Shooting method and device based on timing shooting and automatic alignment functions

Abstract

The invention provides a shooting method and device based on timing shooting and automatic alignment functions, and belongs to the technical field of photography. The shooting method based on the timed shooting and automatic alignment functions comprises the following steps: S1, obtaining a coordinate mapping relation; s2, acquiring target celestial body information and target time information; s3, acquiring a first rotation instruction according to the first space coordinates and the coordinate mapping relation, and controlling the rotation module to move according to the first rotation instruction so as to drive the shooting module to move to the first position; and S4, obtaining a second rotation instruction according to the second space coordinate and the coordinate mapping relation, and controlling the rotation module to move according to the second rotation instruction so as to drive the shooting module to move to the second position. The target celestial body is automatically aligned and shot at the preset time, and the problems that traditional equipment cannot be automatically aligned with the celestial body and existing intelligent astronomical photography equipment cannot shoot at fixed time can be solved.

Description

Technical Field

[0001] The present invention relates to the field of photographic technology, and in particular to a photographing method and device based on timed photographing and automatic alignment functions. Background Art

[0002] In traditional astronomical photography, photographers not only need to wait for the best shooting time, but also need to manually aim at the celestial body when the target appears. Since the position and visibility of celestial bodies are limited by time and geographical location, photographers often need to manually adjust the angle of the equipment at night to aim the lens at the target celestial body. This manual alignment method is not only time-consuming and laborious, but also requires users to have certain astronomical knowledge and operating skills, which increases the difficulty and complexity of shooting.

[0003] In recent years, with the advancement of technology, some smart astronomical photography equipment has the function of automatically aiming at the target celestial body, and can automatically adjust the lens angle according to the celestial body information specified by the user. However, existing smart astronomical equipment generally lacks the function of timed shooting. Even if it can automatically aim at the target celestial body, the user still needs to manually trigger the shooting when the target appears, and it is impossible to achieve completely unattended timed shooting. This defect is particularly inconvenient when long-term observation or waiting for a specific time window is required, which limits the intelligence of the equipment and the user experience. Summary of the invention

[0004] In order to solve the above problems, the embodiments of the present application provide a shooting method and device based on timed shooting and automatic alignment functions.

[0005] In a first aspect, the present application provides a shooting method based on timed shooting and automatic alignment functions, the method is applied to a shooting device including a shooting module and a rotating module, and includes the following steps: S1: Acquire a coordinate mapping relationship between a device coordinate system and a space-time coordinate system, wherein the device coordinate system is a coordinate system where a shooting module is located, and the space-time coordinate system is a coordinate system where a celestial body is located; S2: acquiring target celestial body information and target time information corresponding to the target celestial body information, wherein the target time information includes the shooting start time, and the target celestial body information includes at least one of the name of the target celestial body, the number of the target celestial body, and the first spatial coordinate of the target celestial body corresponding to the shooting start time in the space-time coordinate system, and the first spatial coordinate of the target celestial body corresponding to the shooting start time in the space-time coordinate system can be acquired according to the name of the target celestial body or the number of the target celestial body; S3: acquiring a first rotation instruction corresponding to the rotation module according to the first space coordinate and the coordinate mapping relationship, and controlling the rotation module to move according to the first rotation instruction when the current moment is the shooting start moment or the current moment has not reached the shooting start moment, so as to drive the shooting module to move to a first position matching the target celestial body at the shooting start moment; S4: Obtain a second spatial coordinate of the target celestial body in the space-time coordinate system corresponding to any moment after the start time of shooting, obtain a second rotation instruction corresponding to the rotation module according to the second spatial coordinate and the coordinate mapping relationship, and control the movement of the rotation module according to the second rotation instruction to drive the shooting module to move to a second position that matches the target celestial body at that moment.

[0006] Preferably, before step S2, a storage module is further included to store the target celestial body information and the target time information corresponding to the target celestial body information, and in any one of steps S1-S5, the storage module stores the image data captured by the capturing module.

[0007] Preferably, the storage module stores a plurality of target celestial body information and a plurality of target time information respectively corresponding to the plurality of target celestial body information.

[0008] Preferably, the target time information also includes the shooting end time, and after step S4, the step further includes: controlling the shooting module to stop when the current time is the shooting end time.

[0009] Preferably, step S1 specifically includes: S11: The shooting module captures at least one first image, and obtains a capture time corresponding to each first image, and obtains a third space coordinate corresponding to each first image in a time-space coordinate system according to each first image and its corresponding capture time; S12: Acquire a coordinate mapping relationship between a device coordinate system and a space-time coordinate system according to a third space coordinate of at least one first image.

[0010] Preferably, in step S11, the capturing of at least one first image by the shooting module specifically includes: controlling the exposure time of the shooting module to be a preset exposure time, and acquiring a first image captured by the shooting module.

[0011] Preferably, the capturing of at least one first image by the shooting module in step S11 specifically includes: after the shooting module captures the first image, controlling the shooting module to perform at least one rotation process according to a first preset angle; The shooting module collects a second image after each rotation process is completed, and uses the first image and all the second images as at least two first images.

[0012] Preferably, in step S11, obtaining the coordinates corresponding to each first image in the spatiotemporal coordinate system according to each first image and its corresponding acquisition time specifically includes: identifying a star point position from each first image based on a preset recognition algorithm; Obtain the space coordinates corresponding to the position of the star point from the preset star database; Acquire the coordinates of the star point in the space-time coordinate system according to the space coordinates and the acquisition time of the first image corresponding to the space coordinates; The coordinates of each star point in the space-time coordinate system are used as the coordinates of the first image corresponding to the position of each star point in the space-time coordinate system.

[0013] Preferably, step S12 specifically includes: S121: acquiring the coordinates of a fixed point of the corresponding first image in the space-time coordinate system according to the coordinates of each first image in the space-time coordinate system; S122: Calculate and obtain 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; S123: Using the coordinates of the circle center as a coordinate mapping relationship between the device coordinate system and the space-time coordinate system; or Substitute the coordinates of the circle center into the preset rotation matrix expression to calculate the coordinate mapping relationship between the device coordinate system and the space-time coordinate system.

[0014] Preferably, in step S3, obtaining the first rotation instruction corresponding to the rotation module according to the first space coordinates and the coordinate mapping relationship specifically includes: S31: acquiring a first device coordinate mapped from the first space coordinate to the device coordinate system according to the coordinate mapping relationship and the first space coordinate of the target celestial body in the space-time coordinate system; S32: Acquire a second device coordinate of the shooting module in the device coordinate system, and calculate and acquire a first motion parameter of the shooting module when it moves from the initial position to the first position according to the first device coordinate and the second device coordinate; S33: Obtain a first rotation instruction corresponding to the rotation module according to the first motion parameter.

[0015] Preferably, after the shooting module captures at least one first image in step S11, it also includes: acquiring two first images, and calculating the rotation center position based on the two first images; converting the rotation center position into coordinates in the space-time coordinate system, and obtaining a mapping relationship between the device coordinate system and the space-time coordinate system based on the coordinates of the rotation center position in the space-time coordinate system.

[0016] Preferably, acquiring two first images and calculating the rotation center position according to the two first images specifically includes: acquiring pixel coordinates of the same points in the two first images, and calculating the rotation center position according to the pixel coordinates of the same points.

[0017] Preferably, after the shooting module captures at least one first image in step S11, it also includes: obtaining the star point trajectory position in the first image, and calculating the trajectory center position based on the star point trajectory position; 10. Converting the trajectory center position into coordinates in the space-time coordinate system, and obtaining the mapping relationship between the device coordinate system and the space-time coordinate system based on the coordinates of the trajectory center position in the space-time coordinate system.

[0018] Preferably, step S4 includes: Calculate the next moment according to the difference between the current moment and the preset moment, where the next moment is any moment after the shooting start moment; According to the first spatial coordinates of the target celestial body and the next moment, the second spatial coordinates of the target celestial body in the space-time coordinate system at the next moment are calculated; According to the coordinate mapping relationship and the second space coordinates of the target celestial body, the second space coordinates are mapped to the second device coordinates corresponding to the next moment in the device coordinate system by calculation; Calculate and obtain a deviation value of the target celestial body in the device coordinate system according to the first device coordinates and the second device coordinates of the target celestial body in the device coordinate system; Calculate and obtain a second motion parameter of the shooting module according to the deviation value and the preset time difference; Acquire a first rotation instruction corresponding to the rotation module according to the second motion parameter; The rotation module is controlled to move according to the second rotation instruction to drive the shooting module to move to a second position that matches the target celestial body at the next moment.

