coordinate system are calculated; According to the coordinates of each third image fixed point in the device coordinate system and the fourth coordinates of the corresponding target celestial body in the device coordinate system, a corresponding first correction parameter is obtained, and the shooting component is controlled to perform correction processing according to the corresponding first correction parameter.

[0016] In another optional solution of the first aspect, after controlling the photographing component to perform rotation processing according to the rotation angle, the method further includes: Acquire n+1 fourth images captured by the shooting component, and identify the pixel coordinates of the star point from each fourth image based on a preset algorithm; wherein n is a positive integer; Matching the star point pixel coordinates contained in the n+1th fourth image with the star point pixel coordinates contained in the nth fourth image to obtain a star point pair, and calculating the pixel offset parameter of the n+1th fourth image according to the star point pair; Calculate the nth moment difference between the nth fourth image and the n+1th fourth image, and obtain a second correction parameter according to the nth moment difference and a pixel offset parameter of the n+1th fourth image; The photographing component is controlled to perform correction processing according to the second correction parameter.

[0017] In yet another optional solution of the first aspect, the camera type of the shooting component is a telephoto camera.

[0018] In a second aspect, an embodiment of the present application provides an imaging device, the imaging device including a shooting component, and the imaging device further including: A coordinate determination module, used to obtain at least one first image captured by the shooting component, and obtain the coordinates of each first image in the space-time coordinate system according to each first image and the corresponding acquisition time; The star-finding processing module is used to obtain the mapping relationship between the imaging device and the space-time coordinate system based on the coordinates of all the first images in the space-time coordinate system, so as to perform star-finding and star-chasing processing on the target celestial body by using the mapping relationship.

[0019] In a third aspect, an embodiment of the present application further provides an imaging device, including a processor and a memory; The processor is connected to the memory; A memory for storing executable program codes; The processor runs the program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the automatic star-finding and star-chasing method provided by the first aspect of the embodiment of the present application or any one of the implementation methods of the first aspect.

[0020] In a fourth aspect, an embodiment of the present application provides a computer storage medium, which stores a computer program. The computer program includes program instructions. When the program instructions are executed by a processor, the automatic star-searching and star-chasing method provided by the first aspect of the embodiment of the present application or any one of the implementation methods of the first aspect can be executed.

[0021] Beneficial effects of this application: When performing automatic star search and star chasing, one or more first images can be captured by the shooting components included in the imaging device, and the coordinates of each first image in the space-time coordinate system can be obtained according to all the first images and the corresponding capture times, and then the mapping relationship between the imaging device and the space-time coordinate system can be determined according to the coordinates of all the first images in the space-time coordinate system, so as to use the mapping relationship to perform automatic star search and star chasing on the target celestial body; the whole process can enable the imaging device to complete calibration at any attitude angle at any placement position, and can automatically and accurately capture the target celestial body and continuously track the target celestial body without human intervention, and can meet complex astronomical observation needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 An overall flow chart of an automatic star-finding and star-chasing method provided in an embodiment of the present application; Figure 2 An overall flow chart of another automatic star-finding and star-chasing method provided in an embodiment of the present application; Figure 3 A schematic diagram of the structure of an imaging device provided in an embodiment of the present application; Figure 4 A schematic structural diagram of another imaging device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] The technical solutions 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.

[0025] In the following introduction, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The following introduction provides multiple embodiments of the present application, and different embodiments can be replaced or combined, so the present application can also be considered to include all possible combinations of the same and / or different embodiments recorded. Therefore, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then the present application should also be considered to include embodiments containing one or more of all other possible combinations of A, B, C, and D, although the embodiment may not be clearly recorded in the following text.

[0026] The following description provides examples and does not limit the scope, applicability or examples set forth in the claims. Changes may be made to the functions and arrangements of the elements described without departing from the scope of the present application. Various processes or components may be appropriately omitted, substituted or added to each example. For example, the described method may be performed in an order different from the order described, and various steps may be added, omitted or combined. In addition, features described in some examples may be combined in other examples.

[0027] See also Figure 1 , Figure 1 An overall flow chart of an automatic star-finding and star-chasing method provided in an embodiment of the present application is shown.

[0028] like Figure 1 As shown, the automatic star-finding and star-chasing method may at least include the following steps: Step 102: Acquire at least one first image captured by the shooting component, and obtain the coordinates of each first image in the space-time coordinate system according to each first image and the corresponding capture time.

[0029] In the embodiment of the present application, the automatic star-finding and star-chasing method can be applied to, but is not limited to, an imaging device (or a processor of an imaging device). The imaging device can be calibrated at any attitude angle at any placement position, and can automatically and accurately shoot the target celestial body and continuously track the target celestial body without human intervention, and can meet complex astronomical observation needs. Among them, the imaging device can include at least a shooting component, which can be composed of a camera and a rotatable component. The type of the camera can be a telephoto camera for acquiring images with a small field of view angle range. The rotatable component can adjust the attitude angle of the camera, for example, but not limited to, the rotatable component includes a first rotatable component for adjusting the pitch angle of the camera, and a second rotatable component for adjusting the yaw angle of the camera.

[0030] Here, in the embodiment of the present application, the imaging device may also include two shooting components, one shooting component is used to obtain images with a larger field of view angle range (the camera type may be a wide-angle camera), and the other shooting component is used to obtain images with a smaller field of view angle range (the camera type may be a telephoto camera). Each shooting component can realize the posture angle adjustment of the corresponding camera, and is not limited to this.

[0031] Of course, in addition to the shooting components mentioned above, the imaging device may also include but is not limited to conventional structures and functions such as a housing, a support base, a lens, and a processor, which will not be elaborated here.

[0032] It can be understood that one or more first images are captured by the shooting component included in the imaging device, and the coordinates of each first image in the space-time coordinate system are obtained based on all the first images and the corresponding capture times, and then the mapping relationship between the imaging device and the space-time coordinate system is determined based on the coordinates of all the first images in the space-time coordinate system, so that the mapping relationship can be used to automatically search for and chase the target celestial body; the whole process can enable the imaging device to complete calibration at any attitude angle at any placement position, and can automatically and accurately capture the target celestial body and continuously track the target celestial body without human intervention, and can meet complex astronomical observation needs.

[0033] Specifically, when automatically searching for and chasing stars, the imaging device may, but is not limited to, calibrate the shooting component in advance so that the image captured by the shooting component includes a clear starry sky area, and after calibrating the shooting component, obtain one or more first images captured by the shooting component, and then determine the coordinates of each first image in the space-time coordinate system based on each first image and the corresponding acquisition time. Here, when the number of first images is multiple (for example, two, three, or more than three), each first image can be captured by the shooting component when it is rotated to different attitude angles.

[0034] It can be understood that the coordinates of each first image in the space-time coordinate system can be understood as the coordinates of one or more star points contained in each first image in the space-time coordinate system. The space-time coordinate system can be but is not limited to including spatial coordinates and time coordinates. The spatial coordinates can be used to characterize the position of an object, and the time coordinates can be used to characterize a certain moment. For example, taking the space-time coordinate system as an hour angle coordinate system, the coordinates of each first image in the space-time coordinate system can be the hour angle coordinates (hour angle, ha) and declination coordinates (declination, dec) of one or more star points contained in each first image in the hour angle coordinate system. The hour angle coordinates can be calculated from the corresponding acquisition moment.

