A photographing method and device based on timing photographing and automatic alignment function

Abstract

The application provides a shooting method and device based on timing shooting and automatic alignment function, and belongs to the technical field of photography. The shooting method based on timing shooting and automatic alignment function comprises the following steps: S1: obtaining a coordinate mapping relationship; S2: obtaining target celestial body information and target time information; S3: obtaining a first rotation instruction according to the first space coordinate and the coordinate mapping relationship, and controlling the rotation module to move according to the first rotation instruction, so as to drive the shooting module to move to a first position; S4: obtaining a second rotation instruction according to the second space coordinate and the coordinate mapping relationship, and controlling the rotation module to move according to the second rotation instruction, so as to drive the shooting module to move to a second position. The application can automatically align the target celestial body at a preset time and perform shooting, and can solve the problems that the traditional equipment cannot automatically align the celestial body and the existing intelligent astronomical photography equipment cannot perform timing shooting.

Description

Technical Field

[0001] This invention relates to the field of photography technology, and more specifically, to a shooting method and apparatus based on timed shooting and automatic alignment functions. Background Technology

[0002] In traditional astrophotography, photographers not only need to wait for the optimal shooting time but also manually align the lens with the celestial object when it appears. Because the position and visibility of celestial objects are limited by time and geographical location, photographers often need to manually adjust the equipment angle at night to align the lens with the target. This manual alignment method is not only time-consuming and laborious but also requires users to possess certain astronomical knowledge and operational skills, increasing the difficulty and complexity of the shooting process.

[0003] In recent years, with technological advancements, some intelligent astronomical photography devices have acquired the ability to automatically align with target celestial objects and adjust the lens angle automatically based on user-specified celestial information. However, existing intelligent astronomical devices generally lack timed shooting functionality. Even if they can automatically align with a target, users still need to manually trigger the shooting when the target appears, making fully unattended timed shooting impossible. This deficiency is particularly inconvenient when long-term observations or waiting for specific time windows are required, limiting the device's intelligence and user experience. Summary of the Invention

[0004] To address the aforementioned issues, this application provides a shooting method and apparatus based on timed shooting and automatic alignment functions.

[0005] In a first aspect, this application provides a real-time shooting method based on timed shooting and automatic alignment functions. The method is applied to a shooting device including a shooting module and a rotation module, and includes the following steps: S1: Obtain the coordinate mapping relationship between the device coordinate system and the spatiotemporal coordinate system, wherein the device coordinate system is the coordinate system where the shooting module is located, and the spatiotemporal coordinate system is the coordinate system where the celestial body is located; S2: Obtain target celestial body information and target time information corresponding to the target celestial body information. The target time information includes the shooting start time. The target celestial body information includes at least one of the following: the name of the target celestial body, the number of the target celestial body, and the first spatial coordinates of the target celestial body in the spatiotemporal coordinate system corresponding to the shooting start time. The first spatial coordinates of the target celestial body in the spatiotemporal coordinate system corresponding to the shooting start time can be obtained based on the name or number of the target celestial body. S3: Obtain the first rotation command corresponding to the rotation module according to the first spatial coordinates and coordinate mapping relationship. When the current time is the shooting start time or the current time has not reached the shooting start time, control the rotation module to move according to the first rotation command so as to drive the shooting module to move to the first position that matches the target celestial body at the shooting start time. S4: Obtain the second spatial coordinates of the target celestial body in the spatiotemporal coordinate system at any time after the start of the shooting. Obtain the second rotation command corresponding to the rotation module based on the second spatial coordinates and coordinate mapping relationship. Control the rotation module to move according to the second rotation command so as to drive the shooting module to move to the second position that matches the target celestial body at that time.

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

[0007] Preferably, the storage module stores multiple target celestial body information and multiple target time information corresponding to the multiple target celestial body information.

[0008] Preferably, the target time information also includes the shooting end time, and after step S4, it 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 imaging module captures at least one first image and obtains the capture time corresponding to each first image. Based on each first image and its corresponding capture time, the third spatial coordinates corresponding to each first image in the spatiotemporal coordinate system are obtained. S12: Obtain the coordinate mapping relationship between the device coordinate system and the spatiotemporal coordinate system based on the third spatial coordinates of at least one first image.

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

[0011] Preferably, in step S11, the acquisition of at least one first image by the shooting module specifically includes: after the shooting module acquires a first image, controlling the shooting module to perform at least one rotation process according to a first preset angle; After each rotation processing, the imaging module acquires a second image, and uses the first image and all the second images as at least two first images.

[0012] Preferably, in step S11, obtaining the coordinates of each first image in the spatiotemporal coordinate system based on each first image and its corresponding acquisition time specifically includes: The positions of star points are identified in each first image based on a preset recognition algorithm; Retrieve the spatial coordinates corresponding to the location of the star from the preset star database; Based on the spatial coordinates and the acquisition time of the first image corresponding to those spatial coordinates, obtain the coordinates of the star point in the spatiotemporal coordinate system; The coordinates of each star point in the spacetime coordinate system are used as the coordinates of the first image corresponding to each star point position in the spacetime coordinate system.

[0013] Preferably, step S12 specifically includes: S121: Based on the coordinates of each first image in the spatiotemporal coordinate system, obtain the coordinates of the fixed point of the corresponding first image in the spatiotemporal coordinate system; S122: Calculate and obtain the center coordinates of the circle based on the coordinates of each fixed point of the first image in the spatiotemporal coordinate system and the preset equation; S123: Use the center coordinates as the coordinate mapping relationship between the device coordinate system and the spatiotemporal coordinate system; or Substitute the center coordinates into the preset rotation matrix expression to calculate and obtain the coordinate mapping relationship between the device coordinate system and the spatiotemporal coordinate system.

[0014] Preferably, step S3, which involves obtaining the first rotation command corresponding to the rotation module based on the first spatial coordinates and coordinate mapping relationship, specifically includes: S31: Based on the coordinate mapping relationship and the first spatial coordinates of the target celestial body in the spatiotemporal coordinate system, obtain the first device coordinates mapped from the first spatial coordinates to the device coordinate system; S32: Obtain the second device coordinates of the shooting module in the device coordinate system, and calculate the first motion parameters of the shooting module from the initial position to the first position based on the first device coordinates and the second device coordinates; S33: Obtain the first rotation command corresponding to the rotation module based on the first motion parameters.

[0015] Preferably, after the imaging module acquires at least one first image in step S11, the method further 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 spatiotemporal coordinate system, and obtaining the mapping relationship between the device coordinate system and the spatiotemporal coordinate system based on the coordinates of the rotation center position in the spatiotemporal coordinate system.

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

[0017] Preferably, after the shooting module acquires 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 based on the position of the star point trajectory; 10. converting the position of the trajectory center into coordinates in the spatiotemporal coordinate system, and obtaining the mapping relationship between the device coordinate system and the spatiotemporal coordinate system based on the coordinates of the trajectory center in the spatiotemporal coordinate system.

[0018] Preferably, step S4 includes: The next moment is calculated based on the difference between the current moment and the preset moment, where the next moment is any moment after the start of shooting. Based on the first spatial coordinates of the target celestial body and the next moment, calculate and obtain the second spatial coordinates of the target celestial body in the spacetime coordinate system at the next moment; Based on the coordinate mapping relationship and the second spatial coordinates of the target celestial body, calculate and obtain the second device coordinates corresponding to the next moment on the device coordinate system mapped from the second spatial coordinates. Based on the first and second device coordinates of the target celestial body in the device coordinate system, calculate and obtain the deviation value of the target celestial body in the device coordinate system; The second motion parameters of the shooting module are calculated and obtained based on the deviation value and the preset time difference value; The first rotation command corresponding to the rotation module is obtained based on the second motion parameters; The rotation module is controlled to move according to the second rotation command, so as to move the imaging module to a second position that matches the target celestial body at the next moment.

[0019] Preferably, step S4 includes: At any time after the start of the shooting, the shooting module acquires at least one third image of the target celestial body and obtains the acquisition time corresponding to each third image. Based on each third image and the corresponding acquisition time, the second spatial coordinates of the target celestial body in the spatiotemporal coordinate system corresponding to that acquisition time are obtained. Based on the coordinate mapping relationship and the second spatial coordinates of the fixed point of each third image in the spatiotemporal coordinate system, the third device coordinates of the fixed point of the corresponding third image in the device coordinate system are calculated and obtained. Based on the first spatial coordinates and coordinate mapping relationship of the target celestial body, obtain the fourth device coordinates of the target celestial body in the device coordinate system corresponding to the shooting start time; Based on the coordinates of the third and fourth devices, the corresponding first correction parameters are calculated and obtained; The second rotation command is obtained based on the first correction parameter and the first rotation command; The position of the rotating module is corrected according to the second rotation command, so that the imaging module moves to a second position that matches the target celestial body at that moment.