[0019] Preferably, step S4 includes: The shooting module captures at least one third image of the target celestial body at any time after the shooting start time, and obtains the capture time corresponding to each third image, and obtains the second space coordinates of the target celestial body corresponding to the capture time in the space-time coordinate system according to each third image and the corresponding capture time; Calculate and obtain the third device coordinates of the fixed point of the corresponding third image in the device coordinate system according to the coordinate mapping relationship and the second space coordinates of the fixed point of each third image in the spatiotemporal coordinate system; Acquire a fourth device coordinate of the target celestial body corresponding to the shooting start time in the device coordinate system according to the first spatial coordinate of the target celestial body and the coordinate mapping relationship; Calculate and obtain corresponding first correction parameters according to the third device coordinates and the fourth device coordinates; Obtaining a second rotation instruction according to the first correction parameter and the first rotation instruction; The position of the rotating module is corrected according to the second rotation instruction, so that the shooting module moves to a second position that matches the target celestial body at that moment.

[0020] Preferably, before step S4, it also includes: when the current moment has not reached the shooting start moment corresponding to the target time information and the difference between the current moment and the shooting start moment exceeds a first preset threshold, controlling the shooting device to work in a preset power consumption mode; after the shooting module stops, controlling the shooting device to work in a preset power consumption mode.

[0021] Preferably, the coordinate mapping relationship between the device coordinate system and the space-time coordinate system can be obtained by collecting gyroscope data provided by the shooting device.

[0022] In a second aspect, an embodiment of the present application provides a shooting device based on timed shooting and automatic alignment functions, including a mapping relationship acquisition module, a shooting module, a first calculation module, and an adjustment module; The mapping relationship acquisition module is used to acquire the coordinate mapping relationship between the device coordinate system and the space-time coordinate system, the device coordinate system is the coordinate system where the shooting module is located, and the space-time coordinate system is the coordinate system where the celestial body is located; The first calculation module is used to obtain target celestial body information and target time information corresponding to the target celestial body information, wherein the target time information includes the shooting start time, and the target celestial body information includes at least one of the name of the target celestial body, the number of the target celestial body, and the first spatial coordinate of the target celestial body corresponding to the shooting start time in the space-time coordinate system. The first spatial coordinate of the target celestial body corresponding to the shooting start time in the space-time coordinate system can be obtained according to the name of the target celestial body or the number of the target celestial body; and the first rotation instruction corresponding to the rotation module is obtained according to the first spatial coordinate and the coordinate mapping relationship; The adjustment module is used to control the movement of the rotation module according to the first rotation instruction when the current moment is the shooting start moment or the current moment has not reached the shooting start moment, so as to drive the shooting module to move to a first position that matches the target celestial body at the shooting start moment; The first calculation module is used to obtain the second spatial coordinates of the target celestial body corresponding to the time in the space-time coordinate system at any time after the shooting start time, and obtain the first rotation instruction corresponding to the rotation module according to the second spatial coordinates and the coordinate mapping relationship; The regulating module is used to control the movement of the rotating module according to the second rotating instruction, so as to drive the photographing module to move to a second position matching the target celestial body at that moment.

[0023] Preferably, it also includes a storage module; the storage module is used to store target celestial body information, target time information corresponding to the target celestial body information, and image data captured by the shooting module.

[0024] Preferably, the storage module stores a plurality of target celestial body information and a plurality of target time information respectively corresponding to the plurality of target celestial body information.

[0025] Preferably, the target time information also includes the shooting end time, and the adjustment module is used to control the shooting module to stop when the current time is the shooting end time.

[0026] In a third aspect, an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the method provided in the first aspect or any possible implementation of the first aspect are implemented.

[0027] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method provided in the first aspect or any possible implementation of the first aspect.

[0028] The beneficial effects of the present invention are: 1. Obtain target celestial body information and target time information corresponding to the target celestial body information, use the rotation module to automatically adjust the shooting module angle at the specified time, so that the shooting module is aimed at the target celestial body, and the target celestial body at the specified time can be photographed. When the current time reaches the shooting start time, it will automatically align and trigger shooting. It can automatically align with the target celestial body and complete shooting at the preset time without human supervision, which can solve the problem that traditional equipment cannot automatically align with celestial bodies and existing intelligent astronomical photography equipment cannot take timed photos.

[0029] 2. Can photograph multiple target celestial bodies.

[0030] 3. This application combines automatic alignment with scheduled shooting. The device can automatically align with the target celestial body and complete shooting at the preset time without human supervision, which completely solves the problem that users need to stay up late and operate manually, and improves the intelligent level of astronomical photography.

[0031] 4. Through the timed shooting and automatic alignment functions, users only need to set the target information and time before shooting, and the device can complete the shooting process autonomously at the specified time, eliminating the need for users to wait for a long time and manually trigger, making the shooting process more convenient.

[0032] 5. This application is suitable for astronomical observation tasks that require a specific time window, especially those shooting projects that need to be carried out late at night or early in the morning. Through timed shooting, users can plan in advance and accurately obtain astronomical images at a specified time, which is suitable for long-term astronomical observation and scientific research needs.

[0033] 6. Before the designated shooting time arrives, the device can enter low power consumption mode, reducing the power consumption of the device when in standby mode, thereby extending the battery life of the device and ensuring that the device can successfully complete long-term observation and shooting tasks. This function is particularly suitable for astronomical photography that requires long-term standby mode, making the device's power management more efficient and ensuring the continuity of the shooting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] 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.

[0035] Figure 1 A schematic flow chart of a shooting method based on timed shooting and automatic alignment functions provided in an embodiment of the present application; Figure 2 A schematic diagram of the structure of a photographing device based on timed photographing and automatic alignment functions provided in an embodiment of the present application; Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] 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.

[0037] 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.

[0038] 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.

[0039] See also Figure 1 . Figure 1 1 is a flow chart of a shooting method based on timed shooting and automatic alignment functions provided in an embodiment of the present application. In an embodiment of the present application, the method is applied to a shooting device including a shooting module and a rotating module, and the method includes the following steps: S1: Acquire a coordinate mapping relationship between a device coordinate system and a space-time coordinate system, wherein the device coordinate system is a coordinate system where a shooting module is located, and the space-time coordinate system is a coordinate system where a celestial body is located; S2: acquiring target celestial body information and target time information corresponding to the target celestial body information, wherein the target time information includes the shooting start time, and the target celestial body information includes at least one of the name of the target celestial body, the number of the target celestial body, and the first spatial coordinate of the target celestial body corresponding to the shooting start time in the space-time coordinate system, and the first spatial coordinate of the target celestial body corresponding to the shooting start time in the space-time coordinate system can be acquired according to the name of the target celestial body or the number of the target celestial body; S3: acquiring a first rotation instruction corresponding to the rotation module according to the first space coordinate and the coordinate mapping relationship, and controlling the rotation module to move according to the first rotation instruction when the current moment is the shooting start moment or the current moment has not reached the shooting start moment, so as to drive the shooting module to move to a first position matching the target celestial body at the shooting start moment; S4: Obtain a second spatial coordinate of the target celestial body in the space-time coordinate system corresponding to any moment after the start time of shooting, obtain a second rotation instruction corresponding to the rotation module according to the second spatial coordinate and the coordinate mapping relationship, and control the movement of the rotation module according to the second rotation instruction to drive the shooting module to move to a second position that matches the target celestial body at that moment.

[0040] In an embodiment of the present application, the target celestial body information and the target time information corresponding to the target celestial body information are obtained, and the angle of the shooting module is automatically adjusted at the specified time using the rotation module so that the shooting module is aligned with the target celestial body. After the current moment reaches the shooting start time, it will automatically align and trigger shooting, collect image data and store it, without the user having to perform any operations next to the device. The present application can automatically align the target celestial body and complete shooting at a preset time in an unattended situation, which can solve the problem that traditional equipment cannot automatically align with celestial bodies and existing intelligent astronomical photography equipment cannot take timed shots. It not only frees up the user's time, but also ensures accurate alignment with the target celestial body at the best time, which is particularly suitable for the timed shooting requirements in astronomical photography. The name of the target celestial body and the number of the target celestial body can be matched to the corresponding spatial coordinates of the target celestial body through the star library.

[0041] In an embodiment of the present application, the rotation module may include a first rotation axis and a second rotation axis. The rotation module may adjust the attitude angle of the shooting module, for example but not limited to the rotatable component including a first rotatable component for adjusting the pitch angle of the lens, and a second rotatable component for adjusting the yaw angle of the lens. The shooting module may include an image sensor and a lens, which together realize image acquisition, photons pass through the lens, and then the image sensor collects the photons and converts them into digital signals, and the processor converts the digital signals into image signals, and finally completes the image acquisition; the lens may be a telephoto camera for acquiring images with a small field of view angle.