[0035] As an option of the embodiment of the present application, acquiring at least one first image captured by the shooting component includes: Controlling the exposure time of the shooting component to be a preset exposure time, and acquiring a first image captured by the shooting component; or Acquire a first image captured by a photographing component, and rotate the photographing component according to a preset angle; The second image collected by the shooting component after each rotation process is acquired, and the first image and all the second images are used as at least two first images.

[0036] Specifically, when acquiring the first image captured by the shooting component, the imaging device can set the exposure time of the shooting component to a preset exposure time. The preset exposure time can be but is not limited to a value greater than 10 seconds to ensure that a first image captured by the shooting component has clear and effective star point tracks.

[0037] In addition, the imaging device can also obtain a first image captured by the shooting component at the current attitude angle, and rotate the shooting component according to a preset angle, the preset angle can be but not limited to a yaw angle rotation of 5 degrees, that is, the yaw angle of the shooting component is rotated by 5 degrees (it can be increased by 5 degrees, or decreased by 5 degrees), and after each rotation of the shooting component, a fourth image captured by the shooting component can be obtained, so that all the fourth images and the first images are used as at least two first images captured by the shooting component. It can be understood that when the number of at least two first images is two, the at least two first images may include a first image and a fourth image; when the number of at least two first images is three, the at least two first images may include a first image and two fourth images; when the number of at least two first images exceeds three, the at least two first images may include a first image and at least three fourth images.

[0038] As another option of the embodiment of the present application, according to each first image and the corresponding acquisition time, the coordinates of each first image in the space-time coordinate system are obtained, including: Identify the star point position from each first image based on a preset algorithm, and query the space coordinates corresponding to the star point position in a preset star database; According to the spatial coordinates corresponding to the star point position and the acquisition time of the corresponding first image, the coordinates of the star point in the space-time coordinate system are converted, and the coordinates of the star point corresponding to each first image in the space-time coordinate system are used as the coordinates of the corresponding first image in the space-time coordinate system.

[0039] Specifically, the imaging device can identify the star point position from each first image based on a preset algorithm, and the star point position can be understood as the pixel coordinates of one or more star points contained in the first image, and the space coordinates corresponding to the star point position can be queried in the preset star database (the space coordinates can be but are not limited to equatorial coordinate system coordinates, that is, equatorial coordinate system coordinates corresponding to the pixel coordinates of one or more star points). Here, the preset star database can be obtained by analyzing the star coordinate big data well known in the art, which includes at least two star point pixel coordinate sets, one or more star point pixel coordinates corresponding to each star point pixel coordinate set, and the star point equatorial coordinate system coordinates corresponding to each star point pixel coordinate (the equatorial coordinate system coordinates may include right ascension coordinates and declination coordinates); when the star point pixel coordinates between any star point pixel coordinate set and any star point position have a high degree of match, it can be indicated that the equatorial coordinate system coordinates corresponding to the star point position in the corresponding first image are consistent with the star point equatorial coordinate system coordinates corresponding to the star point pixel coordinate set.

[0040] It can be understood that the preset algorithms may include but are not limited to processing algorithms such as image scaling, denoising, binarization, dilation and erosion, and connected domain extraction, which are used to extract the pixel coordinates of one or more star points in the image, and these various types of processing algorithms are technical means well known in the art and will not be elaborated here.

[0041] Then, after querying the spatial coordinates corresponding to the star point position of each first image, the imaging device can also convert the coordinates of the corresponding star point in the space-time coordinate system according to the spatial coordinates of each first image and the acquisition time (the coordinates of the star point in the space-time coordinate system can be understood as the coordinates of one or more star points in the corresponding first image in the space-time coordinate system respectively), and can use the coordinates of the star point corresponding to each first image in the space-time coordinate system as the coordinates of the corresponding first image in the space-time coordinate system.

[0042] Here, when converting the coordinates of the star point in the space-time coordinate system, the local sidereal time (i.e., LST, reflecting the position of the earth's rotation relative to the stars) can be calculated based on the acquisition time, but is not limited to it, and then the hour angle coordinate is calculated based on the local sidereal time and the right ascension coordinate in the space coordinate, so as to use the hour angle coordinate and the declination coordinate in the space coordinate as the coordinates of the corresponding star point in the space-time coordinate system (i.e., the hour angle coordinate and the declination coordinate in the time-space coordinate system). Of course, reference can also be made to the coordinate conversion means well known in the art, which will not be elaborated here.

[0043] Step 104: Based on the coordinates of all the first images in the space-time coordinate system, a mapping relationship between the imaging device and the space-time coordinate system is obtained, so as to use the mapping relationship to perform star search and star tracking processing on the target celestial body.

[0044] Specifically, after obtaining the coordinates of each first image in the space-time coordinate system, the imaging device can, but is not limited to, process the coordinates of all corresponding first images in the space-time coordinate system based on the number of all first images to obtain a mapping relationship between the imaging device and the space-time coordinate system, and can combine the mapping relationship between the imaging device and the space-time coordinate system to realize automatic star search and star chasing of the target celestial body. Here, the mapping relationship between the imaging device and the space-time coordinate system can be understood as the mapping relationship between the device coordinate system of the imaging device and the space-time coordinate system. The device coordinate system can be understood as the coordinate system formed by the shooting component of the imaging device in the pitch angle direction and the yaw angle direction (for example, the X-axis of the device coordinate system can be used to represent the yaw angle of the shooting component, and the Y-axis of the device coordinate system can be used to represent the pitch angle of the shooting component. The origin of the device coordinate system can be a fixed position somewhere on the imaging device). Taking the space-time coordinate system as the above-mentioned time angle coordinate system as an example, the mapping relationship can be specifically expressed as the time angle coordinate and declination coordinate of the imaging device in the time angle coordinate system, or a conversion matrix generated based on the time angle coordinate and declination coordinate in the time angle coordinate system, but is not limited to this.

[0045] As another option of the embodiment of the present application, obtaining a mapping relationship between an imaging device and the space-time coordinate system based on the coordinates of all first images in the space-time coordinate system includes: Based on the coordinates of the star point corresponding to each first image in the space-time coordinate system, determining the coordinates of the corresponding first image fixed point in the space-time coordinate system; Calculate the coordinates of the center of the circle according to the coordinates of each fixed point of the first image in the space-time coordinate system and a preset equation; The coordinates of the center of the circle are used as the mapping relationship between the imaging device and the space-time coordinate system; or Substitute the coordinates of the center of the circle into the preset rotation matrix expression to obtain the mapping relationship between the imaging device and the space-time coordinate system.

[0046] Here, taking the number of all first images as three as an example, the imaging device can convert the coordinates of the corresponding image fixed point in the space-time coordinate system according to the pixel coordinate position relationship between the star point and the image fixed point (the fixed point can be but is not limited to the center of the image) in each first image, combined with the coordinates of the corresponding star point in the space-time coordinate system. The acquisition of the pixel coordinate position relationship between the star point and the image fixed point in each first image may be an image processing method well known in the art, which will not be elaborated here.