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

[0021] Preferably, the coordinate mapping relationship between the device coordinate system and the spatiotemporal coordinate system can be obtained by calculating the data from the gyroscope built into the acquisition and shooting device.

[0022] Secondly, embodiments of this application provide 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 obtain the coordinate mapping relationship between the device coordinate system and the spatiotemporal coordinate system, wherein the device coordinate system is the coordinate system in which the shooting module is located, and the spatiotemporal coordinate system is the coordinate system in which the celestial body is located; The first calculation module is used to acquire target celestial body information and target time information corresponding to the target celestial body information. The target time information includes the shooting start time. The target celestial body information includes at least one of the following: the name of the target celestial body, the number of the target celestial body, and the first spatial coordinates of the target celestial body in the spatiotemporal coordinate system corresponding to the shooting start time. The first spatial coordinates of the target celestial body in the spatiotemporal coordinate system corresponding to the shooting start time can be obtained based on the name or number of the target celestial body. The first rotation command corresponding to the rotation module is obtained based on the first spatial coordinates and the coordinate mapping relationship. The adjustment module is used to control the rotation module to move according to the first rotation command when the current time is the start time of shooting or when the current time has not reached the start time of shooting, so as to drive the shooting module to move to the first position that matches the target celestial body at the start time of shooting. The first calculation module is used to obtain the second spatial coordinates of the target celestial body in the spatiotemporal coordinate system at any time after the start of the shooting, and to obtain the first rotation command corresponding to the rotation module based on the second spatial coordinates and the coordinate mapping relationship. The adjustment module is used to control the movement of the rotation module according to the second rotation command, so as to drive the imaging module to move to a second position that matches 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 imaging module.

[0024] Preferably, the storage module stores multiple target celestial body information and multiple target time information corresponding to the multiple 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] Thirdly, embodiments of this application provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method provided as in the first aspect or any possible implementation of the first aspect.

[0027] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method provided as in the first aspect or any possible implementation thereof.

[0028] The beneficial effects of this invention are as follows: 1. Acquire target celestial body information and corresponding target time information. Utilize the rotation module to automatically adjust the shooting module angle at a specified time, so that the shooting module is aligned with the target celestial body. It can shoot the target celestial body at a specified time. 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 the shooting at a preset time without human intervention. This can solve the problems that traditional equipment cannot automatically align with celestial bodies and existing intelligent astronomical photography equipment cannot shoot at a set time.

[0029] 2. It can photograph multiple celestial objects.

[0030] 3. This application combines automatic alignment and scheduled shooting. The equipment can automatically align with the target celestial body and complete the shooting at a preset time without human intervention, which completely solves the problem of users having to stay up all night and operate manually, and improves the level of intelligence in astrophotography.

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

[0032] 5. This application is applicable to astronomical observation missions that require specific time windows, especially those requiring imaging at night or in the early morning. By timing the images, users can plan ahead and accurately acquire astronomical images at designated times, suitable for long-term astronomical observation and scientific research needs.

[0033] 6. Before the designated shooting time arrives, the device can enter a low-power mode, reducing power consumption during standby and extending battery life, ensuring the device can successfully complete long-term observation and shooting tasks. This function is particularly suitable for astronomical photography needs that require prolonged standby, making power management more efficient and ensuring the continuity of the shooting process. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 A schematic flowchart illustrating a shooting method based on timed shooting and automatic alignment functions provided in an embodiment of this application; Figure 2 A schematic diagram of a shooting device based on timed shooting and automatic alignment functions provided in this application embodiment; Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0036] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0037] In the following description, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The following description provides multiple embodiments of this application, which can be substituted or combined with each other. Therefore, this application can also be considered to include all possible combinations of the same and / or different embodiments described. Thus, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then this application should also be considered to include embodiments containing one or more other possible combinations of A, B, C, and D, even if such embodiments are not explicitly described 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 function and arrangement of the described elements without departing from the scope of this application. Various processes or components may be appropriately omitted, substituted, or added to the examples. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Furthermore, features described with respect to some examples may be combined into other examples.

[0039] Please see Figure 1 . Figure 1 This is a schematic flowchart illustrating a shooting method based on timed shooting and automatic alignment functions provided in an embodiment of this application. In this embodiment, the method is applied to a shooting device including a shooting module and a rotation module, and the method includes the following steps: S1: Obtain the coordinate mapping relationship between the device coordinate system and the spatiotemporal coordinate system, wherein the device coordinate system is the coordinate system where the shooting module is located, and the spatiotemporal coordinate system is the coordinate system where the celestial body is located; S2: Obtain target celestial body information and target time information corresponding to the target celestial body information. The target time information includes the shooting start time. The target celestial body information includes at least one of the following: the name of the target celestial body, the number of the target celestial body, and the first spatial coordinates of the target celestial body in the spatiotemporal coordinate system corresponding to the shooting start time. The first spatial coordinates of the target celestial body in the spatiotemporal coordinate system corresponding to the shooting start time can be obtained based on the name or number of the target celestial body. S3: Obtain the first rotation command corresponding to the rotation module according to the first spatial coordinates and coordinate mapping relationship. When the current time is the shooting start time or the current time has not reached the shooting start time, control the rotation module to move according to the first rotation command so as to drive the shooting module to move to the first position that matches the target celestial body at the shooting start time. S4: Obtain the second spatial coordinates of the target celestial body in the spatiotemporal coordinate system at any time after the start of the shooting. Obtain the second rotation command corresponding to the rotation module based on the second spatial coordinates and coordinate mapping relationship. Control the rotation module to move according to the second rotation command so as to drive the shooting module to move to the second position that matches the target celestial body at that time.

[0040] In this embodiment, target celestial body information and corresponding target time information are acquired. A rotation module automatically adjusts the angle of the imaging module at a specified time, ensuring the imaging module is aligned with the target celestial body. Upon reaching the shooting start time, the module automatically aligns and triggers shooting, acquiring and storing image data without requiring any user intervention. This application enables automatic alignment with the target celestial body and shooting at a preset time without user intervention. It solves the problems of traditional devices failing to automatically align with celestial bodies and existing intelligent astrophotography equipment failing to perform timed shooting. This not only saves user time but also ensures accurate alignment with the target celestial body at the optimal time, making it particularly suitable for timed shooting requirements in astrophotography. The name and number of the target celestial body can be matched to the corresponding spatial coordinates using a star database.

[0041] In this embodiment, the rotation module may include a first rotation axis and a second rotation axis. The rotation module can adjust the attitude angle of the shooting module. For example, but not limited to, the rotatable component includes 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. The image sensor and the lens work together to acquire images. Photons pass through the lens, then the image sensor collects the photons, converts them into digital signals, and the processor converts the digital signals into image signals, ultimately completing the image acquisition. The lens can be a telephoto camera used to acquire images with a small field of view.

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

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

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

[0045] In one possible implementation, 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 imaging module captures at least one first image and obtains the capture time corresponding to each first image. Based on each first image and its corresponding capture time, the third spatial coordinates corresponding to each first image in the spatiotemporal coordinate system are obtained. S12: Obtain the coordinate mapping relationship between the device coordinate system and the spatiotemporal coordinate system based on the third spatial coordinates of at least one first image.

[0047] In this embodiment of the application, before the start time of shooting has been reached, the shooting module acquires a first image of any location in the sky containing celestial bodies. Then, by performing image analysis on the first image, the coordinates of the first image in the spatiotemporal coordinate system are obtained. Based on these coordinates, the coordinate mapping relationship between the device coordinate system and the spatiotemporal coordinate system is calculated.

[0048] In this embodiment, one or more first images are acquired, and based on all the first images and their corresponding acquisition times, the third spatial coordinates of each first image in the spatiotemporal coordinate system are obtained. Then, based on the coordinates of all the first images in the spatiotemporal coordinate system, the mapping relationship between the device coordinate system and the spatiotemporal coordinate system is determined. This mapping relationship is used to automatically locate and track the target celestial body. The entire process allows the imaging device to be calibrated at any position and at any attitude angle, and can automatically and accurately capture and continuously track the target celestial body without manual intervention, meeting complex astronomical observation needs. The number of first images can be multiple, for example, two, three, or more.

[0049] In this embodiment, the coordinates of each first image in the spatiotemporal coordinate system can be understood as the coordinates of one or more star points contained in each first image in the spatiotemporal coordinate system. The spatiotemporal coordinate system may include, but is not limited to, spatial coordinates and time coordinates. The spatial coordinates can be used to characterize the position of an object, and the time coordinates can be used to characterize a certain moment. For example, taking the spatiotemporal coordinate system as an hour angle coordinate system, the coordinates of each first image in the spatiotemporal coordinate system can be the hour angle coordinates (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 time.