[0042] In one possible implementation, before step S2, a storage module is further included to store target celestial body information and target time information corresponding to the target celestial body information, and in any one of steps S1-S5, the storage module stores image data captured by the capturing module.

[0043] In an embodiment of the present application, the target celestial body information and the target time information corresponding to the target celestial body information are stored in advance in the storage module, and step S2 is to obtain the target celestial body information and the target time information corresponding to the target celestial body information from the storage module.

[0044] In one possible implementation, the storage module stores a plurality of target celestial body information and a plurality of target time information respectively corresponding to the plurality of target celestial body information.

[0045] In an implementable manner, the target time information further includes the shooting end time, and after step S4, the method further includes: controlling the shooting module to stop when the current time is the shooting end time.

[0046] In one possible implementation, step S1 specifically includes: S11: The shooting module captures at least one first image, and obtains a capture time corresponding to each first image, and obtains a third space coordinate corresponding to each first image in a time-space coordinate system according to each first image and its corresponding capture time; S12: Acquire a coordinate mapping relationship between a device coordinate system and a space-time coordinate system according to a third space coordinate of at least one first image.

[0047] In the embodiment of the present application, when the current moment has not reached the shooting start moment, the shooting module collects a first image of any place in the sky where there is a celestial body, and then obtains the coordinates corresponding to the first image in the space-time coordinate system by performing image analysis on the first image, and calculates the coordinate mapping relationship between the device coordinate system and the space-time coordinate system based on the coordinates.

[0048] In the embodiment of the present application, one or more first images are collected, and the third spatial coordinates of each first image in the space-time coordinate system are obtained according to all the first images and the corresponding collection time, and then the mapping relationship between the device coordinate system and the space-time coordinate system is determined according to the coordinates of all the first images in the space-time coordinate system, so as to use the mapping relationship to automatically search for and chase the target celestial body; the whole process can enable the shooting device to complete the calibration 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 manual intervention, and can meet complex astronomical observation needs. The number of first images can be multiple, for example, two, three, or more than three.

[0049] In an embodiment of the present application, 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 may be but is not limited to including space coordinates and time coordinates. The space 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 as an example, the coordinates of each first image in the space-time coordinate system can be the hour angle coordinates (hourangle, 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.

[0050] In one possible implementation, the capturing of at least one first image by the shooting module in step S11 specifically includes: controlling the exposure time of the shooting module to be a preset exposure time, and acquiring a first image captured by the shooting module.

[0051] In one possible implementation, the capturing of at least one first image by the shooting module in step S11 specifically includes: after the shooting module captures the first image, the shooting module is controlled to perform at least one rotation process according to a first preset angle; The shooting module collects a second image after each rotation process is completed, and uses the first image and all the second images as at least two first images.

[0052] In an embodiment of the present application, when acquiring a first image captured by a shooting module, the shooting device may set the exposure time of the shooting module to a preset exposure time. The preset exposure time may be, but is not limited to, a value greater than 10 seconds to ensure that a first image captured by the shooting module has a clear and effective star point trajectory.

[0053] In addition, the camera device can also obtain a first image captured by the camera module at the current attitude angle, and rotate the camera module according to a preset angle threshold, the preset angle threshold can be but not limited to a yaw angle rotation of 5 degrees, that is, the yaw angle of the camera module is rotated by 5 degrees (it can be increased by 5 degrees, or decreased by 5 degrees), and after each rotation of the camera module, a fourth image captured by the camera module can be obtained, so that all the fourth images and the first images are used as at least two first images captured by the camera module. 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.

[0054] In one possible implementation, in step S11, obtaining the coordinates corresponding to each first image in the spatiotemporal coordinate system according to each first image and its corresponding acquisition time specifically includes: identifying a star point position from each first image based on a preset recognition algorithm; Obtain the space coordinates corresponding to the position of the star point from the preset star database; Acquire the coordinates of the star point in the space-time coordinate system according to the space coordinates and the acquisition time of the first image corresponding to the space coordinates; The coordinates of each star point in the space-time coordinate system are used as the coordinates of the first image corresponding to the position of each star point in the space-time coordinate system.

[0055] In the embodiment of the present application, the spatial coordinates corresponding to the star point position may be the coordinates of the equatorial coordinate system. Based on the preset algorithm, the star point position is identified from each first image, and the star point position may be understood as the pixel coordinates of one or more star points contained in the first image, and the spatial coordinates corresponding to the star point position may be queried in the preset star database (the spatial coordinates may be understood as the spatial coordinates respectively corresponding to the one or more star point pixel coordinates contained in the second star point position). Here, the preset star database may 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 spatial coordinates corresponding to each star point pixel coordinate (the spatial 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 matching, it may indicate that the spatial coordinates corresponding to the star point position in the corresponding first image are consistent with the star point spatial coordinates corresponding to the star point pixel coordinate set.

[0056] It is understandable 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, and these various types of processing algorithms are technical means well known in the art and will not be elaborated here.

[0057] Then, after querying the spatial coordinates corresponding to the star point position of each first image, the shooting 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.

[0058] 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.

[0059] In one possible implementation, step S12 specifically includes: S121: acquiring the coordinates of a fixed point of the corresponding first image in the space-time coordinate system according to the coordinates of each first image in the space-time coordinate system; S122: Calculate and obtain 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; S123: Using the coordinates of the circle center as a coordinate mapping relationship between the device coordinate system and the space-time coordinate system; or Substitute the coordinates of the circle center into the preset rotation matrix expression to calculate the coordinate mapping relationship between the device coordinate system and the space-time coordinate system.

[0060] In the embodiment of the present application, step S12 may specifically include: According to the coordinates of each first image in the space-time coordinate system, obtaining the coordinates of the fixed point of the corresponding first image in the space-time coordinate system; Converting the coordinates of the fixed point of each first image in the space-time coordinate system to obtain the coordinates of the fixed point of the corresponding first image in the rectangular coordinate system; Calculate and obtain the coordinates of the center of the circle in the rectangular coordinate system according to a preset equation and the coordinates of all the fixed points of the first image in the rectangular coordinate system; The coordinates of the center of the circle in the rectangular coordinate system are converted to obtain the coordinates of the center of the circle in the space-time coordinate system; The coordinates of the circle center in the space-time coordinate system are used as the coordinate mapping relationship between the device coordinate system and the space-time coordinate system; or According to the preset rotation matrix expression and the coordinates of the center of the circle in the space-time coordinate system, the coordinate mapping relationship between the device coordinate system and the space-time coordinate system is calculated.

[0061] In the embodiment of the present application, the fixed point of the image may be the center of the image. Here, taking the number of all first images as three as an example, the shooting device may convert the coordinates of the fixed point of the corresponding image in the space-time coordinate system according to the pixel coordinate position relationship between the star point in each first image and the fixed point of the 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 in each first image and the fixed point of the image may be an image processing method well known in the art, which will not be described in detail here.

[0062] Next, the photographing device may convert the coordinates of the fixed point of each first image in the space-time coordinate system to obtain the coordinates of the fixed point of each image in the rectangular coordinate system, and substitute the coordinates of the fixed point of all images 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 fixed point of the image in the space-time coordinate system into the coordinates in the rectangular coordinate system, it can be but not limited to combining the preset altitude angle calculation formula and the preset azimuth angle calculation formula to convert the coordinates of the fixed point of the image in the space-time coordinate system into the coordinates in the horizontal coordinate system, and then convert the coordinates of the fixed point of the image 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 they are not elaborated here.

[0063] 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 the coordinates of the fixed points of the three images 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 fixed points 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 fixed points of the three images in the rectangular coordinate system).

[0064] Next, after obtaining the coordinates of the center of the circle in the rectangular coordinate system, the photographing device may further 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 space-time coordinate system. 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 camera 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 .

[0065] Of course, after obtaining the coordinates of the center of the circle in the space-time coordinate system, the camera 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 the mapping relationship between the device coordinate system 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.

[0066] It can also be understood that when the number of at least one first image exceeds three, the shooting device can also, but is not limited to, refer to the above embodiment, convert the coordinates of the fixed point of each first image 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 the fixed points of all first images in the rectangular coordinate system, calculate the coordinates of the center of the circle corresponding to the fixed points of all first images 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 device coordinate system and the space-time coordinate system can be obtained according to the coordinates of the center of the circle in the space-time coordinate system, but it will not be elaborated here.