[0047] Next, the imaging device may convert the coordinates of the image fixed point of each first image in the space-time coordinate system to obtain the coordinates of each image fixed point in the rectangular coordinate system, and substitute the coordinates of all the image fixed points in the rectangular coordinate system into the preset equation, and obtain the coordinates of the center of the circle in the rectangular coordinate system by solving the center of the circle between three points. It can be understood that when converting the coordinates of the image fixed point in the space-time coordinate system into the coordinates in the rectangular coordinate system, taking the image fixed point as the image center as an example, it can be but not limited to combining the preset altitude angle calculation formula and the preset azimuth angle calculation formula, converting the coordinates of the image center in the space-time coordinate system into the coordinates in the horizontal coordinate system, and then converting the coordinates of the image center in the horizontal coordinate system into the coordinates in the rectangular coordinate system, and the coordinate conversion methods mentioned here are all well-known technical means in the art, but will not be elaborated here.

[0048] Here, the preset equation may be but is not limited to the following: In the above formula, the first two equations can be understood as the mid-perpendicular plane equations, and the last equation can be understood as the plane equation. , as well as can be respectively the coordinates of the three image centers in the rectangular coordinate system (all known parameters), can be the coordinates of the center of the circle in the rectangular coordinate system (that is, the parameter to be solved), , as well as They can be the distances from the centers of the three images to the center of the circle (the three distances are equal), and A, B, C and D can be the parameters of the plane equation (all of which can be calculated by substituting the coordinates of the centers of the three images in the rectangular coordinate system).

[0049] Next, after obtaining the coordinates of the center of the circle in the rectangular coordinate system, the imaging device may also perform a conversion process on the coordinates of the center of the circle in the rectangular coordinate system to obtain the coordinates of the center of the circle in the time-space coordinate system, that is, the coordinates of the center of the circle. Here, the conversion process may be, but is not limited to, as follows: In the above formula, ha and dec are the coordinates of the center of the circle in the time-space coordinate system (ha is the hour angle coordinate in the hour angle coordinate system, and dec is the declination coordinate in the hour angle coordinate system), that is, the hour angle coordinate and declination coordinate of the imaging device in the hour angle coordinate system. The y and x in the last formula are the coordinates of the center of the circle in the rectangular coordinate system. as well as .

[0050] Of course, after obtaining the coordinates of the center of the circle in the space-time coordinate system, the imaging device can also substitute the coordinates of the center of the circle in the space-time coordinate system into a preset rotation matrix expression, so as to use the preset rotation matrix expression after substitution as a mapping relationship between the imaging device and the space-time coordinate system. Here, the preset rotation matrix expression can be, but is not limited to, as follows: In the above formula, It can be a preset rotation matrix expression, and ha and dec can be the coordinates of the center of the circle in the space-time coordinate system.

[0051] It can also be understood that when the number of at least one first image exceeds three, the imaging device can also, but is not limited to, refer to the above embodiment, use the image center as the image fixed point, convert the coordinates of each image center in the space-time coordinate system into coordinates in the rectangular coordinate system, and use the preset center of circle equation to perform least squares solution on the coordinates of all image centers in the rectangular coordinate system, calculate the coordinates of the center of the circle corresponding to all image centers in the rectangular coordinate system, and then convert the coordinates of the center of the circle in the rectangular coordinate system into coordinates in the space-time coordinate system, and the mapping relationship between the imaging device and the space-time coordinate system can be obtained based on the coordinates of the center of the circle in the space-time coordinate system, but no further details will be given here.

[0052] Here, the preset circle center equation may be but is not limited to the following: In the above formula, x, y and z may be the coordinates of the center of each image in the rectangular coordinate system, h, k and l may be the coordinates of the center of the circle in the rectangular coordinate system, and r may be the distance from the center of each image to the center of the circle; by substituting the coordinates of the centers of at least three images in the rectangular coordinate system into the preset circle center equation, the coordinates of the center of the circle in the rectangular coordinate system can be solved using the least squares method.

[0053] As another option of the embodiment of the present application, after acquiring at least one first image captured by the shooting component, the method further includes: Acquire two first images, and calculate the rotation center position according to the two first images; The rotation center position is converted into coordinates in the space-time coordinate system, and according to the coordinates of the rotation center position in the space-time coordinate system, a mapping relationship between the imaging device and the space-time coordinate system is obtained.

[0054] As another option of the embodiment of the present application, acquiring two first images and calculating the rotation center position according to the two first images specifically includes: The pixel coordinates of the same points in the two first images are obtained, and the rotation center position is calculated according to the pixel coordinates of the same points.

[0055] Specifically, when the number of at least one first image is two, the imaging device may also obtain the pixel coordinates corresponding to the same point of each first image in the equatorial coordinate system (i.e., the same point pixel coordinates), calculate the same point pixel coordinates using a preset numerical solution method, obtain the rotation center coordinates of the two first images (i.e., the rotation center position), and convert the rotation center coordinates into coordinates in the space-time coordinate system, thereby obtaining the mapping relationship between the imaging device and the space-time coordinate system. Here, the processing method of the rotation center coordinates and the coordinate conversion method can refer to the technical means known in the art, and will not be elaborated here.

[0056] As another option of the embodiment of the present application, after acquiring at least one first image captured by the shooting component, the method further includes: Obtaining the position of the star point trajectory in the first image, and calculating the position of the trajectory center according to the star point trajectory position; The center position of the trajectory is converted into coordinates in the space-time coordinate system, and the mapping relationship between the imaging device and the space-time coordinate system is obtained according to the coordinates of the center position of the trajectory in the space-time coordinate system.

[0057] Specifically, when the number of at least one first image is one, the imaging device can also identify at least three star point trajectory coordinates (i.e., star point trajectory positions) in the first image, and use the preset circle equation to perform least squares solution on all star point trajectory coordinates, calculate the center coordinates of all star point trajectories (i.e., trajectory center positions), and then convert the center coordinates into coordinates in the space-time coordinate system, and the mapping relationship between the imaging device and the space-time coordinate system can be obtained based on the coordinates of the center in the space-time coordinate system, but no further details will be given here.

[0058] Here, the preset circle equation may be but is not limited to the following: In the above formula, x and y can be the coordinates of each star point trajectory, as well as can be the coordinates of the center of the circle, and r can be the distance between each star point trajectory and the center of the circle; by substituting at least three star point trajectory coordinates into the preset circle equation, the coordinates of the center of the circle can be solved using the least squares method.

[0059] See next Figure 2 , Figure 2 The figure shows an overall flow chart of another automatic star-finding and star-chasing method provided in an embodiment of the present application.

[0060] like Figure 2 As shown, the automatic star-finding and star-chasing method may at least include the following steps: Step 202: Acquire at least one first image captured by the shooting component, and obtain the coordinates of each first image in the space-time coordinate system according to each first image and the corresponding capture time.

[0061] Specifically, step 202 may refer to step 102, which will not be described in detail here.

[0062] Step 204: Based on the coordinates of all the first images in the space-time coordinate system, a mapping relationship between the imaging device and the space-time coordinate system is obtained, so as to use the mapping relationship to perform star search and star tracking processing on the target celestial body.

[0063] Specifically, step 204 may refer to step 104, which will not be described in detail here.