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

[0051] In one possible implementation, step S11, in which the shooting module acquires at least one first image, specifically includes: after the shooting module acquires a first image, controlling the shooting module to perform at least one rotation process according to a first preset angle. After each rotation processing, the imaging module acquires a second image, and uses the first image and all the second images as at least two first images.

[0052] In this embodiment of the application, when acquiring the first image captured by the 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, so as to ensure that the first image acquired by the shooting module has a clear and effective star trajectory.

[0053] In addition, the imaging device can acquire a first image captured by the imaging module at the current attitude angle, and rotate the imaging module according to a preset angle threshold. This preset angle threshold can be, but is not limited to, a 5-degree rotation of the yaw angle, i.e., a 5-degree rotation of the yaw angle of the imaging module (it can be increased or decreased by 5 degrees). After each rotation of the imaging module, a fourth image captured by the imaging module can be acquired, so that all the fourth images and the first images are considered as at least two first images captured by the imaging module. It is understood that when there are two at least two first images, these at least two first images may include one first image and one fourth image; when there are three at least two first images, these at least two first images may include one first image and two fourth images; when there are more than three at least two first images, these at least two first images may include one first image and at least three fourth images.

[0054] In one possible implementation, step S11, which involves obtaining the coordinates of each first image in the spatiotemporal coordinate system based on each first image and its corresponding acquisition time, specifically includes: The positions of star points are identified in each first image based on a preset recognition algorithm; Retrieve the spatial coordinates corresponding to the location of the star from the preset star database; Based on the spatial coordinates and the acquisition time of the first image corresponding to those spatial coordinates, obtain the coordinates of the star point in the spatiotemporal coordinate system; The coordinates of each star point in the spacetime coordinate system are used as the coordinates of the first image corresponding to each star point position in the spacetime coordinate system.

[0055] In this embodiment, the spatial coordinates corresponding to the star point position can be equatorial coordinates. A preset algorithm identifies the star point position from each first image. This star point position can 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 can be retrieved from a preset celestial database (the spatial coordinates can be understood as the spatial coordinates corresponding to the pixel coordinates of one or more star points contained in the second star point position). Here, the preset celestial database can be obtained through large-scale analysis of celestial coordinates well-known in the art. It includes at least two sets of star point pixel coordinates, one or more star point pixel coordinates corresponding to each set of star point pixel coordinates, and the spatial coordinates of each star point pixel coordinate (the spatial coordinates may include right ascension and declination coordinates). When the degree of matching between the star point pixel coordinates of any set of star point pixel coordinates and any star point position is high, it indicates that the spatial coordinates corresponding to the star point position in the corresponding first image are consistent with the spatial coordinates of the star point corresponding to the set of star point pixel coordinates.

[0056] It is understood that the preset algorithm may include, but is not limited to, image scaling, denoising, binarization, dilation and erosion, and connected component extraction, etc., and these various types of processing algorithms are all well-known techniques in this field, so they will not be elaborated on here.

[0057] Next, after querying the spatial coordinates corresponding to the star points in each first image, the imaging device can also calculate the coordinates of the corresponding star points in the spatiotemporal coordinate system based on the spatial coordinates of each first image and the acquisition time (the coordinates of the star points in the spatiotemporal coordinate system can be understood as the coordinates of one or more star points in the corresponding first image in the spatiotemporal coordinate system respectively), and can use the coordinates of the star points corresponding to each first image in the spatiotemporal coordinate system as the coordinates of the corresponding first image in the spatiotemporal coordinate system.

[0058] Here, when calculating the coordinates of a star in the spacetime coordinate system, it is possible, but not limited to, calculating the local sidereal time (i.e., LST, which reflects the Earth's position relative to the star) based on the acquisition time. Then, the hour angle coordinates are calculated based on the local sidereal time and the right ascension coordinates in the spatial coordinate system. The hour angle coordinates and the declination coordinates in the spatial coordinate system are used as the coordinates of the corresponding star in the spacetime coordinate system (i.e., the hour angle coordinates and declination coordinates in the hour angle coordinate system). Of course, one can also refer to the coordinate transformation methods well known in this field, but we will not go into details here.

[0059] In one possible implementation, step S12 specifically includes: S121: Based on the coordinates of each first image in the spatiotemporal coordinate system, obtain the coordinates of the fixed point of the corresponding first image in the spatiotemporal coordinate system; S122: Calculate and obtain the center coordinates of the circle based on the coordinates of each fixed point of the first image in the spatiotemporal coordinate system and the preset equation; S123: Use the center coordinates as the coordinate mapping relationship between the device coordinate system and the spatiotemporal coordinate system; or Substitute the center coordinates into the preset rotation matrix expression to calculate and obtain the coordinate mapping relationship between the device coordinate system and the spatiotemporal coordinate system.

[0060] In this embodiment of the application, step S12 may specifically include: Based on the coordinates of each first image in the spatiotemporal coordinate system, obtain the coordinates of the fixed point of the corresponding first image in the spatiotemporal coordinate system; The coordinates of the fixed points in each first image in the spatiotemporal coordinate system are transformed to obtain the coordinates of the fixed points in the corresponding first image in the rectangular coordinate system; Based on the preset equation and the coordinates of all fixed points of the first image in the rectangular coordinate system, calculate and obtain the coordinates of the center of the circle in the rectangular coordinate system; The coordinates of the center of the circle in the rectangular coordinate system are transformed to obtain the coordinates of the center of the circle in the spacetime coordinate system; The coordinates of the center of the circle in the spacetime coordinate system are used as the coordinate mapping relationship between the device coordinate system and the spacetime coordinate system; or Based on the preset rotation matrix expression and the coordinates of the center of the circle in the spatiotemporal coordinate system, the coordinate mapping relationship between the device coordinate system and the spatiotemporal coordinate system is calculated and obtained.

[0061] In this embodiment, the fixed point of the image can be the center of the image. Taking three first images as an example, the imaging device can calculate the coordinates of the fixed point of the corresponding image in the spatiotemporal coordinate system based on the pixel coordinate position relationship between the star points in each first image and the fixed point of the image, combined with the coordinates of the corresponding star points in the spatiotemporal coordinate system. This method of obtaining the pixel coordinate position relationship between the star points in each first image and the fixed point of the image is a well-known image processing method in the art, and will not be elaborated here.

[0062] Next, the imaging device can transform the coordinates of the fixed points in the spatiotemporal coordinate system of each first image to obtain the coordinates of the fixed points in the rectangular coordinate system of each image. Then, it substitutes the coordinates of all the fixed points in the rectangular coordinate system into a preset equation, and obtains the coordinates of the center of a circle in the rectangular coordinate system by solving for the center of the circle between the three points. It is understood that when converting the coordinates of the fixed points in the spatiotemporal coordinate system to the rectangular coordinate system, it can be done, but is not limited to, combining preset elevation angle calculation formulas and preset azimuth angle calculation formulas to convert the coordinates of the fixed points in the spatiotemporal coordinate system to the horizontal coordinate system, and then converting the coordinates of the fixed points in the horizontal coordinate system to the rectangular coordinate system. The coordinate transformation methods mentioned here are all well-known techniques in the art and will not be elaborated upon further.

[0063] Here, the pre-defined equations may include, but are not limited to, those described below: In the above equation, the first two equations can be understood as equations for the perpendicular bisector of a plane, and the last equation can be understood as an equation for a plane. , as well as These can be the coordinates of fixed points in the three images in a rectangular coordinate system (all are known parameters). It can be the coordinates of the center of the circle in a rectangular coordinate system (i.e., the parameters to be solved). , as well as These 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 imaging device can further transform these coordinates to obtain the coordinates of the center in the spacetime coordinate system. This transformation can be, but is not limited to, the following: In the above formula, ha and dec can be the coordinates of the center of the circle in the spacetime 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), which are also the hour angle coordinates and declination coordinates of the imaging device in the hour angle coordinate system. The coordinates of the center of the circle in a rectangular coordinate system can be given by the formula. The y and x values ​​in the last formula are the coordinates of the center of the circle in a rectangular coordinate system. as well as .

[0065] Of course, after obtaining the coordinates of the center of the circle in the spacetime coordinate system, the imaging device can also substitute these coordinates into a preset rotation matrix expression, using the resulting preset rotation matrix expression as the mapping relationship between the device coordinate system and the spacetime 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 spacetime coordinate system.

[0066] It is also understood that when the number of at least one first image exceeds three, the imaging device may, but is not limited to, refer to the above embodiments, convert the coordinates of the fixed point of each first image in the spatiotemporal coordinate system to coordinates in the rectangular coordinate system. The coordinates of the fixed points of all first images in the rectangular coordinate system are solved by least squares using a preset circle center equation to calculate the coordinates of the circle center corresponding to the fixed point of all first images in the rectangular coordinate system. Then, the coordinates of the circle center in the rectangular coordinate system are converted to coordinates in the spatiotemporal coordinate system. The mapping relationship between the device coordinate system and the spatiotemporal coordinate system can be obtained based on the coordinates of the circle center in the spatiotemporal coordinate system. However, further details are omitted here.