[0067] 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 fixed point of each first 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 between the fixed point of each first image and the center of the circle; by substituting the coordinates of the fixed points of at least three first images in the rectangular coordinate system into the preset center equation, the coordinates of the center of the circle in the rectangular coordinate system can be solved using the least squares method.

[0068] It can also be understood that when the number of at least one first image is two, the shooting device can also but is not limited to obtaining the pixel coordinates of the same point of each first image in the equatorial coordinate system, and using a preset numerical solution method to calculate the two pixel coordinates corresponding to the same point, to obtain the rotation center coordinates of the two first images, and convert the rotation center coordinates into coordinates in the space-time coordinate system, thereby obtaining the mapping relationship between the device coordinate system 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 well known in the art, but will not be elaborated here.

[0069] It can also be understood that when the number of at least one first image is one, the shooting device can also but is not limited to identifying at least three star point trajectory coordinates in the first image, and using the preset circle equation to perform least squares solution on all star point trajectory coordinates, calculate the center coordinates of all star point trajectories, and then convert the center coordinates into coordinates in the space-time coordinate system, and the mapping relationship between the device coordinate system 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.

[0070] 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 by the least squares method In one possible implementation, obtaining the first rotation instruction corresponding to the rotation module according to the first space coordinates and the coordinate mapping relationship in step S3 specifically includes: S31: acquiring a first device coordinate mapped from the first space coordinate to the device coordinate system according to the coordinate mapping relationship and the first space coordinate of the target celestial body in the space-time coordinate system; S32: Acquire a second device coordinate of the shooting module in the device coordinate system, and calculate and acquire a first motion parameter of the shooting module when it moves from the initial position to the first position according to the first device coordinate and the second device coordinate; S33: Obtain a first rotation instruction corresponding to the rotation module according to the first motion parameter.

[0071] In an embodiment of the present application, according to a coordinate mapping relationship, the first spatial coordinate of the target celestial body is mapped to the device coordinate system to obtain the first device coordinate of the target celestial body in the device coordinate system. According to the first device coordinate, the first operating parameter of the lens aimed at the target celestial body is calculated, and the first motion parameter is the rotation axis motion parameter, and then the first operating parameter is added to the instruction to obtain the first rotation instruction. After the current moment reaches the shooting start time, the rotation module is controlled to move according to the first rotation instruction, that is, the first rotation instruction is sent to the first rotation axis and the second rotation axis, so that the lens is aimed at the target celestial body at the shooting start time. When the current moment has not reached the shooting start time, the first rotation instruction can also be sent to the first rotation axis and the second rotation axis, so that the lens is aimed at the position of the target celestial body at the shooting start time.

[0072] In an embodiment of the present application, after determining the mapping relationship between the device coordinate system and the space-time coordinate system, when automatic star search processing is required, the shooting device can, but is not limited to, obtain the spatial coordinates of the target celestial body input by the user and the shooting start time 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. The shooting start time can be understood as the star search time when the user needs to use the imaging device to perform star search 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 shooting start 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 module controlled by the imaging device in the pitch direction and the angle in the yaw direction when the imaging device is at the shooting start time).

[0073] In an embodiment of the present application, 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 module, which can also be understood as the pitch angle and yaw angle of the rotation module at the current moment (which can be collected by the sensor provided by the rotatable component), and then use the pitch angle and yaw angle as the coordinates of the shooting module in the device coordinate system, and can obtain the rotation angle of the rotation module in the pitch direction and the rotation angle in the yaw direction according to the coordinate difference between the coordinates of the shooting module in the device coordinate system and the first coordinate of the target celestial body in the device coordinate system, and then at the starting moment of shooting, the rotation module 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 module points to the target celestial body.

[0074] Here, when obtaining the coordinate difference between the coordinate of the shooting module 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.

[0075] In one possible implementation, step S31 specifically includes: S311: Calculate and obtain the coordinates of the target celestial body in the rectangular coordinate system according to the coordinate mapping relationship and the first spatial coordinates of the target celestial body in the space-time coordinate system; S312: Convert the coordinates of the target celestial body in the rectangular coordinate system to obtain the first device coordinates of the target celestial body in the device coordinate system corresponding to the shooting start time.

[0076] In the embodiment of the present application, the local sidereal time (i.e., LST, reflecting the position of the earth's rotation relative to the stars) can be calculated according to the shooting start time, and the hour angle coordinates can be calculated according to the local sidereal time and the right ascension coordinates in the space coordinates of the target celestial body, and the hour angle coordinates and the declination coordinates in the space coordinates of the target celestial body are used as the coordinates of the target celestial body in the space-time coordinate system. It can be understood that the method of converting the coordinates 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.

[0077] Next, the coordinates of the target celestial body in the space-time coordinate system and the mapping relationship can be substituted into the preset coordinate formula to calculate the coordinates of the target celestial body in the rectangular coordinate system. Here, the preset coordinate formula can be but is not limited to the following: 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.

[0078] Then, the coordinates of the target celestial body in the rectangular coordinate system can be converted. For example, the coordinates of the target celestial body in the rectangular coordinate system can be calculated respectively. 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: .

[0079] In one possible implementation, after the shooting module captures at least one first image in step S11, it also includes: acquiring two first images, and calculating the rotation center position based on the two first images; converting the rotation center position into coordinates in a space-time coordinate system, and obtaining a mapping relationship between the device coordinate system and the space-time coordinate system based on the coordinates of the rotation center position in the space-time coordinate system.

[0080] In one possible implementation, acquiring two first images and calculating the rotation center position according to the two first images specifically includes: acquiring pixel coordinates of the same points in the two first images, and calculating the rotation center position according to the pixel coordinates of the same points.

[0081] In one possible implementation, after the shooting module captures at least one first image in step S11, the method further includes: The star point trajectory position in the first image is obtained, and the trajectory center position is calculated based on the star point trajectory position; the trajectory center position is converted into coordinates in the space-time coordinate system, and the mapping relationship between the device coordinate system and the space-time coordinate system is obtained based on the coordinates of the trajectory center position in the space-time coordinate system.

[0082] In one possible implementation, step S4 includes: Calculate the next moment according to the difference between the current moment and the preset moment, where the next moment is any moment after the shooting start moment; According to the first spatial coordinates of the target celestial body and the next moment, the second spatial coordinates of the target celestial body in the space-time coordinate system at the next moment are calculated; According to the coordinate mapping relationship and the second space coordinates of the target celestial body, the second space coordinates are mapped to the second device coordinates corresponding to the next moment in the device coordinate system by calculation; Calculate and obtain a deviation value of the target celestial body in the device coordinate system according to the first device coordinates and the second device coordinates of the target celestial body in the device coordinate system; Calculate and obtain a second motion parameter of the shooting module according to the deviation value and the preset time difference; Acquire a first rotation instruction corresponding to the rotation module according to the second motion parameter; The rotation module is controlled to move according to the second rotation instruction to drive the shooting module to move to a second position that matches the target celestial body at the next moment.

[0083] In the embodiment of the present application, 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 module to achieve real-time tracking processing of the target celestial body (also known as star chasing processing).

[0084] Specifically, after the target celestial body is automatically found at the start of shooting, the next moment can be obtained according to the sum of the difference between the start of shooting and the preset moment, and the coordinates of the target celestial body in the device coordinate system are converted according to the spatial coordinates of the target celestial body, the next moment and the above-mentioned mapping relationship (that is, the second device coordinates, which may include the angle of the imaging device in the pitch direction and the angle in the yaw direction of the shooting module). Here, the method of converting the coordinates of the target celestial body in the device coordinate system can refer to the above embodiment, but it will not be repeated here.

[0085] It can be understood that in the embodiment of the present application, the preset time difference can be but is not limited to being set to 1 second, so that the difference between the start time of shooting and the next time 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 from the start time of shooting to the next time. Therefore, the movement trajectory of the target celestial 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.

[0086] Next, after obtaining the second device coordinates of the target celestial body in the device coordinate system, the difference between the second device coordinates and the first device coordinates mentioned above can be calculated (for example, the difference between the pitch angle in the second device coordinates and the pitch angle in the first device coordinates can be calculated, and the difference between the yaw angle in the second device coordinates and the yaw angle in the first device coordinates can be calculated), so as to obtain the 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 module to track the target celestial body when the target celestial body moves from the shooting start time to the next time, and the rotation speed required for the imaging device to control the shooting module to track the target celestial body can be obtained according to the ratio between the deviation angle and the preset time difference. It can be understood that the rotation speed may include the rotation speed of the imaging device controlling the shooting module in the pitch direction (which may be the ratio between the deviation angle in the pitch direction and the preset time 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 time difference).