[0064] Step 206: Acquire the spatial coordinates and target time of the target celestial body, and convert the first coordinates of the target celestial body in the device coordinate system according to the spatial coordinates, target time and mapping relationship of the target celestial body.

[0065] Specifically, after determining the mapping relationship between the imaging device and the space-time coordinate system, when automatic star-seeking processing is required, the imaging device can, but is not limited to, obtain the spatial coordinates and target time of the target celestial body input by the user through a mobile terminal or a touch interface. The spatial coordinates of the target celestial body can be understood as the right ascension coordinates and declination coordinates of the star body in the equatorial coordinate system queried by the user in the star map software, and the target time can be understood as the star-seeking time when the user needs to use the imaging device to perform star-seeking processing (for example, but not limited to the current time, to achieve real-time shooting of the star body; or it can also be a certain time in the future, to achieve scheduled shooting of the star body), and the spatial coordinates of the target celestial body, the target time and the above-mentioned mapping relationship can be combined to convert the coordinates of the target celestial body in the device coordinate system (that is, the first coordinate, which may include the angle of the shooting component controlled by the imaging device in the pitch direction and the angle in the yaw direction when the imaging device is at the target time).

[0066] As another option of the embodiment of the present application, the first coordinate of the target celestial body in the device coordinate system is calculated according to the spatial coordinates of the target celestial body, the target time, and the mapping relationship, including: According to the spatial coordinates of the target celestial body and the target time, the coordinates of the target celestial body in the space-time coordinate system are converted, and based on the coordinates of the target celestial body in the space-time coordinate system and the mapping relationship, the first coordinates of the target celestial body in the device coordinate system are obtained.

[0067] Specifically, the imaging device can calculate the local sidereal time (i.e., LST, reflecting the position of the earth's rotation relative to the stars) according to the target time, calculate the hour angle coordinate according to the local sidereal time and the right ascension coordinate in the space coordinate of the target celestial body, and use the hour angle coordinate and the declination coordinate in the space coordinate of the target celestial body as the coordinate of the target celestial body in the space-time coordinate system. It can be understood that the method of converting the coordinate of the target celestial body in the space-time coordinate system can be a conventional technical means in the art, and of course, other coordinate conversion means known in the art can also be referred to, but it is not repeated here.

[0068] Next, the imaging device may also substitute the coordinates of the target celestial body in the space-time coordinate system and the mapping relationship into a preset coordinate formula to calculate the coordinates of the target celestial body in the rectangular coordinate system. Here, the preset coordinate formula may be, but is not limited to, as follows: In the above formula, can be the coordinates of the target celestial body in the rectangular coordinate system, The preset rotation matrix expression (ie, mapping relationship) may be mentioned for the above embodiment, and ha and dec may be the coordinates of the target celestial body in the space-time coordinate system.

[0069] Next, the imaging device can also perform conversion processing on the coordinates of the target celestial body in the rectangular coordinate system. For example, the imaging device can calculate the coordinates of the target celestial body in the rectangular coordinate system. as well as , the r can be understood as the vector modulus (the default is 1), and the as well as As the first coordinate of the target celestial body in the device coordinate system. Here, The calculation method can be seen as follows: Step 208: Obtain a rotation angle according to the coordinates of the photographing component in the device coordinate system and the first coordinates of the target celestial body in the device coordinate system, and control the photographing component to perform rotation processing according to the rotation angle.

[0070] Specifically, after obtaining the first coordinate of the target celestial body in the device coordinate system, the imaging device can, but is not limited to, obtain the current attitude angle of the shooting component, which can also be understood as the pitch angle and yaw angle of the rotatable component of the shooting component at the current moment (which can be collected by the sensor set by the rotatable component), and then use the pitch angle and yaw angle as the coordinates of the shooting component in the device coordinate system, and according to the coordinate difference between the coordinates of the shooting component in the device coordinate system and the first coordinate of the target celestial body in the device coordinate system, the rotation angle of the rotatable component of the shooting component in the pitch direction and the rotation angle in the yaw direction can be obtained, and then the rotatable component of the shooting component can be controlled to rotate the pitch angle according to the rotation angle in the pitch direction, and synchronously rotate the yaw angle according to the rotation angle in the yaw direction, so as to ensure that the shooting component of the imaging device points to the target celestial body.

[0071] Here, when obtaining the coordinate difference between the coordinate of the shooting component in the device coordinate system and the first coordinate of the target celestial body in the device coordinate system, the imaging device can respectively calculate the difference between the pitch angles in the two coordinates and the yaw angles in the two coordinates, so as to use the two difference results as the coordinate difference. Of course, the rotation direction can also be determined based on but not limited to the size between the difference result and 0. For example, when the difference result is greater than 0, the direction of the corresponding rotation angle can be determined to be from front to back (or from left to right); when the difference result is less than 0, the direction of the corresponding rotation angle can be determined to be from back to front (or from right to left), and is not limited to this.

[0072] As another option of the embodiment of the present application, the method further includes: Determine the next moment based on the current moment and the preset moment difference, and convert the second coordinate of the target celestial body in the device coordinate system according to the spatial coordinates of the target celestial body, the next moment and the mapping relationship; The deviation angle is calculated according to the second coordinate and the third coordinate of the target celestial body in the device coordinate system, and the rotation speed is obtained based on the deviation angle and the preset time difference; wherein the third coordinate of the target celestial body in the device coordinate system is obtained by converting the spatial coordinate of the target celestial body, the current time and the mapping relationship; The shooting component is controlled to rotate according to the rotation speed until the next moment.

[0073] Since the earth rotates around its polar axis at an angular velocity of 15 degrees per hour, any celestial body moves slowly relative to the earth. Therefore, it is necessary to continuously adjust the attitude angle of the shooting component to achieve real-time tracking of the target celestial body (also known as star chasing processing).

[0074] Specifically, after determining the mapping relationship between the imaging device and the space-time coordinate system, when automatic star tracking processing is required, the imaging device can also obtain the next moment according to the sum of the difference between the current moment and the preset moment, and convert the coordinates of the target celestial body in the device coordinate system according to the spatial coordinates of the target celestial body, the next moment and the above-mentioned mapping relationship (that is, the second coordinate, which may include the angle of the imaging device in the pitch direction and the angle in the yaw direction when the imaging device is in the next moment). Here, the method of converting the coordinates of the target celestial body in the device coordinate system can be referred to the above embodiment, but it will not be repeated here.

[0075] It can be understood that the preset time difference in the embodiment of the present application can be but is not limited to being set to 1 second, so that the difference between the target moment and the next moment can be small enough. At this time, the preset time difference is very short relative to the movement speed of the star body. It can be approximately considered that the star body is doing uniform linear motion when moving from the target moment to the next moment. Therefore, the movement trajectory of the target star body can be divided into several small broken lines according to the time interval. A sufficiently short broken line path can well approximate the curved path of the target, and for each small broken line, the imaging device can be conveniently controlled to move from the starting point to the end point, thereby realizing star chasing processing.