[0067] Here, the pre-defined equation for the center of the circle can be, but is not limited to, the following: In the above formula, x, y, and z can be the coordinates of a fixed point of each first image in a rectangular coordinate system, h, k, and l can be the coordinates of the center of the circle in a rectangular coordinate system, and r can be the distance between a fixed point of each first image and the center of the circle. By substituting the coordinates of at least three fixed points of the first images in a rectangular coordinate system into the preset equation for the center of the circle, the coordinates of the center of the circle in a rectangular coordinate system can be solved using the least squares method.

[0068] It is also understood that when there are at least two first images, the imaging device can also, but is not limited to, obtain the pixel coordinates of the same point in the equatorial coordinate system of each first image, and use 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 spatiotemporal coordinate system, thereby obtaining the mapping relationship between the device coordinate system and the spatiotemporal coordinate system; here, the processing method of the rotation center coordinates and the coordinate transformation method can refer to the technical means well known in the art, and will not be elaborated here.

[0069] It is also understandable that when the number of at least one first image is one, the imaging device can also, but is not limited to, identify the coordinates of at least three star points in the first image, and use a preset circle equation to solve the least squares method for all star point trajectory coordinates to calculate the coordinates of the center of the circle corresponding to all star point trajectories. Then, the coordinates of the center of the circle are converted into coordinates in the spacetime coordinate system, and the mapping relationship between the device coordinate system and the spacetime coordinate system can be obtained based on the coordinates of the center of the circle in the spacetime coordinate system. However, I will not go into too much detail here.

[0070] Here, the pre-defined equation for the circle can be, but is not limited to, the following: In the above formula, x and y can be the coordinates of each star point's trajectory. as well as The coordinates of the center of the circle can be given by r, and the distance from each star point trajectory to the center of the circle can be given by r. The coordinates of the center of the circle can be obtained by substituting the coordinates of at least three star point trajectories into the preset equation of the circle using the least squares method. In one possible implementation, step S3, which involves obtaining the first rotation command corresponding to the rotation module based on the first spatial coordinates and coordinate mapping relationship, specifically includes: S31: Based on the coordinate mapping relationship and the first spatial coordinates of the target celestial body in the spatiotemporal coordinate system, obtain the first device coordinates mapped from the first spatial coordinates to the device coordinate system; S32: Obtain the second device coordinates of the shooting module in the device coordinate system, and calculate the first motion parameters of the shooting module from the initial position to the first position based on the first device coordinates and the second device coordinates; S33: Obtain the first rotation command corresponding to the rotation module based on the first motion parameters.

[0071] In this embodiment, based on the coordinate mapping relationship, the first spatial coordinates of the target celestial body are mapped to the device coordinate system to obtain the first device coordinates of the target celestial body in the device coordinate system. The first operating parameters for the lens to align with the target celestial body are calculated based on the first device coordinates. These first motion parameters are the rotation axis motion parameters, and these first operating parameters are added to the command to obtain the first rotation command. After the current time reaches the shooting start time, the rotation module is controlled to move according to the first rotation command, that is, the first rotation command is sent to the first rotation axis and the second rotation axis, so that the lens is aligned with the target celestial body at the shooting start time. Even if the current time has not reached the shooting start time, the first rotation command can still be sent to the first rotation axis and the second rotation axis, so that the lens is aligned with the location of the target celestial body at the shooting start time.

[0072] In this embodiment of the application, after determining the mapping relationship between the device coordinate system and the spatiotemporal coordinate system, when automatic star-finding processing is required, the imaging device can, but is not limited to, obtain the spatial coordinates of the target celestial body and the shooting start time input by the user through a mobile terminal or touch interface. The spatial coordinates of the target celestial body can be understood as the right ascension and declination coordinates of the celestial 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-finding time when the user needs to use the imaging device to perform star-finding processing (for example, but not limited to the current time, to achieve real-time shooting of the celestial body; or it can also be a future time, to achieve scheduled shooting of the celestial body). The spatial coordinates of the target celestial body, the shooting start time, and the aforementioned mapping relationship can be combined to calculate the coordinates of the target celestial body in the device coordinate system (i.e., the first coordinate, which may include the angle of the imaging module in the pitch direction and the angle in the yaw direction controlled by the imaging device when it is at the shooting start time).

[0073] In this embodiment, after obtaining the first coordinates of the target celestial body in the device coordinate system, the imaging device can, but is not limited to, obtaining the current attitude angle of the imaging 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 sensors set on the rotatable component). Then, the pitch angle and yaw angle are used as the coordinates of the imaging module in the device coordinate system. Based on the coordinate difference between the coordinates of the imaging module in the device coordinate system and the first coordinates of the target celestial body in the device coordinate system, the rotation angle that the rotation module needs to rotate in the pitch direction and the rotation angle in the yaw direction can be obtained. Then, at the start of the shooting, the rotation module can be controlled to perform pitch angle rotation processing according to the rotation angle in the pitch direction and yaw angle rotation processing simultaneously according to the rotation angle in the yaw direction to ensure that the imaging module points to the target celestial body.

[0074] Here, when the coordinate difference between the imaging module's coordinates in the device coordinate system and the target celestial body's first coordinate in the device coordinate system is obtained, the imaging device can calculate the difference between the pitch angle and the yaw angle in the two coordinate systems respectively, and use the two difference results as the coordinate difference. Of course, it is also possible, but not limited to, to determine the rotation direction based on the magnitude of 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 it 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 based on the coordinate mapping relationship and the first spatial coordinates of the target celestial body in the spatiotemporal coordinate system; S312: Transform 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 start time of shooting.

[0076] In this embodiment, the local sidereal time (LST, reflecting the Earth's position relative to the stars) can be calculated based on the start time of the image capture. The hour angle coordinates are then calculated using the local sidereal time and the right ascension coordinates of the target celestial body in its spatial coordinates. These hour angle coordinates and the declination coordinates of the target celestial body are then used as the coordinates of the target celestial body in the spacetime coordinate system. It is understood that the method for converting the target celestial body's coordinates in the spacetime coordinate system is a conventional technique in the art, and other coordinate transformation methods well-known in the art can also be consulted, but will not be elaborated upon here.

[0077] Next, the coordinates of the target celestial body in the spacetime coordinate system and the mapping relationship can be substituted into a 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, This can be the coordinates of the target celestial body in a rectangular coordinate system. The preset rotation matrix expression (i.e., mapping relationship) mentioned in the above embodiments can be used, where ha and dec can be the coordinates of the target celestial body in the spacetime coordinate system.

[0078] Next, the coordinates of the target celestial body in the Cartesian coordinate system can be transformed. For example, the coordinates of the target celestial body in the Cartesian coordinate system can be calculated separately. as well as The value of r can be understood as the vector magnitude (default is 1), and this... as well as This serves as the first coordinate of the target celestial body in the device's coordinate system. Here, Please refer to the calculation method shown below: .

[0079] In one possible implementation, after the imaging module acquires at least one first image in step S11, the method further 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 spatiotemporal coordinate system, and obtaining the mapping relationship between the device coordinate system and the spatiotemporal coordinate system based on the coordinates of the rotation center position in the spatiotemporal coordinate system.

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

[0081] In one possible implementation, after the imaging module acquires at least one first image in step S11, the method further includes: Obtain the position of the star point trajectory in the first image, and calculate the position of the trajectory center based on the position of the star point trajectory; convert the position of the trajectory center into coordinates in the spatiotemporal coordinate system, and obtain the mapping relationship between the device coordinate system and the spatiotemporal coordinate system based on the coordinates of the trajectory center in the spatiotemporal coordinate system.

[0082] In one possible implementation, step S4 includes: The next moment is calculated based on the difference between the current moment and the preset moment, where the next moment is any moment after the start of shooting. Based on the first spatial coordinates of the target celestial body and the next moment, calculate and obtain the second spatial coordinates of the target celestial body in the spacetime coordinate system at the next moment; Based on the coordinate mapping relationship and the second spatial coordinates of the target celestial body, calculate and obtain the second device coordinates corresponding to the next moment on the device coordinate system mapped from the second spatial coordinates. Based on the first and second device coordinates of the target celestial body in the device coordinate system, calculate and obtain the deviation value of the target celestial body in the device coordinate system; The second motion parameters of the shooting module are calculated and obtained based on the deviation value and the preset time difference value; The first rotation command corresponding to the rotation module is obtained based on the second motion parameters; The rotation module is controlled to move according to the second rotation command, so as to move the imaging module to a second position that matches the target celestial body at the next moment.