[0087] Then, the shooting module can be controlled to rotate according to the rotation speed. For example, the pitch angle of the shooting module can be rotated according to the rotation speed in the pitch direction, and the yaw angle of the shooting module can be rotated according to the rotation speed in the yaw direction simultaneously, so as to realize the tracking of the target celestial body from the start moment of shooting to the next moment, and can effectively cope with the influence of the earth's rotation to ensure the tracking accuracy.

[0088] 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 controlling the shooting module 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 of the target celestial body.

[0089] In one possible implementation, step S4 includes: The shooting module captures at least one third image of the target celestial body at any time after the shooting start time, and obtains the capture time corresponding to each third image, and obtains the second space coordinates of the target celestial body corresponding to the capture time in the space-time coordinate system according to each third image and the corresponding capture time; Calculate and obtain the third device coordinates of the fixed point of the corresponding third image in the device coordinate system according to the coordinate mapping relationship and the second space coordinates of the fixed point of each third image in the spatiotemporal coordinate system; Acquire a fourth device coordinate of the target celestial body corresponding to the shooting start time in the device coordinate system according to the first spatial coordinate of the target celestial body and the coordinate mapping relationship; Calculate and obtain corresponding first correction parameters according to the third device coordinates and the fourth device coordinates; Obtaining a second rotation instruction according to the first correction parameter and the first rotation instruction; The position of the rotating module is corrected according to the second rotation instruction, so that the shooting module moves to a second position that matches the target celestial body at that moment.

[0090] In an embodiment of the present application, in order to ensure that the target celestial body is stably located at a fixed point of the image captured by the shooting module (for example, but not limited to a fixed point of the image), the attitude angle of the shooting module can also be corrected according to the image captured by the shooting module in real time to avoid star-chasing errors.

[0091] Specifically, after the target celestial body is automatically found, the third image (not limited to the time interval between two adjacent third images here) containing the target celestial body acquired by the shooting module can be continuously acquired, and the second spatial coordinates of the fixed point of the corresponding third image in the space-time coordinate system are obtained according to each third image and the corresponding acquisition time. It can be understood that the method of obtaining the coordinates of the fixed point of each third image in the space-time coordinate system can refer to the above embodiment, and will not be repeated here.

[0092] Next, since the target celestial body is continuously moving relative to the earth, the third device coordinates of the target celestial body corresponding to each third image in the device coordinate system can also be converted 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.

[0093] Next, after respectively obtaining the coordinates of the fixed point of each third image in the space-time coordinate system and the third device coordinates of the corresponding target celestial body in the device coordinate system, the difference calculation can be performed between the coordinates of the fixed point of the image in the space-time coordinate system and the fourth device 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 module 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 module to perform correction processing according to the first correction parameter corresponding to each third image (that is, the fourth device coordinates of the target celestial body in the device coordinate system are the coordinates of the fixed point of the corresponding image 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 module is promptly controlled to be at the fixed point of the image.

[0094] In an embodiment of the present application, when the current moment is any moment between the shooting start moment and the shooting end moment, the shooting module collects image data of the target celestial body and stores the collected image data in the storage module. In the process of collecting image data, the coordinates of the target celestial body are calculated in real time, and then the first correction parameter is obtained according to the calculated coordinates. The first rotation instruction is corrected by the first correction parameter to obtain the second rotation instruction, so that the lens can always be aimed at the target celestial body. When the current moment reaches the shooting end moment, the shooting module is controlled to stop collecting image data. If there are multiple target time information, after the shooting corresponding to the first target time information ends, the lens is aimed at the second target celestial body corresponding to the second target time information at the shooting start moment of the second target time information, and the second target celestial body is photographed within the shooting start moment and shooting end moment of the second target time information.

[0095] In the embodiment of the present application, step S4 includes: Acquire n+1 fourth images captured by the shooting component, and identify at least two star point pixel coordinates from each fourth image based on a preset algorithm; wherein n is a positive integer; Matching all star point pixel coordinates contained in the n+1th fourth image with all star point pixel coordinates contained in the nth fourth image to obtain at least two groups of star point pairs, and calculating the pixel offset parameters of the n+1th fourth image according to all the star point pairs; wherein each group of star point pairs includes any one star point pixel coordinate in the nth fourth image and any one star point pixel coordinate in the n+1th fourth image; 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; Obtaining a second rotation instruction according to the second correction parameter and the first rotation instruction; The position of the rotating module is corrected according to the second rotation instruction, so that the shooting module moves to a second position that matches the target celestial body at that moment.

[0096] 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.

[0097] 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 (that is, the fourth image currently acquired), the n+1th fourth image and the nth fourth image (that is, the fourth image acquired at the previous moment) are respectively identified and processed based on a preset algorithm to obtain at least two star point pixel coordinates in the n+1th fourth image (that is, ), and at least two star point pixel coordinates 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 at least two star point pixel coordinates in the third fourth image and at least two star point pixel coordinates in the second fourth image.

[0098] 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.

[0099] Next, after obtaining at least two star point pixel coordinates in the n+1th fourth image and at least two star point pixel coordinates in the nth fourth image, the imaging device may also match all star point pixel coordinates contained in the n+1th fourth image with all star point pixel coordinates contained in the nth fourth image to obtain at least two groups of star point pairs, and determine the pixel offset parameters of the n+1th fourth image based on all star point pairs, and the pixel offset parameters may be understood as the rotation angle and offset parameters between the n+1th fourth image and the nth fourth image. Here, each group of star point pairs may include any one star point pixel coordinate in the n+1th fourth image and any one star point pixel coordinate in the nth fourth image, and the possibility that the two star point pixel coordinates represent the pixel coordinates of the same star point in the two fourth images is the greatest.

[0100] 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.

[0101] As another option of the embodiment of the present application, matching processing is performed on all star point pixel coordinates contained in the nth fourth image with all star point pixel coordinates contained in the n+1th fourth image to obtain at least two groups of star point pairs, and pixel offset parameters of the n+1th fourth image are calculated based on all star point pairs, including: Based on the nearest neighbor matching algorithm, the pixel coordinates of each star point in the (n+1)th fourth image are matched with the pixel coordinates of all star points in the (n)th fourth image to obtain corresponding star point pairs; All the star point pairs are solved based on the random sample iteration model to calculate the pixel shift parameter of the (n+1)th fourth image.

[0102] Specifically, 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 a nearest neighbor matching algorithm (or a 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.

[0103] 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.

[0104] 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.

[0105] In one possible implementation, before step S4 it also includes: when the current moment has not reached the shooting start moment corresponding to the target time information and the difference between the current moment and the shooting start moment exceeds a first preset threshold, controlling the shooting device to work in a preset power consumption mode; after the shooting module stops, controlling the shooting device to work in a preset power consumption mode.

[0106] In the embodiment of the present application, the preset power consumption mode may be a low power consumption mode. When the current time is much different from the shooting start time and the difference between the two exceeds a first preset threshold, in order to save power of the device, the device will first enter the low power consumption mode to reduce power consumption.

[0107] In one possible implementation manner, the coordinate mapping relationship between the device coordinate system and the space-time coordinate system can be obtained by collecting gyroscope data provided by the shooting device.

[0108] The following will be combined with the attached Figure 2 , a shooting device based on timed shooting and automatic alignment functions provided in an embodiment of the present application is introduced in detail. It should be noted that the attached Figure 2 A shooting device based on timed shooting and automatic alignment functions is shown, which is used to execute the present application Figure 1 For the convenience of explanation, only the part related to the embodiment of the present application is shown. For the specific technical details not disclosed, please refer to the present application. Figure 1 The embodiment shown.