[0076] Next, after obtaining the second coordinate of the target celestial body in the device coordinate system, the imaging device may perform a difference calculation between the second coordinate and the third coordinate (for example, the difference calculation may be performed between the pitch angle in the second coordinate and the pitch angle in the third coordinate, and the difference calculation may be performed between the yaw angle in the second coordinate and the yaw angle in the third coordinate), so as to obtain the rotation angle (that is, the deviation angle, which may include the deviation angle in the pitch direction and the deviation angle in the yaw direction) required for the imaging device to control the shooting component to track the target celestial body when the target celestial body moves from the current moment to the next moment, and the rotation speed required for the imaging device to control the shooting component to track the target celestial body may be obtained according to the ratio between the deviation angle and the preset moment difference. It is understandable that the rotation speed may include the rotation speed of the imaging device controlling the shooting component in the pitch direction (which may be the ratio between the deviation angle in the pitch direction and the preset moment difference), and the rotation speed in the yaw direction (which may be the ratio between the deviation angle in the yaw direction and the preset moment difference).

[0077] Here, the third coordinate of the target celestial body in the device coordinate system can be converted from the spatial coordinates of the target celestial body, the current time and the mapping relationship. The specific process can be referred to the above embodiment, which will not be described in detail here.

[0078] Next, the imaging device can control the shooting component to rotate according to the rotation speed. For example, the pitch angle of the shooting component can be rotated according to the rotation speed in the pitch direction, and the yaw angle of the shooting component can be rotated according to the rotation speed in the yaw direction at the same time, so as to realize the tracking of the target star from the current moment to the next moment, and can effectively cope with the influence of the earth's rotation to ensure the tracking accuracy.

[0079] Of course, the current moment mentioned above can also be but is not limited to being the target moment, that is, after completing the star-seeking process for the target celestial body, the star-chasing process for the target celestial body continues to be executed, and is not limited to this.

[0080] It should be noted that the embodiment of the present application can also continuously obtain the next moment according to the preset moment difference, and can refer to the above embodiment to determine the rotation speed required for the imaging device to control the shooting component to track the target celestial body between each two adjacent next moments according to the spatial coordinates of the target celestial body and the mapping relationship, thereby realizing continuous tracking processing of the target celestial body.

[0081] As another option of the embodiment of the present application, after controlling the shooting component to rotate according to the rotation angle, the method further includes: Acquire at least one third image captured by the shooting component, and obtain the coordinates of a corresponding third image fixed point in the space-time coordinate system based on each third image and the corresponding capture time; According to the coordinates of the third image fixed point corresponding to each third image in the time-space coordinate system, the acquisition time and the mapping relationship, the coordinates of the corresponding third image fixed point in the device coordinate system are converted; According to the acquisition time corresponding to each third image, the spatial coordinates of the target celestial body and the mapping relationship, the fourth coordinates of the corresponding target celestial body in the device coordinate system are calculated; According to the coordinates of each third image fixed point in the device coordinate system and the fourth coordinates of the corresponding target celestial body in the device coordinate system, a corresponding first correction parameter is obtained, and the shooting component is controlled to perform correction processing according to the corresponding first correction parameter.

[0082] In order to ensure that the target celestial body is stably located at a fixed point of the image captured by the shooting component (for example but not limited to the center of the image), the attitude angle of the shooting component can also be corrected according to the image captured by the shooting component in real time to avoid star-chasing errors of the imaging device.

[0083] Specifically, after automatically finding the target celestial body, the imaging device can also continuously acquire the third image (not limited to the time interval between two adjacent third images here) containing the target celestial body acquired by the shooting component, and obtain the coordinates of the corresponding third image fixed point in the time-space coordinate system according to each third image and the corresponding acquisition time. It can be understood that the method of obtaining the coordinates of the image fixed point of each third image in the time-space coordinate system can refer to the above embodiment, and will not be repeated here.

[0084] Next, since the target celestial body continues to move relative to the earth, the imaging device can also convert the fourth coordinates of the target celestial body corresponding to each third image in the device coordinate system according to the acquisition time of each third image, the spatial coordinates of the target celestial body mentioned above, and the mapping relationship. The conversion method here can also refer to the above embodiment, so it will not be elaborated here.

[0085] Next, after respectively obtaining the coordinates of the image fixed point of each third image in the space-time coordinate system and the fourth coordinates of the corresponding target celestial body in the device coordinate system, the imaging device can also perform a difference calculation between the coordinates of the image fixed point in the space-time coordinate system and the fourth coordinates of the target celestial body in the device coordinate system, so as to obtain the rotation angle required for the imaging device to control the shooting component toward the target celestial body when capturing each third image (that is, the first correction parameter, which may include the rotation angle in the pitch direction and the rotation angle in the yaw direction), and control the shooting component to perform correction processing according to the first correction parameter corresponding to each third image (that is, the coordinates of the target celestial body in the device coordinate system are the coordinates of the corresponding image fixed point in the space-time coordinate system), thereby ensuring that after capturing each third image, the position of the target celestial body in the image captured by the shooting component is promptly controlled to be at the specified position of the image.

[0086] It should be noted that the first correction parameter mentioned in the embodiment of the present application can also be but is not limited to the rotation speed of the shooting component, and is not limited to this.

[0087] As another option of the embodiment of the present application, after controlling the shooting component to rotate according to the rotation angle, the method further includes: Acquire n+1 fourth images captured by the shooting component, and identify the pixel coordinates of the star point from each fourth image based on a preset algorithm; wherein n is a positive integer; Matching the star point pixel coordinates contained in the n+1th fourth image with the star point pixel coordinates contained in the nth fourth image to obtain a star point pair, and calculating the pixel offset parameter of the n+1th fourth image according to the star point pair; Calculate the nth moment difference between the nth fourth image and the n+1th fourth image, and obtain a second correction parameter according to the nth moment difference and a pixel offset parameter of the n+1th fourth image; The photographing component is controlled to perform correction processing according to the second correction parameter.

[0088] In order to avoid the star-chasing speed error of the imaging device, the rotation speed of the shooting component can be corrected according to two adjacent images collected by the shooting component.

[0089] Specifically, after automatically finding the target celestial body, the imaging device can also continuously acquire the fourth image containing the target celestial body acquired by the shooting component, and after acquiring the n+1th fourth image (i.e. the fourth image currently acquired), the n+1th fourth image and the nth fourth image (i.e. the fourth image acquired at the previous adjacent moment) are respectively identified and processed based on a preset algorithm to obtain the star point pixel coordinates (i.e. the pixel coordinates of one or more star points) in the n+1th fourth image and the star point pixel coordinates (i.e. the pixel coordinates of one or more star points) in the nth fourth image. Here, n is a positive integer. For example, when n is 2, it indicates that the imaging device currently acquires three fourth images and can identify the star point pixel coordinates in the third fourth image and the star point pixel coordinates in the second fourth image.

[0090] It can be understood that the preset algorithm can be but is not limited to preprocessing each fourth image, such as image grayscale processing, binarization processing and background removal processing, and using the connected domain to mark the pixel groups that are clustered together and whose adjacent pixels are not zero in each fourth image, so as to regard each pixel group that is clustered together and whose adjacent pixels are not zero as a star point, and then the centroid calculation result of each star point can be used as the corresponding star point pixel coordinates.