[0083] In this embodiment of the application, since the Earth rotates around its polar axis at an angular velocity of 15 degrees per hour, any celestial body is moving slowly relative to the Earth. Therefore, it is necessary to continuously adjust the attitude angle of the imaging module in order to achieve real-time tracking and processing of the target celestial body (i.e., star tracking processing).

[0084] Specifically, after automatically locating the target celestial body at the start of the shooting, the next moment can be obtained by summing the difference between the start time and the preset time. Then, based on the spatial coordinates of the target celestial body, the next moment, and the aforementioned mapping relationship, the coordinates of the target celestial body in the device coordinate system (i.e., the second device coordinates, which may include the angles of the imaging module in the pitch and yaw directions controlled by the imaging device at the next moment) can be calculated. The method for calculating the coordinates of the target celestial body in the device coordinate system can be found in the above embodiments, and will not be elaborated upon here.

[0085] It is understood that the preset time difference in this application embodiment can be, but is not limited to, set to 1 second, so that the difference between the start time of shooting and the next time is small enough. At this time, the preset time difference is very short relative to the speed of the star's movement. It can be approximated that the star is moving in a uniform straight line 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. The sufficiently short broken line path can well approximate the curved path of the target. 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 tracking 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 aforementioned first device coordinates 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). This yields the angle (i.e., 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 imaging module to track the target celestial body as it moves from the start of the shooting to the next moment. Based on the ratio between this deviation angle and a preset time difference, the rotational speed required for the imaging device to control the imaging module to track the target celestial body can be obtained. It is understood that the rotational speed can include the rotational speed of the imaging device controlling the imaging 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 rotational speed in the yaw direction (which may be the ratio between the deviation angle in the yaw direction and the preset time difference).

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

[0088] It should be noted that the embodiments of this application can also continuously acquire the next moment according to the preset time difference, and can refer to the above embodiments to determine the rotation speed required by the imaging module to track the target celestial body between each two adjacent next moments based on the spatial coordinates and mapping relationship of the target celestial body, thereby realizing continuous tracking processing of the target celestial body.

[0089] In one possible implementation, step S4 includes: At any time after the start of the shooting, the shooting module acquires at least one third image of the target celestial body and obtains the acquisition time corresponding to each third image. Based on each third image and the corresponding acquisition time, the second spatial coordinates of the target celestial body in the spatiotemporal coordinate system corresponding to that acquisition time are obtained. Based on the coordinate mapping relationship and the second spatial coordinates of the fixed point of each third image in the spatiotemporal coordinate system, the third device coordinates of the fixed point of the corresponding third image in the device coordinate system are calculated and obtained. Based on the first spatial coordinates and coordinate mapping relationship of the target celestial body, obtain the fourth device coordinates of the target celestial body in the device coordinate system corresponding to the shooting start time; Based on the coordinates of the third and fourth devices, the corresponding first correction parameters are calculated and obtained; The second rotation command is obtained based on the first correction parameter and the first rotation command; The position of the rotating module is corrected according to the second rotation command, so that the imaging module moves to a second position that matches the target celestial body at that moment.

[0090] In this embodiment of the application, in order to ensure that the target celestial body is stably positioned at a fixed point in the image acquired by the imaging module (e.g., but not limited to a fixed point in the image), the attitude angle of the imaging module can also be corrected based on the image acquired by the imaging module in real time, so as to avoid the resulting star-chasing error.

[0091] Specifically, after automatically locating the target celestial body, a third image containing the target celestial body can be continuously acquired by the imaging module (not limited to the time interval between two adjacent third images). Based on each third image and its corresponding acquisition time, the second spatial coordinates of a fixed point in the corresponding third image in the spatiotemporal coordinate system are obtained. It is understood that the method for obtaining the coordinates of the fixed point in the spatiotemporal coordinate system of each third image can be referred to the above embodiments, and will not be elaborated further here.

[0092] Next, since the target celestial body is constantly moving relative to the Earth, the third device coordinates of the target celestial body in the device coordinate system can be calculated based on 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 be referred to the above embodiment, but will not be elaborated here.

[0093] Next, after obtaining the coordinates of the fixed point in the spatiotemporal coordinate system of each third image and the third device coordinates of the corresponding target celestial body in the device coordinate system, the difference between the coordinates of the fixed point in the spatiotemporal coordinate system of the image and the fourth device coordinates of the target celestial body in the device coordinate system can be calculated to obtain the rotation angle required for the imaging device to control the shooting module to face the target celestial body when acquiring 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). The shooting module is then controlled to perform correction processing according to the first correction parameter corresponding to each third image (that is, to obtain the fourth device coordinates of the target celestial body in the device coordinate system as the coordinates of the fixed point of the corresponding image in the spatiotemporal coordinate system), thereby ensuring that after acquiring each third image, the position of the target celestial body in the image acquired by the shooting module is timely controlled to be at the fixed point of the image.

[0094] In this embodiment, at any time between the start and end times of the current shooting, the shooting module acquires image data of the target celestial body and stores the acquired image data in the storage module. During the image data acquisition process, the coordinates of the target celestial body are calculated in real time, and a first correction parameter is obtained based on the calculated coordinates. The first rotation command is then corrected using the first correction parameter to obtain a second rotation command, ensuring that the lens remains focused on the target celestial body. When the current time reaches the end time of the shooting, the shooting module stops acquiring image data. If there are multiple target time information points, after the shooting corresponding to the first target time information ends, the lens is focused on the second target celestial body corresponding to the second target time information at the start time of the shooting of the second target time information, and the second target celestial body is photographed between the start and end times of the shooting of the second target time information.

[0095] In this embodiment of the application, step S4 includes: Acquire n+1 fourth images captured by the imaging component, and identify at least two star pixel coordinates from each fourth image based on a preset algorithm; where n is a positive integer; Match the pixel coordinates of all star points contained in the (n+1)th fourth image with the pixel coordinates of all star points contained in the nth fourth image to obtain at least two pairs of star points, and calculate the pixel offset parameter of the (n+1)th fourth image based on all the star point pairs; wherein each pair of star points includes the pixel coordinates of any star point in the nth fourth image and the pixel coordinates of any star point in the (n+1)th fourth image. Calculate the nth time difference between the nth fourth image and the (n+1)th fourth image, and obtain the second correction parameter based on the nth time difference and the pixel offset parameter of the (n+1)th fourth image; The second rotation command is obtained based on the second correction parameter and the first rotation command; The position of the rotating module is corrected according to the second rotation command, so that the imaging module moves to a second position that matches the target celestial body at that moment.

[0096] To avoid errors in the tracking speed of the imaging device, the rotation speed of the imaging component can be corrected based on two adjacent images captured by the imaging component.

[0097] Specifically, after automatically locating the target celestial body, the imaging device can continuously acquire a fourth image containing the target celestial body, captured by the imaging component. After acquiring the (n+1)th fourth image (i.e., the currently acquired fourth image), a preset algorithm is used to identify and process both the (n+1)th and the nth fourth image (i.e., the fourth image acquired at the adjacent previous moment) to obtain at least two star pixel coordinates in the (n+1)th fourth image and at least two star 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 has currently acquired three fourth images and can identify at least two star pixel coordinates in the third fourth image and at least two star pixel coordinates in the second fourth image.

[0098] It is understandable that the preset algorithm may, but is not limited to, preprocessing each fourth image, such as image grayscale processing, binarization processing, and background removal processing, and using connected components to mark the groups of pixels that are clustered together and whose adjacent values ​​are not zero in each fourth image, so that each group of pixels that are clustered together and whose adjacent values ​​are not zero is treated as a star point. Then, the centroid calculation result of each star point can be used as the corresponding star point pixel coordinates.

[0099] Next, after obtaining the pixel coordinates of at least two star points in the (n+1)th fourth image and at least two star point pixel coordinates in the nth fourth image, the imaging device can further perform matching processing on all the star point pixel coordinates contained in the (n+1)th fourth image and all the star point pixel coordinates contained in the nth fourth image to obtain at least two pairs of star points. Based on all the star point pairs, the pixel offset parameter of the (n+1)th fourth image is determined. This pixel offset parameter can be understood as the rotation angle and offset parameter between the (n+1)th and nth fourth images. Here, each pair of star points can contain the pixel coordinates of any one star point in the (n+1)th fourth image and any one star point pixel coordinate in the nth fourth image, and the probability that these two star point pixel coordinates represent the pixel coordinates of the same star point in the two fourth images is greatest.