[0109] See also Figure 2 , Figure 2 Schematic diagram of a photographing device based on timed shooting and automatic alignment functions provided in an embodiment of the present application. Figure 2 As shown, the device includes a mapping relationship acquisition module 201, a shooting module 203, a rotation module 204, a first calculation module 205, and an adjustment module 206; The mapping relationship acquisition module 201 is used to acquire the coordinate mapping relationship between the device coordinate system and the space-time coordinate system, the device coordinate system is the coordinate system where the rotation module 204 is located, and the space-time coordinate system is the coordinate system where the celestial body is located; The first calculation module 205 is used to obtain target celestial body information and target time information corresponding to the target celestial body information, wherein the target time information includes the shooting start time, and the target celestial body information includes at least one of the name of the target celestial body, the number of the target celestial body, and the first spatial coordinates of the target celestial body corresponding to the shooting start time in the space-time coordinate system. The first spatial coordinates of the target celestial body corresponding to the shooting start time in the space-time coordinate system can be obtained according to the name of the target celestial body or the number of the target celestial body; and the first rotation instruction corresponding to the rotation module 204 is obtained according to the first spatial coordinates and the coordinate mapping relationship; The adjusting module 206 is used to control the rotation module 204 to move according to the first rotation instruction when the current moment is the shooting start moment or the current moment has not reached the shooting start moment, so as to drive the shooting module 203 to move to a first position that matches the target celestial body at the shooting start moment; The first calculation module 205 is used to obtain the second spatial coordinates of the target celestial body corresponding to the time in the space-time coordinate system at any time after the shooting start time, and obtain the first rotation instruction corresponding to the rotation module 204 according to the second spatial coordinates and the coordinate mapping relationship; The regulating module 206 is used to control the movement of the rotating module 204 according to the second rotating instruction, so as to drive the photographing module 203 to move to a second position matching the target celestial body at that moment.

[0110] In one possible implementation, a storage module 202 is further included; the storage module 202 is used to store target celestial body information, target time information corresponding to the target celestial body information, and image data captured by the capturing module 203 .

[0111] In the embodiment of the present application, the first calculation module 205 obtains the target celestial body information and the target time information corresponding to the target celestial body information from the storage module 202 .

[0112] In one possible implementation, the storage module 202 stores a plurality of target celestial body information and a plurality of target time information respectively corresponding to the plurality of target celestial body information.

[0113] In one possible implementation, the target time information also includes the shooting end time, and the adjustment module 206 is used to control the shooting module 203 to stop when the current time is the shooting end time.

[0114] In the embodiment of the present application, the mapping relationship acquisition module 201 specifically includes: acquiring at least one first image from the images acquired by the shooting module 203, and acquiring the acquisition time corresponding to each first image, and obtaining the third space coordinates corresponding to each first image in the space-time coordinate system according to each first image and its corresponding acquisition time; According to the third space coordinates of the at least one first image, a coordinate mapping relationship between the device coordinate system and the space-time coordinate system is acquired.

[0115] In the embodiment of the present application, acquiring at least one first image from the images captured by the shooting module 203 specifically includes: controlling the exposure time of the shooting module 203 to be a preset exposure time, and acquiring a first image captured by the shooting module 203 .

[0116] In the embodiment of the present application, acquiring at least one first image from the images captured by the shooting module 203 specifically includes: after the shooting module 203 captures a first image, controlling the shooting module 203 to perform at least one rotation process according to a first preset angle; The shooting module 203 collects a second image after each rotation process is completed, and uses the first image and all the second images as at least two first images.

[0117] In the embodiment of the present application, according to each first image and its corresponding acquisition time, obtaining the coordinates corresponding to each first image in the space-time coordinate system specifically includes: identifying a star point position from each first image based on a preset recognition algorithm; Obtain the space coordinates corresponding to the position of the star point from the preset star database; Acquire the coordinates of the star point in the space-time coordinate system according to the space coordinates and the acquisition time of the first image corresponding to the space coordinates; The coordinates of each star point in the space-time coordinate system are used as the coordinates of the first image corresponding to the position of each star point in the space-time coordinate system.

[0118] In the embodiment of the present application, acquiring the coordinate mapping relationship between the device coordinate system and the space-time coordinate system according to the third space coordinate of at least one first image specifically includes: According to the coordinates of each first image in the space-time coordinate system, obtain the coordinates of the fixed point of the corresponding first image in the space-time coordinate system; according to the coordinates of each first image fixed point in the space-time coordinate system and a preset equation, calculate and obtain the coordinates of the center of the circle; use the coordinates of the center of the circle as the coordinate mapping relationship between the device coordinate system and the space-time coordinate system; or Substitute the coordinates of the circle center into the preset rotation matrix expression to calculate the coordinate mapping relationship between the device coordinate system and the space-time coordinate system.

[0119] In the embodiment of the present application, acquiring the coordinate mapping relationship between the device coordinate system and the space-time coordinate system according to the third space coordinate of at least one first image specifically includes: According to the coordinates of each first image in the space-time coordinate system, obtaining the coordinates of the fixed point of the corresponding first image in the space-time coordinate system; Converting the coordinates of the fixed point of each first image in the space-time coordinate system to obtain the coordinates of the fixed point of the corresponding first image in the rectangular coordinate system; Calculate and obtain the coordinates of the center of the circle in the rectangular coordinate system according to a preset equation and the coordinates of all the fixed points of the first image in the rectangular coordinate system; The coordinates of the center of the circle in the rectangular coordinate system are converted to obtain the coordinates of the center of the circle in the space-time coordinate system; The coordinates of the circle center in the space-time coordinate system are used as the coordinate mapping relationship between the device coordinate system and the space-time coordinate system; or According to the preset rotation matrix expression and the coordinates of the center of the circle in the space-time coordinate system, the coordinate mapping relationship between the device coordinate system and the space-time coordinate system is calculated.

[0120] In the embodiment of the present application, obtaining the first rotation instruction corresponding to the rotation module according to the first space coordinates and the coordinate mapping relationship specifically includes: Acquire a first device coordinate mapped from the first space coordinate to the device coordinate system according to the coordinate mapping relationship and the first space coordinate of the target celestial body in the space-time coordinate system; Acquire a second device coordinate of the shooting module in the device coordinate system, and calculate and acquire a first motion parameter of the shooting module when the shooting module moves from the initial position to the first position according to the first device coordinate and the second device coordinate; A first rotation instruction corresponding to the rotation module is obtained according to the first motion parameter.

[0121] In the embodiment of the present application, obtaining the first device coordinates mapped from the first space coordinates to the device coordinate system according to the coordinate mapping relationship and the first space coordinates of the target celestial body in the space-time coordinate system specifically includes: Calculate and obtain the coordinates of the target celestial body in the rectangular coordinate system according to the coordinate mapping relationship and the first spatial coordinate of the target celestial body in the space-time coordinate system; The coordinates of the target celestial body in the rectangular coordinate system are converted to obtain the first device coordinates of the target celestial body in the device coordinate system corresponding to the shooting start time.

[0122] In the implementation of the present application, after the shooting module captures at least one first image, it also includes: acquiring two first images and calculating the rotation center position based on the two first images; converting the rotation center position into coordinates in the space-time coordinate system, and obtaining the mapping relationship between the device coordinate system and the space-time coordinate system based on the coordinates of the rotation center position in the space-time coordinate system.

[0123] In an embodiment of the present application, acquiring two first images and calculating the rotation center position based on the two first images specifically includes: acquiring pixel coordinates of the same points in the two first images, and calculating the rotation center position based on the pixel coordinates of the same points.

[0124] In an embodiment of the present application, after the shooting module captures at least one first image, it also includes: obtaining the star point trajectory position in the first image, and calculating the trajectory center position based on the star point trajectory position; converting the trajectory center position into coordinates in the space-time coordinate system, and obtaining the mapping relationship between the device coordinate system and the space-time coordinate system based on the coordinates of the trajectory center position in the space-time coordinate system.

[0125] In the embodiment of the present application, it also includes: calculating and obtaining the next moment according to the difference between the current moment and the preset moment, wherein the next moment is any moment after the shooting start moment; According to the first spatial coordinates of the target celestial body and the next moment, the second spatial coordinates of the target celestial body in the space-time coordinate system at the next moment are calculated; According to the coordinate mapping relationship and the second space coordinates of the target celestial body, the second space coordinates are mapped to the second device coordinates corresponding to the next moment in the device coordinate system by calculation; Calculate and obtain a deviation value of the target celestial body in the device coordinate system according to the first device coordinates and the second device coordinates of the target celestial body in the device coordinate system; Calculate and obtain a second motion parameter of the shooting module according to the deviation value and the preset time difference; Acquire a second rotation instruction corresponding to the rotation module according to the second motion parameter; The rotation module is controlled to move according to the second rotation instruction to drive the shooting module to move to a second position that matches the target celestial body at the next moment.

[0126] In the embodiment of the present application, the method further includes: at any time after the shooting start time, the shooting module captures at least one third image of the target celestial body, and obtains the capture time corresponding to each third image, and obtains the second space coordinates of the target celestial body corresponding to the capture time in the space-time coordinate system according to each third image and the corresponding capture time; Calculate and obtain the third device coordinates of the fixed point of the corresponding third image in the device coordinate system according to the coordinate mapping relationship and the second space coordinates of the fixed point of each third image in the spatiotemporal coordinate system; Acquire a fourth device coordinate of the target celestial body corresponding to the shooting start time in the device coordinate system according to the first spatial coordinate of the target celestial body and the coordinate mapping relationship; Calculate and obtain corresponding first correction parameters according to the third device coordinates and the fourth device coordinates; Obtaining a second rotation instruction according to the first correction parameter and the first rotation instruction; The position of the rotating module is corrected according to the second rotation instruction, so that the shooting module moves to a second position that matches the target celestial body at that moment.