[0091] Then, after obtaining the star point pixel coordinates in the n+1th fourth image and the star point pixel coordinates in the nth fourth image, the imaging device may also match the star point pixel coordinates contained in the n+1th fourth image with the star point pixel coordinates contained in the nth fourth image to obtain a star point pair (which may be but is not limited to including one or more groups), and determine the pixel offset parameter of the n+1th fourth image based on the star point pair, and the pixel offset parameter may be understood as the rotation angle and offset parameter between the n+1th fourth image and the nth fourth image. Here, when the number of star point pairs is multiple groups, each group of star point pairs may include any star point pixel coordinates in the n+1th fourth image and any star point pixel coordinates in the nth fourth image, and the two star point pixel coordinates are most likely to represent the pixel coordinates of the same star point in the two fourth images; when the number of star point pairs is one group, the star point pair may include the star point pixel coordinates in the n+1th fourth image (only one) and the star point pixel coordinates in the nth fourth image (only one).

[0092] Then, after determining the pixel offset parameter of the n+1th fourth image, the imaging device can also calculate the nth time difference between the acquisition time of the n+1th fourth image and the acquisition time of the nth fourth image (that is, the time difference between the fourth image currently acquired and the fourth image acquired at the previous adjacent time), and use the ratio between the offset parameter in the pixel offset parameter and the nth time difference as the second correction parameter (that is, the correction rotation speed), and then after each fourth image is acquired in real time, the rotation speed of the shooting component is promptly corrected according to the corresponding second correction parameter to achieve compensation for the difference in motion speed between the shooting component and the target star.

[0093] It can also be understood that, taking the star point pixel coordinates in the n+1th fourth image as the pixel coordinates of one or more star points, and the star point pixel coordinates in the nth fourth image as the pixel coordinates of one or more star points as an example, the imaging device can match each star point pixel coordinate in the n+1th fourth image with all star point pixel coordinates in the nth fourth image based on the nearest neighbor matching algorithm (or the bidirectional nearest neighbor matching algorithm), that is, by calculating the Euclidean distance between each star point pixel coordinate in the n+1th fourth image and each star point pixel coordinate in the nth fourth image, the star point pixel coordinates corresponding to the minimum Euclidean distance in the nth fourth image and the corresponding star point pixel coordinates in the n+1th fourth image are taken as a group of star point pairs to ensure that the possibility that the two star point pixel coordinates in each group of star point pairs represent the pixel coordinates of the same star point in two adjacent fourth images is maximized.

[0094] Of course, after obtaining each group of star point pairs, the imaging device of the embodiment of the present application can also identify at least one adjacent star point pixel coordinate in the corresponding fourth image according to each star point pixel coordinate in each group of star point pairs to form a geometric line shape containing the star point pixel coordinates, and perform similarity matching processing on the geometric line shapes corresponding to the two star point pixel coordinates in each group of star point pairs to effectively determine the accuracy of each group of star point pairs. It can be understood that when any one of the similarities is lower than the preset similarity threshold, it indicates that the two star point pixel coordinates contained in the corresponding star point pair are incorrectly matched, and then the star point pair containing each star point pixel coordinate can be re-determined with reference to the above embodiment; when any one of the similarities is not lower than the preset similarity threshold, it indicates that the two star point pixel coordinates contained in the corresponding star point pair are successfully matched, and then the corresponding star point pair can be retained.

[0095] Then, after obtaining all the star point pairs between the n+1th fourth image and the nth fourth image, the imaging device can also solve all the star point pairs based on the random sample iteration model, which can be understood as a random sample consistency iteration model (RANSAC). When solving all the star point pairs, it can calculate any randomly selected star point pair based on a preset offset parameter processing algorithm to obtain a corresponding pixel offset parameter, and count the number of star point pairs that match the pixel offset parameter (for example, the pixel coordinates of a star point in any other group of star point pairs can be calculated with the pixel offset parameter to obtain a corresponding matching pixel coordinate, and the deviation value between the pixel coordinates of another star point in the star point pair and the matching pixel coordinate can be compared to determine whether the star point pair matches the pixel offset parameter), and then the final pixel offset parameter can be determined according to all the star point pairs corresponding to the maximum number of star point pairs. It can be understood that the random sample iteration model can also refer to the conventional technical means of applying RANSAC in the art, but it will not be described in detail here.

[0096] In one or more embodiments of the present application, the following effects are achieved: (1) The entire process allows the imaging device to be calibrated at any attitude angle at any placement position, without the need for manual leveling of traditional theodolites or manual polar axis alignment of equatorial mounts, while ensuring calibration accuracy and efficiency; (2) The number of images collected for calibration is not limited. Only more than one image is needed to complete the equipment calibration, which has a wide range of applications. (3) After calibration, the system can automatically capture and track target celestial bodies without the need for additional auxiliary equipment (such as an equatorial mount), so as to achieve precise pointing and tracking of celestial bodies in any attitude and position, providing high flexibility to meet complex observation needs; (4) Decomposing the star point trajectory into several small broken lines, and controlling the dual-axis rotatable components to move along the broken lines, the real-time tracking of the celestial body is achieved. This not only ensures extremely high tracking accuracy, but also effectively avoids the star point tailing phenomenon in the output image. (5) With the help of real-time image feedback, the running speed of the rotatable parts is dynamically adjusted to compensate for mechanical errors, thereby ensuring long-term stable observation and photography of the target celestial body area; (6) It is able to obtain the attitude angle of the imaging device to quickly adjust the device to align with the polar axis, solve the field rotation problem of ordinary theodolites and telescopes, and thus significantly improve the observation performance of the system.

[0097] See also Figure 3 , Figure 3 A schematic structural diagram of an imaging device provided in an embodiment of the present application is shown.

[0098] like Figure 3 As shown, the imaging device may include a shooting component. In addition, the imaging device may also include a coordinate determination module 301 and a star search processing module 302, wherein: A coordinate determination module 301 is used to obtain at least one first image captured by the shooting component, and obtain the coordinates of each first image in a spatiotemporal coordinate system according to each first image and a corresponding acquisition time; The star-finding processing module 302 is used to obtain a mapping relationship between the imaging device and the space-time coordinate system based on the coordinates of all the first images in the space-time coordinate system, so as to perform star-finding and star-chasing processing on the target celestial body by using the mapping relationship.

[0099] In some possible embodiments, acquiring at least one first image captured by a photographing component includes: Controlling the exposure time of the shooting component to be a preset exposure time, and acquiring a first image captured by the shooting component; or Acquire a first image captured by a photographing component, and rotate the photographing component according to a preset angle; The second image collected by the shooting component after each rotation process is acquired, and the first image and all the second images are used as at least two first images.

[0100] In some possible embodiments, obtaining the coordinates of each first image in the space-time coordinate system according to each first image and the corresponding acquisition time includes: Identify the star point position from each first image based on a preset algorithm, and query the space coordinates corresponding to the star point position in a preset star database; According to the spatial coordinates corresponding to the star point position and the acquisition time of the corresponding first image, the coordinates of the star point in the space-time coordinate system are converted, and the coordinates of the star point corresponding to each first image in the space-time coordinate system are used as the coordinates of the corresponding first image in the space-time coordinate system.