[0100] Next, after determining the pixel offset parameter of the (n+1)th fourth image, the imaging device can also calculate the nth time difference between the acquisition time of the (n+1)th fourth image and the acquisition time of the nth fourth image (that is, the time difference between the currently acquired fourth image and the fourth image acquired at the adjacent previous time). The ratio between the offset parameter in the pixel offset parameter and the nth time difference is used as the second correction parameter (that is, the correction rotation speed). Then, after acquiring each fourth image in real time, the rotation speed of the imaging component is corrected in a timely manner according to the corresponding second correction parameter to compensate for the difference in motion speed between the imaging component and the target star.

[0101] As another optional embodiment of this application, the pixel coordinates of all star points contained in the nth fourth image are matched with the pixel coordinates of all star points contained in the (n+1)th fourth image to obtain at least two pairs of star points, and the pixel offset parameter of the (n+1)th fourth image is calculated based on all the star point pairs, including: The nearest neighbor matching algorithm is used to match the pixel coordinates of each star point in the (n+1)th fourth image with the pixel coordinates of all star points in the nth fourth image to obtain the corresponding star point pairs. The pixel offset parameters of the (n+1)th fourth image are calculated by solving all star point pairs based on the random sample iterative model.

[0102] Specifically, the imaging device can perform matching processing on the pixel coordinates of each star point in the (n+1)th fourth image with the pixel coordinates of all star points in the nth fourth image based on the nearest neighbor matching algorithm (or bidirectional nearest neighbor matching algorithm). That is, by calculating the Euclidean distance between the pixel coordinates of each star point in the (n+1)th fourth image and the pixel coordinates of each star point in the nth fourth image, the pixel coordinates of the star point in the nth fourth image corresponding to the minimum Euclidean distance, and the corresponding pixel coordinates of the star point in the (n+1)th fourth image are taken as a pair of star points to ensure that the probability of the two pixel coordinates of each pair of star points representing the pixel coordinates of the same star point in two adjacent fourth images is maximized.

[0103] Of course, after obtaining each pair of star points, the imaging device can also identify at least one adjacent star point pixel coordinate in the corresponding fourth image based on the pixel coordinates of each star point in each pair, so as to form a geometric line shape containing the pixel coordinates of the star point. The accuracy of each pair of star points can be effectively determined by performing similarity matching processing on the geometric line shapes corresponding to the pixel coordinates of the two star points in each pair. It is understood that when any similarity is lower than a preset similarity threshold, it indicates that the two pixel coordinates of the corresponding star point pair are incorrectly matched, and the star point pair containing each pixel coordinate can be re-determined with reference to the above embodiments; when any similarity is not lower than the preset similarity threshold, it indicates that the two pixel coordinates of the corresponding star point pair are successfully matched, and the corresponding star point pair can be retained.

[0104] Next, after obtaining all star pairs between the (n+1)th and nth fourth images, the imaging device can further process all star pairs based on a random sample iterative model. This random sample iterative model can be understood as a Random Sample Consensus (RANSAC) iterative model. When processing all star pairs, it can calculate any randomly selected star pair based on a preset offset parameter processing algorithm to obtain the corresponding pixel offset parameter, and count the number of star pairs that match the pixel offset parameter (for example, it can calculate the pixel coordinates of one star in any other star pair with the pixel offset parameter to obtain the corresponding matching pixel coordinates, and determine whether the star pair matches the pixel offset parameter by comparing the deviation between the pixel coordinates of the other star in the star pair and the matching pixel coordinates). Then, the final pixel offset parameter can be determined based on all star pairs corresponding to the maximum number of star pairs. It is understood that the random sample iterative model can also refer to conventional techniques in this field that apply RANSAC, which will not be elaborated upon here.

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

[0106] In this embodiment, the preset power consumption mode can be a low power consumption mode. If there is a significant difference between the current time and the start time of shooting, and the difference exceeds a first preset threshold, the device will first enter a low power consumption mode to save power and reduce power consumption.

[0107] In one possible implementation, the coordinate mapping relationship between the device coordinate system and the spatiotemporal coordinate system can be obtained by calculating data from the gyroscope built into the acquisition and shooting device.

[0108] The following will be combined with the appendix Figure 2 This application provides a detailed description of a shooting device based on timed shooting and automatic alignment functions, as provided in its embodiments. It should be noted that the appendix... Figure 2 The illustrated shooting device, based on timed shooting and automatic alignment functions, is used to perform the functions described in this application. Figure 1 The methods shown in the embodiments are for illustrative purposes only, illustrating the parts relevant to the embodiments of this application. For specific technical details not disclosed, please refer to this application. Figure 1 The example shown.

[0109] Please see Figure 2 , Figure 2 This is a schematic diagram of a shooting device based on timed shooting and automatic alignment functions provided in an embodiment of this 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 spatiotemporal coordinate system, wherein the device coordinate system is the coordinate system in which the rotation module 204 is located, and the spatiotemporal coordinate system is the coordinate system in which the celestial body is located; The first calculation module 205 is used to acquire target celestial body information and target time information corresponding to the target celestial body information. The target time information includes the shooting start time. The target celestial body information includes at least one of the following: the name of the target celestial body, the number of the target celestial body, and the first spatial coordinates of the target celestial body in the spatiotemporal coordinate system corresponding to the shooting start time. The first spatial coordinates of the target celestial body in the spatiotemporal coordinate system corresponding to the shooting start time can be obtained based on the name or number of the target celestial body. The first rotation command corresponding to the rotation module 204 is obtained based on the first spatial coordinates and the coordinate mapping relationship. The adjustment module 206 is used to control the rotation module 204 to move according to the first rotation command when the current time is the shooting start time or when the current time has not reached the shooting start time, so as to drive the shooting module 203 to move to the first position that matches the target celestial body at the shooting start time. The first calculation module 205 is used to obtain the second spatial coordinates of the target celestial body in the spatiotemporal coordinate system at any time after the start of the shooting, and to obtain the first rotation command corresponding to the rotation module 204 based on the second spatial coordinates and the coordinate mapping relationship. The adjustment module 206 is used to control the rotation module 204 to move according to the second rotation command, so as to drive the imaging module 203 to move to a second position that matches the target celestial body at that moment.

[0110] In one possible implementation, a storage module 202 is also 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 imaging module 203.

[0111] In this embodiment, 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 multiple target celestial body information and multiple target time information corresponding to the multiple target celestial body information.

[0113] In one possible implementation, the target time information further 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 this embodiment of the application, the mapping relationship acquisition module 201 specifically includes: acquiring at least one first image from the images acquired by the shooting module 203, acquiring the acquisition time corresponding to each first image, and obtaining the third spatial coordinates corresponding to each first image in the spatiotemporal coordinate system based on each first image and its corresponding acquisition time; Based on the third spatial coordinates of at least one first image, obtain the coordinate mapping relationship between the device coordinate system and the spatiotemporal coordinate system.

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

[0116] In this embodiment of the application, obtaining 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; After each rotation processing, the imaging module 203 acquires a second image and uses the first image and all the second images as at least two first images.

[0117] In this embodiment of the application, obtaining the coordinates of each first image in the spatiotemporal coordinate system based on each first image and its corresponding acquisition time specifically includes: The positions of star points are identified in each first image based on a preset recognition algorithm; Retrieve the spatial coordinates corresponding to the location of the star from the preset star database; Based on the spatial coordinates and the acquisition time of the first image corresponding to those spatial coordinates, obtain the coordinates of the star point in the spatiotemporal coordinate system; The coordinates of each star point in the spacetime coordinate system are used as the coordinates of the first image corresponding to each star point position in the spacetime coordinate system.

[0118] In this embodiment of the application, obtaining the coordinate mapping relationship between the device coordinate system and the spatiotemporal coordinate system based on the third spatial coordinates of at least one first image specifically includes: Based on the coordinates of each first image in the spatiotemporal coordinate system, obtain the coordinates of the corresponding fixed point of the first image in the spatiotemporal coordinate system; based on the coordinates of the fixed point of each first image in the spatiotemporal coordinate system and a preset equation, calculate and obtain the center coordinates of the circle; use the center coordinates as the coordinate mapping relationship between the device coordinate system and the spatiotemporal coordinate system; or Substitute the center coordinates into the preset rotation matrix expression to calculate and obtain the coordinate mapping relationship between the device coordinate system and the spatiotemporal coordinate system.

[0119] In this embodiment of the application, obtaining the coordinate mapping relationship between the device coordinate system and the spatiotemporal coordinate system based on the third spatial coordinates of at least one first image specifically includes: Based on the coordinates of each first image in the spatiotemporal coordinate system, obtain the coordinates of the fixed point of the corresponding first image in the spatiotemporal coordinate system; The coordinates of the fixed points in each first image in the spatiotemporal coordinate system are transformed to obtain the coordinates of the fixed points in the corresponding first image in the rectangular coordinate system; Based on the preset equation and the coordinates of all fixed points of the first image in the rectangular coordinate system, calculate and obtain the coordinates of the center of the circle in the rectangular coordinate system; The coordinates of the center of the circle in the rectangular coordinate system are transformed to obtain the coordinates of the center of the circle in the spacetime coordinate system; The coordinates of the center of the circle in the spacetime coordinate system are used as the coordinate mapping relationship between the device coordinate system and the spacetime coordinate system; or Based on the preset rotation matrix expression and the coordinates of the center of the circle in the spatiotemporal coordinate system, the coordinate mapping relationship between the device coordinate system and the spatiotemporal coordinate system is calculated and obtained.