[0127] In an embodiment of the present application, it also includes: when the current moment has not reached the shooting start moment corresponding to the target time information and the difference between the current moment and the shooting start moment exceeds a first preset threshold, controlling the shooting device to work in a preset power consumption mode; after the shooting module stops, controlling the shooting device to work in a preset power consumption mode.

[0128] In the embodiment of the present application, the coordinate mapping relationship between the device coordinate system and the space-time coordinate system can be obtained by collecting and calculating the gyroscope data of the shooting device.

[0129] In the implementation of the present application, the rotation module may include a first rotation axis and a second rotation axis. The rotation module may adjust the attitude angle of the shooting module, for example but not limited to the rotatable component including a first rotatable component for adjusting the pitch angle of the lens, and a second rotatable component for adjusting the yaw angle of the lens. The shooting module may include an image sensor and a lens, which together realize image acquisition, photons pass through the lens, and then the image sensor collects the photons and converts them into digital signals, and the processor converts the digital signals into image signals, and finally completes the image acquisition; the lens may be a telephoto camera for acquiring images with a small field of view angle.

[0130] Those skilled in the art can clearly understand that the technical solutions of the embodiments of the present application can be implemented with the help of software and / or hardware. The "unit", "module" and "part" in this specification refer to software and / or hardware that can independently complete or cooperate with other components to complete specific functions, where the hardware can be, for example, a field programmable gate array (FPGA), an integrated circuit (IC), etc.

[0131] Each processing unit and / or module of the embodiments of the present application may be implemented by an analog circuit that implements the functions described in the embodiments of the present application, or may be implemented by software that executes the functions described in the embodiments of the present application.

[0132] See also Figure 3 , which shows a schematic diagram of the structure of an electronic device involved in an embodiment of the present application, the electronic device can be used to implement Figure 1 The method in the embodiment shown. Figure 3 As shown, the electronic device 300 may include: at least one central processor 301 , at least one network interface 304 , a user interface 303 , a memory 305 , and at least one communication bus 302 .

[0133] The communication bus 302 is used to realize the connection and communication between these components.

[0134] The user interface 303 may include a display screen (Display) and a camera (Camera). Optionally, the user interface 303 may also include a standard wired interface and a wireless interface.

[0135] The network interface 304 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0136] Among them, the central processing unit 301 may include one or more processing cores. The central processing unit 301 uses various interfaces and lines to connect various parts of the entire electronic device 300, and executes various functions and processes data of the terminal 300 by running or executing instructions, programs, code sets or instruction sets stored in the memory 305, and calling data stored in the memory 305. Optionally, the central processing unit 301 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The central processing unit 301 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; and the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the central processing unit 301, but implemented separately through a chip.

[0137] Among them, the memory 305 may include a random access memory (Random Access Memory, RAM) and may also include a read-only memory (Read-Only Memory). Optionally, the memory 305 includes a non-transitory computer-readable storage medium. The memory 305 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 305 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 305 may also be optionally at least one storage device away from the aforementioned central processor 301. As Figure 3 As shown, the memory 305 as a computer storage medium may include an operating system, a network communication module, a user interface module, and program instructions.

[0138] exist Figure 3In the electronic device 300 shown, the user interface 303 is mainly used to provide an input interface for the user and obtain data input by the user; and the central processor 301 can be used to call an application program of a shooting method based on timed shooting and automatic alignment functions stored in the memory 305, and specifically perform the following operations: S1: Acquire a coordinate mapping relationship between a device coordinate system and a space-time coordinate system, wherein the device coordinate system is a coordinate system where a shooting module is located, and the space-time coordinate system is a coordinate system where a celestial body is located; S2: acquiring target celestial body information and target time information corresponding to the target celestial body information, wherein the target time information includes the shooting start time, and the target celestial body information includes at least one of the name of the target celestial body, the number of the target celestial body, and the first spatial coordinate of the target celestial body corresponding to the shooting start time in the space-time coordinate system, and the first spatial coordinate of the target celestial body corresponding to the shooting start time in the space-time coordinate system can be acquired according to the name of the target celestial body or the number of the target celestial body; S3: acquiring a first rotation instruction corresponding to the rotation module according to the first space coordinate and the coordinate mapping relationship, and controlling the rotation module to move according to the first rotation instruction when the current moment is the shooting start moment or the current moment has not reached the shooting start moment, so as to drive the shooting module to move to a first position matching the target celestial body at the shooting start moment; S4: Obtain a second spatial coordinate of the target celestial body in the space-time coordinate system corresponding to any moment after the start time of shooting, obtain a first rotation instruction corresponding to the rotation module according to the second spatial coordinate and the coordinate mapping relationship, and control the movement of the rotation module according to the second rotation instruction to drive the shooting module to move to a second position that matches the target celestial body at that moment.

[0139] 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.

[0140] 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.

[0141] 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.

[0142] 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 the modules or 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 the devices or units can be electrical or other forms.

[0143] 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 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.

[0144] 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.

[0145] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, disk or optical disk and other media that can store program codes.

[0146] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by entering a program to instruct related hardware. The program may be stored in a computer-readable memory, and the memory may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0147] The above is only an exemplary embodiment of the present disclosure, and the scope of the present disclosure cannot be limited thereto. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the specification and practicing the disclosure here, those skilled in the art will easily think of the implementation scheme of the present disclosure. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the technical field not recorded in the present disclosure. The description and examples are regarded as exemplary only, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A shooting method based on timed shooting and automatic alignment function, characterized in that: The method is applied to a photographing device including a photographing module and a rotating module, and the method includes the following steps: S1: Acquire a coordinate mapping relationship between a device coordinate system and a space-time coordinate system, wherein the device coordinate system is a coordinate system where a shooting module is located, and the space-time coordinate system is a coordinate system where a celestial body is located; S2: acquiring target celestial body information and target time information corresponding to the target celestial body information, wherein the target time information includes the shooting start time, and the target celestial body information includes at least one of the name of the target celestial body, the number of the target celestial body, and the first spatial coordinate of the target celestial body corresponding to the shooting start time in the space-time coordinate system, and the first spatial coordinate of the target celestial body corresponding to the shooting start time in the space-time coordinate system can be acquired according to the name of the target celestial body or the number of the target celestial body; S3: acquiring a first rotation instruction corresponding to the rotation module according to the first space coordinate and the coordinate mapping relationship, and controlling the rotation module to move according to the first rotation instruction when the current moment is the shooting start moment or the current moment has not reached the shooting start moment, so as to drive the shooting module to move to a first position matching the target celestial body at the shooting start moment; S4: Obtain a second spatial coordinate of the target celestial body in the space-time coordinate system corresponding to any moment after the start time of shooting, obtain a second rotation instruction corresponding to the rotation module according to the second spatial coordinate and the coordinate mapping relationship, and control the movement of the rotation module according to the second rotation instruction to drive the shooting module to move to a second position that matches the target celestial body at that moment.

2. A shooting method based on timed shooting and automatic alignment functions as claimed in claim 1, characterized in that: Before step S2, a storage module is also included to store target celestial body information and target time information corresponding to the target celestial body information. In any one of steps S1-S5, the storage module stores image data captured by the capturing module.

3. A shooting method based on timed shooting and automatic alignment functions as claimed in claim 2, characterized in that: The storage module stores a plurality of target celestial body information and a plurality of target time information respectively corresponding to the plurality of target celestial body information.

4. A shooting method based on timed shooting and automatic alignment functions as claimed in claim 1, characterized in that: The target time information also includes the shooting end time, and after step S4, the method further includes: controlling the shooting module to stop when the current time is the shooting end time.

5. A shooting method based on timed shooting and automatic alignment functions as claimed in claim 1, 2 or 3, characterized in that: Step S1 specifically includes: S11: The shooting module captures at least one first image, and obtains a capture time corresponding to each first image, and obtains a third space coordinate corresponding to each first image in a time-space coordinate system according to each first image and its corresponding capture time; S12: Acquire a coordinate mapping relationship between a device coordinate system and a space-time coordinate system according to a third space coordinate of at least one first image.