[0101] In some possible embodiments, obtaining a mapping relationship between an imaging device and the space-time coordinate system based on the coordinates of all first images in the space-time coordinate system includes: Based on the coordinates of the star point corresponding to each first image in the space-time coordinate system, determining the coordinates of the corresponding first image fixed point in the space-time coordinate system; Calculate the coordinates of the center of the circle according to the coordinates of each fixed point of the first image in the space-time coordinate system and a preset equation; The coordinates of the center of the circle are used as the mapping relationship between the imaging device and the space-time coordinate system; or Substitute the coordinates of the center of the circle into the preset rotation matrix expression to obtain the mapping relationship between the imaging device and the space-time coordinate system.

[0102] In some possible embodiments, after acquiring at least one first image captured by the photographing component, the method further includes: Acquire two first images, and calculate the rotation center position according to the two first images; The rotation center position is converted into coordinates in the space-time coordinate system, and according to the coordinates of the rotation center position in the space-time coordinate system, a mapping relationship between the imaging device and the space-time coordinate system is obtained.

[0103] In some possible embodiments, acquiring two first images and calculating the rotation center position according to the two first images specifically includes: The pixel coordinates of the same points in the two first images are obtained, and the rotation center position is calculated according to the pixel coordinates of the same points.

[0104] In some possible embodiments, after acquiring at least one first image captured by the photographing component, the method further includes: Obtaining the position of the star point trajectory in the first image, and calculating the position of the trajectory center according to the star point trajectory position; The center position of the trajectory is converted into coordinates in the space-time coordinate system, and the mapping relationship between the imaging device and the space-time coordinate system is obtained according to the coordinates of the center position of the trajectory in the space-time coordinate system.

[0105] In some possible embodiments, the imaging device further includes: Obtain the spatial coordinates and target time of the target celestial body, and convert the first coordinates of the target celestial body in the device coordinate system according to the spatial coordinates, target time and mapping relationship of the target celestial body; The rotation angle is obtained according to the coordinates of the shooting component in the device coordinate system and the first coordinates of the target celestial body in the device coordinate system, and the shooting component is controlled to perform rotation processing according to the rotation angle.

[0106] In some possible embodiments, converting the first coordinate of the target celestial object in the device coordinate system according to the spatial coordinates of the target celestial object, the target time, and the mapping relationship includes: According to the spatial coordinates of the target celestial body and the target time, the coordinates of the target celestial body in the space-time coordinate system are converted, and based on the coordinates of the target celestial body in the space-time coordinate system and the mapping relationship, the first coordinates of the target celestial body in the device coordinate system are obtained.

[0107] In some possible embodiments, the imaging device further includes: Determine the next moment based on the current moment and the preset moment difference, and convert the second coordinates of the target celestial body in the device coordinate system according to the spatial coordinates of the target celestial body, the next moment and the mapping relationship; The deviation angle is calculated according to the second coordinate and the third coordinate of the target celestial body in the device coordinate system, and the rotation speed is obtained based on the deviation angle and the preset time difference; wherein the third coordinate of the target celestial body in the device coordinate system is obtained by converting the spatial coordinate of the target celestial body, the current time and the mapping relationship; The shooting component is controlled to rotate according to the rotation speed until the next moment.

[0108] In some possible embodiments, after controlling the photographing component to rotate according to the rotation angle, the method further includes: Acquire at least one third image captured by the shooting component, and obtain the coordinates of a corresponding third image fixed point in the space-time coordinate system based on each third image and the corresponding capture time; According to the coordinates of the third image fixed point corresponding to each third image in the time-space coordinate system, the acquisition time and the mapping relationship, the coordinates of the corresponding third image fixed point in the device coordinate system are converted; According to the acquisition time corresponding to each third image, the spatial coordinates of the target celestial body and the mapping relationship, the fourth coordinates of the corresponding target celestial body in the device coordinate system are calculated; According to the coordinates of each third image fixed point in the device coordinate system and the fourth coordinates of the corresponding target celestial body in the device coordinate system, a corresponding first correction parameter is obtained, and the shooting component is controlled to perform correction processing according to the corresponding first correction parameter.

[0109] In some possible embodiments, after controlling the photographing component to rotate according to the rotation angle, the method further includes: Acquire n+1 fourth images captured by the shooting component, and identify the pixel coordinates of the star point from each fourth image based on a preset algorithm; wherein n is a positive integer; Matching the star point pixel coordinates contained in the n+1th fourth image with the star point pixel coordinates contained in the nth fourth image to obtain a star point pair, and calculating the pixel offset parameter of the n+1th fourth image according to the star point pair; Calculate the nth moment difference between the (n+1)th fourth image and the (n)th fourth image, and obtain a second correction parameter according to the nth moment difference and a pixel offset parameter of the (n+1)th fourth image; The photographing component is controlled to perform correction processing according to the second correction parameter.

[0110] In some possible embodiments, the camera type of the shooting component is a telephoto camera.

[0111] See also Figure 4 , Figure 4 A schematic structural diagram of another imaging device provided in an embodiment of the present application is shown.

[0112] like Figure 4 As shown, the imaging device 400 may include a processor 401 , a network interface 404 , a user interface 403 , a memory 405 , a communication bus 402 , and a photographing component 406 .

[0113] The communication bus 402 may be used to realize the connection and communication among the above-mentioned components.

[0114] The user interface 403 may include buttons, and the optional user interface may also include a standard wired interface or a wireless interface.

[0115] The network interface 404 may include, but is not limited to, a Bluetooth module, an NFC module, a Wi-Fi module, etc.

[0116] The photographing component 406 may be, but is not limited to, a rotatable component including a telephoto camera.

[0117] Among them, the processor 401 may include one or more processing cores. The processor 401 uses various interfaces and lines to connect various parts in the imaging device 400, and executes various functions and processes data of the routing imaging device 400 by running or executing instructions, programs, code sets or instruction sets stored in the memory 405, and calling data stored in the memory 405. Optionally, the processor 401 can be implemented in at least one hardware form of DSP, FPGA, PLA. The processor 401 can integrate one or a combination of CPU, GPU and modem, etc. Among them, the CPU mainly processes the operating system, user interface and application programs, etc.; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to handle wireless communication. It can be understood that the above-mentioned modem may not be integrated into the processor 401, and it can be implemented separately through a chip.

[0118] The memory 405 may include a RAM or a ROM. Optionally, the memory 405 includes a non-transitory computer-readable medium. The memory 405 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 405 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 405 may optionally be at least one storage device located away from the aforementioned processor 401. As Figure 4As shown, the memory 405 as a computer storage medium may include an operating system, a network communication module, a user interface module, and an automatic star-finding and star-chasing application program.

[0119] Specifically, the processor 401 may be used to call the automatic star-finding and star-chasing application stored in the memory 405, and specifically perform the following operations: Acquire at least one first image captured by the shooting component, and obtain the coordinates of each first image in the space-time coordinate system according to each first image and the corresponding acquisition time; Based on the coordinates of all the first images in the space-time coordinate system, a mapping relationship between the imaging device and the space-time coordinate system is obtained, so as to use the mapping relationship to perform star search and star chasing processing on the target celestial body.

[0120] The present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the above method are implemented. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and / or data.