[0120] In this embodiment of the application, obtaining the first rotation command corresponding to the rotation module based on the first spatial coordinates and coordinate mapping relationship specifically includes: Based on the coordinate mapping relationship and the first spatial coordinates of the target celestial body in the spatiotemporal coordinate system, obtain the first device coordinates mapped from the first spatial coordinates to the device coordinate system; Obtain the second device coordinates of the shooting module in the device coordinate system, and calculate the first motion parameters of the shooting module from the initial position to the first position based on the first device coordinates and the second device coordinates. The first rotation command corresponding to the rotation module is obtained based on the first motion parameters.

[0121] In this embodiment of the application, obtaining the first device coordinates mapped from the first spatial coordinates to the device coordinate system based on the coordinate mapping relationship and the first spatial coordinates of the target celestial body in the spatiotemporal coordinate system specifically includes: Based on the coordinate mapping relationship and the first spatial coordinates of the target celestial body in the spacetime coordinate system, calculate and obtain the coordinates of the target celestial body in the rectangular coordinate system; The coordinates of the target celestial body in the Cartesian coordinate system are transformed to obtain the first device coordinates of the target celestial body in the device coordinate system corresponding to the start time of shooting.

[0122] In this application, after the imaging module acquires at least one first image, it further 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 spatiotemporal coordinate system, and obtaining the mapping relationship between the device coordinate system and the spatiotemporal coordinate system based on the coordinates of the rotation center position in the spatiotemporal coordinate system.

[0123] In this embodiment of the application, obtaining two first images and calculating the rotation center position based on the two first images specifically includes: obtaining the pixel coordinates of the same point in the two first images and calculating the rotation center position based on the pixel coordinates of the same point.

[0124] In this embodiment of the application, after the shooting module acquires at least one first image, it further includes: obtaining the position of the star point trajectory in the first image, and calculating the position of the trajectory center based on the position of the star point trajectory; converting the position of the trajectory center into coordinates in a spatiotemporal coordinate system, and obtaining the mapping relationship between the device coordinate system and the spatiotemporal coordinate system based on the coordinates of the trajectory center in the spatiotemporal coordinate system.

[0125] In this embodiment of the application, it further includes: calculating and obtaining the next moment based on the difference between the current moment and the preset moment, wherein the next moment is any moment after the start moment of shooting; Based on the first spatial coordinates of the target celestial body and the next moment, calculate and obtain the second spatial coordinates of the target celestial body in the spacetime coordinate system at the next moment; Based on the coordinate mapping relationship and the second spatial coordinates of the target celestial body, calculate and obtain the second device coordinates corresponding to the next moment on the device coordinate system mapped from the second spatial coordinates. Based on the first and second device coordinates of the target celestial body in the device coordinate system, calculate and obtain the deviation value of the target celestial body in the device coordinate system; The second motion parameters of the shooting module are calculated and obtained based on the deviation value and the preset time difference value; The second rotation command corresponding to the rotation module is obtained based on the second motion parameters; The rotation module is controlled to move according to the second rotation command, so as to move the imaging module to a second position that matches the target celestial body at the next moment.

[0126] In this embodiment of the application, it further includes: at any time after the start time of the shooting, the shooting module acquires at least one third image of the target celestial body, and obtains the acquisition time corresponding to each third image, and obtains the second spatial coordinates of the target celestial body in the spatiotemporal coordinate system corresponding to the acquisition time based on each third image and the corresponding acquisition time; Based on the coordinate mapping relationship and the second spatial coordinates of the fixed point of each third image in the spatiotemporal coordinate system, the third device coordinates of the fixed point of the corresponding third image in the device coordinate system are calculated and obtained. Based on the first spatial coordinates and coordinate mapping relationship of the target celestial body, obtain the fourth device coordinates of the target celestial body in the device coordinate system corresponding to the shooting start time; Based on the coordinates of the third and fourth devices, the corresponding first correction parameters are calculated and obtained; The second rotation command is obtained based on the first correction parameter and the first rotation command; The position of the rotating module is corrected according to the second rotation command, so that the imaging module moves to a second position that matches the target celestial body at that moment.

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

[0128] In this embodiment of the application, the coordinate mapping relationship between the device coordinate system and the spatiotemporal coordinate system can be obtained by calculating the data from the gyroscope built into the acquisition and shooting device.

[0129] In this application, the rotation module may include a first rotation axis and a second rotation axis. The rotation module can adjust the attitude angle of the shooting module. For example, but not limited to, the rotatable component includes 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. The image sensor and the lens work together to acquire images. Photons pass through the lens, then the image sensor collects the photons, converts them into digital signals, and the processor converts the digital signals into image signals, ultimately completing the image acquisition. The lens can be a telephoto camera used to acquire images with a small field of view.

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

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

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

[0133] The communication bus 302 is used to enable communication between these components.

[0134] The user interface 303 may include a display screen and a 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] The central processing unit 301 may include one or more processing cores. The central processing unit 301 connects to various parts within the electronic device 300 using various interfaces and lines. It executes various functions of the terminal 300 and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 305, and by calling data stored in the memory 305. Optionally, the central processing unit 301 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The central processing unit 301 may integrate one or a combination of several of the following: a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), and a modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content required for display on the screen; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the central processing unit 301 and may be implemented as a separate chip.

[0137] The memory 305 may include random access memory (RAM) or read-only memory. Optionally, the memory 305 may include a non-transitory computer-readable storage medium. The memory 305 can be used to store instructions, programs, code, 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 touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 305 may also be at least one storage device located remotely from the aforementioned central processing unit 301. Figure 3 As shown, the memory 305, which serves 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 illustrated electronic device 300, the user interface 303 is mainly used to provide an input interface for the user and to acquire user input data; while the central processing unit 301 can be used to call an application program stored in the memory 305 that is based on a shooting method with timed shooting and automatic alignment functions, and specifically perform the following operations: S1: Obtain the coordinate mapping relationship between the device coordinate system and the spatiotemporal coordinate system, wherein the device coordinate system is the coordinate system where the shooting module is located, and the spatiotemporal coordinate system is the coordinate system where the celestial body is located; S2: Obtain target celestial body information and target time information corresponding to the target celestial body information. The target time information includes the shooting start time. The target celestial body information includes at least one of the following: the name of the target celestial body, the number of the target celestial body, and the first spatial coordinates of the target celestial body in the spatiotemporal coordinate system corresponding to the shooting start time. The first spatial coordinates of the target celestial body in the spatiotemporal coordinate system corresponding to the shooting start time can be obtained based on the name or number of the target celestial body. S3: Obtain the first rotation command corresponding to the rotation module according to the first spatial coordinates and coordinate mapping relationship. When the current time is the shooting start time or the current time has not reached the shooting start time, control the rotation module to move according to the first rotation command so as to drive the shooting module to move to the first position that matches the target celestial body at the shooting start time. S4: Obtain the second spatial coordinates of the target celestial body in the spatiotemporal coordinate system at any time after the start of the shooting. Obtain the first rotation command corresponding to the rotation module according to the second spatial coordinates and the coordinate mapping relationship. Control the rotation module to move according to the second rotation command so as to drive the shooting module to move to the second position that matches the target celestial body at that time.

[0139] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method. The computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, DVDs, CD-ROMs, microdrives, as well as magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0140] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0141] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0142] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some service interfaces; indirect couplings or communication connections between apparatuses or units may be electrical or other forms.

[0143] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0144] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0145] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, 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. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0146] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, which 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 foregoing description is merely an exemplary embodiment of this disclosure and should not be construed as limiting the scope of this disclosure. Any equivalent changes and modifications made in accordance with the teachings of this disclosure shall still fall within the scope of this disclosure. Those skilled in the art will readily conceive of embodiments of this disclosure upon considering the specification and practicing the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not described herein. The specification and embodiments are to be considered exemplary only, and the scope and spirit of this disclosure are defined by the claims.