6. A shooting method based on timed shooting and automatic alignment functions as claimed in claim 4, characterized in that: In step S11, the capturing module captures at least one first image, specifically including: controlling the exposure time of the capturing module to be a preset exposure time, and acquiring a first image captured by the capturing module.

7. A shooting method based on timed shooting and automatic alignment functions as claimed in claim 4, characterized in that: In step S11, the capturing module captures at least one first image, specifically comprising: after the capturing module captures a first image, controlling the capturing module to perform at least one rotation process according to a first preset angle; The shooting module collects a second image after each rotation process is completed, and uses the first image and all the second images as at least two first images.

8. A shooting method based on timed shooting and automatic alignment functions as claimed in claim 4, characterized in that: In step S11, according to each first image and its corresponding acquisition time, obtaining the coordinates corresponding to each first image in the space-time coordinate system specifically includes: identifying a star point position from each first image based on a preset recognition algorithm; Obtain the space coordinates corresponding to the position of the star point from the preset star database; Acquire the coordinates of the star point in the space-time coordinate system according to the space coordinates and the acquisition time of the first image corresponding to the space coordinates; The coordinates of each star point in the space-time coordinate system are used as the coordinates of the first image corresponding to the position of each star point in the space-time coordinate system.

9. The shooting method based on timed shooting and automatic alignment function as claimed in claim 7, characterized in that: Step S12 specifically includes: S121: acquiring the coordinates of a fixed point of the corresponding first image in the space-time coordinate system according to the coordinates of each first image in the space-time coordinate system; S122: Calculate and obtain 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; S123: Using the coordinates of the circle center as a coordinate mapping relationship between the device coordinate system and the space-time coordinate system; or Substitute the coordinates of the circle center into the preset rotation matrix expression to calculate the coordinate mapping relationship between the device coordinate system and the space-time coordinate system.

10. A shooting method based on timed shooting and automatic alignment functions as claimed in claim 1, 2 or 3, characterized in that: In step S3, obtaining the first rotation instruction corresponding to the rotation module according to the first space coordinates and the coordinate mapping relationship specifically includes: S31: acquiring a first device coordinate mapped from the first space coordinate to the device coordinate system according to the coordinate mapping relationship and the first space coordinate of the target celestial body in the space-time coordinate system; S32: Acquire a second device coordinate of the shooting module in the device coordinate system, and calculate and acquire a first motion parameter of the shooting module when it moves from the initial position to the first position according to the first device coordinate and the second device coordinate; S33: Obtain a first rotation instruction corresponding to the rotation module according to the first motion parameter.

11. The shooting method based on timed shooting and automatic alignment function as claimed in claim 5, characterized in that: After the shooting module captures at least one first image in step S11, it also includes: acquiring two first images and calculating the rotation center position based on the two first images; converting the rotation center position into coordinates in the space-time coordinate system, and obtaining a mapping relationship between the device coordinate system and the space-time coordinate system based on the coordinates of the rotation center position in the space-time coordinate system.

12. A shooting method based on timed shooting and automatic alignment functions as claimed in claim 11, characterized in that: Acquiring two first images and calculating the rotation center position according to the two first images specifically includes: acquiring pixel coordinates of the same points in the two first images, and calculating the rotation center position according to the pixel coordinates of the same points.

13. The shooting method based on timed shooting and automatic alignment function as claimed in claim 5, characterized in that: After the shooting module captures at least one first image in step S11, 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 position of the center of the trajectory is converted into coordinates in the space-time coordinate system, and according to the coordinates of the center of the trajectory in the space-time coordinate system, a mapping relationship between the device coordinate system and the space-time coordinate system is obtained.

14. The shooting method based on timed shooting and automatic alignment function as claimed in claim 9, characterized in that: Step S4 includes: Calculate the next moment according to the difference between the current moment and the preset moment, where the next moment is any moment after the shooting start moment; According to the first spatial coordinates of the target celestial body and the next moment, the second spatial coordinates of the target celestial body in the space-time coordinate system at the next moment are calculated; According to the coordinate mapping relationship and the second space coordinates of the target celestial body, the second space coordinates are mapped to the second device coordinates corresponding to the next moment in the device coordinate system by calculation; Calculate and obtain a deviation value of the target celestial body in the device coordinate system according to the first device coordinates and the second device coordinates of the target celestial body in the device coordinate system; Calculate and obtain a second motion parameter of the shooting module according to the deviation value and the preset time difference; Acquire a second rotation instruction corresponding to the rotation module according to the second motion parameter; The rotation module is controlled to move according to the second rotation instruction to drive the shooting module to move to a second position that matches the target celestial body at the next moment.

15. A shooting method based on timed shooting and automatic alignment functions as claimed in claim 1, 2 or 3, characterized in that: Step S4 includes: The shooting module captures at least one third image of the target celestial body at any time after the shooting start time, and obtains the capture time corresponding to each third image, and obtains the second space coordinates of the target celestial body corresponding to the capture time in the space-time coordinate system according to each third image and the corresponding capture time; Calculate and obtain the third device coordinates of the fixed point of the corresponding third image in the device coordinate system according to the coordinate mapping relationship and the second space coordinates of the fixed point of each third image in the spatiotemporal coordinate system; Acquire, according to the first spatial coordinates of the target celestial body and the coordinate mapping relationship, the fourth device coordinates of the target celestial body corresponding to the shooting start time in the device coordinate system; Calculate and obtain corresponding first correction parameters according to the third device coordinates and the fourth device coordinates; Obtaining a second rotation instruction according to the first correction parameter and the first rotation instruction; The position of the rotating module is corrected according to the second rotation instruction, so that the shooting module moves to a second position that matches the target celestial body at that moment.

16. A shooting method based on timed shooting and automatic alignment functions as claimed in claim 1 or 4, characterized in that: Before step S4, it also includes: when the current moment has not reached the shooting start moment corresponding to the target time information and the difference between the current moment and the shooting start moment exceeds a first preset threshold, controlling the shooting device to work in a preset power consumption mode; after the shooting module stops, controlling the shooting device to work in a preset power consumption mode.

17. A shooting method based on timed shooting and automatic alignment functions as claimed in claim 1, 2 or 3, characterized in that: The coordinate mapping relationship between the device coordinate system and the space-time coordinate system can be obtained by collecting the gyroscope data of the shooting device.

18. A shooting device based on timed shooting and automatic alignment functions, characterized in that: It includes a mapping relationship acquisition module, a shooting module, a rotation module, a first calculation module, and an adjustment module; The mapping relationship acquisition module is used to acquire the coordinate mapping relationship between the device coordinate system and the space-time coordinate system, the device coordinate system is the coordinate system where the shooting module is located, and the space-time coordinate system is the coordinate system where the celestial body is located; The first calculation module is used to obtain target celestial body information and target time information corresponding to the target celestial body information, wherein the target time information includes the shooting start time, and the target celestial body information includes at least one of the name of the target celestial body, the number of the target celestial body, and the first spatial coordinate of the target celestial body corresponding to the shooting start time in the space-time coordinate system. The first spatial coordinate of the target celestial body corresponding to the shooting start time in the space-time coordinate system can be obtained according to the name of the target celestial body or the number of the target celestial body; and the first rotation instruction corresponding to the rotation module is obtained according to the first spatial coordinate and the coordinate mapping relationship; The adjustment module is used to control the movement of the rotation module according to the first rotation instruction when the current moment is the shooting start moment or the current moment has not reached the shooting start moment, so as to drive the shooting module to move to a first position that matches the target celestial body at the shooting start moment; The first calculation module is used to obtain the second spatial coordinates of the target celestial body corresponding to the time in the space-time coordinate system at any time after the shooting start time, and obtain the second rotation instruction corresponding to the rotation module according to the second spatial coordinates and the coordinate mapping relationship; The regulating module is used to control the movement of the rotating module according to the second rotating instruction, so as to drive the photographing module to move to a second position matching the target celestial body at that moment.

19. A photographing device based on timed photographing and automatic alignment functions as claimed in claim 18, characterized in that: It also includes a storage module; the storage module is used to store target celestial body information, target time information corresponding to the target celestial body information, and image data captured by the shooting module.

20. The photographing device based on timed photographing and automatic alignment functions as claimed in claim 19, characterized in that: The storage module stores a plurality of target celestial body information and a plurality of target time information respectively corresponding to the plurality of target celestial body information.

21. The photographing device based on timed photographing and automatic alignment functions as claimed in claim 18, characterized in that: The target time information also includes the shooting end time, and the adjustment module is used to control the shooting module to stop when the current time is the shooting end time.

22. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 17 are implemented.

23. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 17 are implemented.

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