[0121] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0122] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0123] In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0124] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0125] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

Claims

1. An automatic star-finding and star-chasing method, characterized in that: The method is applied to an imaging device including a shooting component, and the method includes: Acquire at least one first image captured by the shooting component, and obtain the coordinates of each first image in a time-space coordinate system according to each first image and a corresponding acquisition time; Based on the coordinates of all the first images in the space-time coordinate system, a mapping relationship between the imaging device and the space-time coordinate system is obtained, so as to use the mapping relationship to perform star search and star chasing processing on the target celestial body.

2. The method according to claim 1, characterized in that: The acquiring of at least one first image captured by the photographing component comprises: Controlling the exposure time of the photographing component to be a preset exposure time, and acquiring a first image captured by the photographing component; or Acquire a first image captured by the photographing component, and rotate the photographing component according to a preset angle; The second image collected by the photographing component after each rotation process is acquired, and the first image and all the second images are used as at least two first images.

3. The method according to claim 1, characterized in that The obtaining, according to each of the first images and the corresponding acquisition time, the coordinates of each of the first images in the space-time coordinate system includes: Identifying a star point position from each of the first images based on a preset algorithm, and querying a preset star database for the space coordinates corresponding to the star point position; According to the spatial coordinates corresponding to the star point position and the acquisition time of the corresponding first image, the coordinates of the star point in the space-time coordinate system are converted, and the coordinates of the star point corresponding to each first image in the space-time coordinate system are used as the coordinates of the corresponding first image in the space-time coordinate system.

4. The method according to claim 3, characterized in that The obtaining, based on the coordinates of all the first images in the space-time coordinate system, a mapping relationship between the imaging device and the space-time coordinate system comprises: Based on the coordinates of the star point corresponding to each of the first images in the space-time coordinate system, determining the coordinates of the corresponding first image fixed point in the space-time coordinate system; Calculate the coordinates of the center of the circle according to the coordinates of each fixed point of the first image in the time-space coordinate system and a preset equation; Using the circle center coordinates as the mapping relationship between the imaging device and the space-time coordinate system; or Substituting the coordinates of the circle center into a preset rotation matrix expression, a mapping relationship between the imaging device and the space-time coordinate system is obtained.

5. The method according to claim 1, characterized in that After acquiring at least one first image captured by the photographing component, the method further includes: Acquire two of the first images, and calculate the rotation center position according to the two of the first images; The rotation center position is converted into coordinates in a space-time coordinate system, and a mapping relationship between the imaging device and the space-time coordinate system is obtained according to the coordinates of the rotation center position in the space-time coordinate system.

6. The method according to claim 5, characterized in that Acquiring the two first images and calculating the rotation center position according to the two first images specifically includes: The pixel coordinates of the same points in the two first images are obtained, and the rotation center position is calculated according to the pixel coordinates of the same points.

7. The method according to claim 1, characterized in that After acquiring at least one first image captured by the photographing component, the method further includes: Acquire the star point trajectory position in the first image, and calculate the trajectory center position according to the star point trajectory position; The center position of the trajectory is converted into coordinates in a space-time coordinate system, and a mapping relationship between the imaging device and the space-time coordinate system is obtained according to the coordinates of the center position of the trajectory in the space-time coordinate system.

8. The method according to any one of claims 1 to 7, characterized in that: The method further comprises: Acquire the spatial coordinates and target time of the target celestial body, and convert the first coordinates of the target celestial body in the device coordinate system according to the spatial coordinates of the target celestial body, the target time and the mapping relationship; A rotation angle is obtained according to the coordinates of the photographing component in the device coordinate system and the first coordinates of the target celestial body in the device coordinate system, and the photographing component is controlled to perform rotation processing according to the rotation angle.

9. The method according to claim 8, characterized in that The converting the first coordinate of the target celestial body in the device coordinate system according to the spatial coordinate of the target celestial body, the target time and the mapping relationship includes: According to the spatial coordinates of the target celestial body and the target time, the coordinates of the target celestial body in the space-time coordinate system are converted, and based on the coordinates of the target celestial body in the space-time coordinate system and the mapping relationship, the first coordinates of the target celestial body in the device coordinate system are obtained.

10. The method according to any one of claims 1 to 7, characterized in that: The method further comprises: Determine a next moment based on the current moment and a preset moment difference, and convert a second coordinate of the target celestial body in the device coordinate system according to the spatial coordinates of the target celestial body, the next moment and the mapping relationship; Calculate the deviation angle according to the second coordinate and the third coordinate of the target celestial body in the device coordinate system, and obtain the rotation speed based on the deviation angle and the preset time difference; wherein the third coordinate of the target celestial body in the device coordinate system is obtained by converting the spatial coordinate of the target celestial body, the current time and the mapping relationship; The photographing component is controlled to perform a rotation process according to the rotation speed until it reaches the next moment.

11. The method according to claim 10, characterized in that After controlling the photographing component to rotate according to the rotation angle, the method further includes: Acquire at least one third image captured by the shooting component, and obtain the coordinates of a corresponding third image fixed point in a time-space coordinate system based on each third image and the corresponding capture time; According to the coordinates of the third image fixed point corresponding to each of the third images in the spatiotemporal coordinate system, the acquisition time and the mapping relationship, the coordinates of the corresponding third image fixed point in the device coordinate system are converted; Calculate the fourth coordinates of the corresponding target celestial object in the device coordinate system according to the acquisition time corresponding to each of the third images, the spatial coordinates of the target celestial object and the mapping relationship; According to the coordinates of each of the third image fixed points in the device coordinate system and the corresponding fourth coordinates of the target celestial body in the device coordinate system, a corresponding first correction parameter is obtained, and the shooting component is controlled to perform correction processing according to the corresponding first correction parameter.

12. The method according to claim 10, characterized in that After controlling the photographing component to rotate according to the rotation angle, the method further includes: Acquire n+1 fourth images captured by the photographing component, and identify the pixel coordinates of the star point from each of the fourth images based on a preset algorithm; wherein n is a positive integer; Matching the star point pixel coordinates contained in the n+1th fourth image with the star point pixel coordinates contained in the nth fourth image to obtain a star point pair, and calculating a pixel offset parameter of the n+1th fourth image according to the star point pair; Calculating the nth moment difference between the nth fourth image and the n+1th fourth image, and obtaining a second correction parameter according to the nth moment difference and a pixel offset parameter of the n+1th fourth image; The photographing component is controlled to perform correction processing according to the second correction parameter.

13. The method according to claim 1, characterized in that The camera type of the shooting component is a telephoto camera.

14. An imaging device, characterized in that: The imaging device comprises a shooting component, and the imaging device further comprises: A coordinate determination module, used to acquire at least one first image captured by the shooting component, and obtain the coordinates of each first image in a spatiotemporal coordinate system according to each first image and a corresponding acquisition time; The star-finding processing module is used to obtain the mapping relationship between the imaging device and the space-time coordinate system based on the coordinates of all the first images in the space-time coordinate system, so as to use the mapping relationship to perform star-finding and star-chasing processing on the target celestial body.

15. An imaging device, characterized in that: including a processor and a memory; The processor is connected to the memory; The memory is used to store executable program code; The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to execute the steps of the method according to any one of claims 1 to 13.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a computer or a processor, the computer or the processor executes the steps of the method according to any one of claims 1 to 13.

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