Claims

1. A photographing method based on a timing photographing and automatic alignment function, characterized by, The method is applied to a shooting device including a shooting module and a rotation module, and the method includes the following steps: S1: Obtain the coordinate mapping relationship between the device coordinate system and the spatiotemporal coordinate system, wherein the device coordinate system is the coordinate system where the shooting module is located, and the spatiotemporal coordinate system is the coordinate system where the celestial body is located, and the spatiotemporal coordinate system is the hour angle coordinate system; S2: Obtain target celestial body information and target time information corresponding to the target celestial body information. The target time information includes the shooting start time. The target celestial body information includes at least one of the following: the name of the target celestial body, the number of the target celestial body, and the first spatial coordinates of the target celestial body in the spatiotemporal coordinate system corresponding to the shooting start time. The first spatial coordinates of the target celestial body in the spatiotemporal coordinate system corresponding to the shooting start time can be obtained based on the name or number of the target celestial body. S3: Obtain the first rotation command corresponding to the rotation module according to the first spatial coordinates and coordinate mapping relationship. When the current time is the shooting start time or the current time has not reached the shooting start time, control the rotation module to move according to the first rotation command so as to drive the shooting module to move to the first position that matches the target celestial body at the shooting start time. S4: Obtain the second spatial coordinates of the target celestial body in the spatiotemporal coordinate system at any time after the start of the shooting. Obtain the second rotation command corresponding to the rotation module based on the second spatial coordinates and coordinate mapping relationship. Control the rotation module to move according to the second rotation command so as to drive the shooting module to move to the second position that matches the target celestial body at that time.

2. The photographing method based on a timing photographing and automatic alignment function according to claim 1, wherein, Before step S2, a storage module stores target celestial information and target time information corresponding to the target celestial information. In any of steps S1-S4, the storage module stores image data captured by the imaging module.

3. The photographing method based on a timing photographing and automatic alignment function according to claim 2, wherein, The storage module stores multiple target celestial body information and multiple target time information corresponding to the multiple target celestial body information.

4. The shooting method based on timed shooting and automatic alignment function as described in claim 1, characterized in that, The target time information also includes the shooting end time, and after step S4, it also 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 described in claim 1, 2, or 3, characterized in that, Step S1 specifically includes: S11: The imaging module captures at least one first image and obtains the capture time corresponding to each first image. Based on each first image and its corresponding capture time, the third spatial coordinates corresponding to each first image in the spatiotemporal coordinate system are obtained. S12: Obtain the coordinate mapping relationship between the device coordinate system and the spatiotemporal coordinate system based on the third spatial coordinates of at least one first image.

6. The shooting method based on timed shooting and automatic alignment function as described in claim 5, characterized in that, Step S11, in which the shooting module acquires at least one first image, specifically includes: controlling the exposure time of the shooting module to a preset exposure time, and acquiring a first image acquired by the shooting module.

7. The shooting method based on timed shooting and automatic alignment function as described in claim 5, characterized in that, Step S11, in which the shooting module acquires at least one first image, specifically includes: after the shooting module acquires a first image, controlling the shooting module to perform at least one rotation process according to a first preset angle; After each rotation processing, the imaging module acquires a second image, and uses the first image and all the second images as at least two first images.

8. The shooting method based on timed shooting and automatic alignment function as described in claim 5, characterized in that, Step S11, which obtains the coordinates of each first image in the spatiotemporal coordinate system based on each first image and its corresponding acquisition time, specifically includes: The positions of star points are identified in each first image based on a preset recognition algorithm; Retrieve the spatial coordinates corresponding to the location of the star from the preset star database; Based on the spatial coordinates and the acquisition time of the first image corresponding to those spatial coordinates, obtain the coordinates of the star point in the spatiotemporal coordinate system; The coordinates of each star point in the spacetime coordinate system are used as the coordinates of the first image corresponding to each star point position in the spacetime coordinate system.

9. A shooting method based on timed shooting and automatic alignment functions as described in claim 7, characterized in that, Step S12 specifically includes: S121: Based on the coordinates of each first image in the spatiotemporal coordinate system, obtain the coordinates of the fixed point of the corresponding first image in the spatiotemporal coordinate system; S122: Calculate and obtain the center coordinates of the circle based on the coordinates of each fixed point of the first image in the spatiotemporal coordinate system and the preset equation; S123: Use the center coordinates as the coordinate mapping relationship between the device coordinate system and the spatiotemporal coordinate system; or Substitute the center coordinates into the preset rotation matrix expression to calculate and obtain the coordinate mapping relationship between the device coordinate system and the spatiotemporal coordinate system.

10. A shooting method based on timed shooting and automatic alignment functions as described in claim 1, 2, or 3, characterized in that, Step S3, which involves obtaining the first rotation command corresponding to the rotation module based on the first spatial coordinates and coordinate mapping relationship, specifically includes: S31: Based on the coordinate mapping relationship and the first spatial coordinates of the target celestial body in the spatiotemporal coordinate system, obtain the first device coordinates mapped from the first spatial coordinates to the device coordinate system; S32: Obtain the second device coordinates of the shooting module in the device coordinate system, and calculate the first motion parameters of the shooting module from the initial position to the first position based on the first device coordinates and the second device coordinates; S33: Obtain the first rotation command corresponding to the rotation module based on the first motion parameters.

11. The shooting method based on timed shooting and automatic alignment function as described in claim 5, characterized in that, After the imaging module acquires at least one first image in step S11, the method further 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 spatiotemporal coordinate system, and obtaining the mapping relationship between the device coordinate system and the spatiotemporal coordinate system based on the coordinates of the rotation center position in the spatiotemporal coordinate system.

12. The shooting method based on timed shooting and automatic alignment functions as described in claim 11, characterized in that, The process of obtaining two first images and calculating the rotation center position based on the two first images specifically includes: obtaining the pixel coordinates of the same point in the two first images and calculating the rotation center position based on the pixel coordinates of the same point.

13. The shooting method based on timed shooting and automatic alignment function as described in claim 5, characterized in that, After the imaging module acquires at least one first image in step S11, the process further includes: Obtain the positions of the star points in the first image, and calculate the position of the center of the trajectory circle based on the positions of the star points; The position of the trajectory center is converted into coordinates in the spatiotemporal coordinate system, and the mapping relationship between the device coordinate system and the spatiotemporal coordinate system is obtained based on the coordinates of the trajectory center in the spatiotemporal coordinate system.

14. The shooting method based on timed shooting and automatic alignment function as described in claim 9, characterized in that, Step S4 includes: The next moment is calculated based on the difference between the current moment and the preset moment, where the next moment is any moment after the start of shooting. Based on the first spatial coordinates of the target celestial body and the next moment, calculate and obtain the second spatial coordinates of the target celestial body in the spacetime coordinate system at the next moment; Based on the coordinate mapping relationship and the second spatial coordinates of the target celestial body, calculate and obtain the second device coordinates corresponding to the next moment on the device coordinate system mapped from the second spatial coordinates. Based on the first and second device coordinates of the target celestial body in the device coordinate system, calculate and obtain the deviation value of the target celestial body in the device coordinate system; The second motion parameters of the shooting module are calculated and obtained based on the deviation value and the preset time difference value; The second rotation command corresponding to the rotation module is obtained based on the second motion parameters; The rotation module is controlled to move according to the second rotation command, so as to move the imaging module 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 described in claim 1, 2, or 3, characterized in that, Step S4 includes: At any time after the start of the shooting, the shooting module acquires at least one third image of the target celestial body and obtains the acquisition time corresponding to each third image. Based on each third image and the corresponding acquisition time, the second spatial coordinates of the target celestial body in the spatiotemporal coordinate system corresponding to that acquisition time are obtained. Based on the coordinate mapping relationship and the second spatial coordinates of the fixed point of each third image in the spatiotemporal coordinate system, the third device coordinates of the fixed point of the corresponding third image in the device coordinate system are calculated and obtained. Based on the first spatial coordinates and coordinate mapping relationship of the target celestial body, obtain the fourth device coordinates of the target celestial body in the device coordinate system corresponding to the shooting start time; Based on the coordinates of the third and fourth devices, the corresponding first correction parameters are calculated and obtained; The second rotation command is obtained based on the first correction parameter and the first rotation command; The position of the rotating module is corrected according to the second rotation command, so that the imaging 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 described in claim 1 or 4, characterized in that, Before step S4, the following steps are also included: when the current time has not reached the shooting start time corresponding to the target time information and the difference between the current time and the shooting start time exceeds the first preset threshold, the shooting device is controlled to work in a preset power consumption mode; after the shooting module stops, the camera is controlled to work in a preset power consumption mode.

17. A shooting method based on timed shooting and automatic alignment functions as described in claim 1, 2, or 3, characterized in that: The coordinate mapping relationship between the device coordinate system and the spatiotemporal coordinate system can be obtained by calculating the data from the gyroscope built into the acquisition and 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 obtain the coordinate mapping relationship between the device coordinate system and the spatiotemporal coordinate system. The device coordinate system is the coordinate system where the shooting module is located, and the spatiotemporal coordinate system is the coordinate system where the celestial body is located. The spatiotemporal coordinate system is the hour angle coordinate system. The first calculation module is used to acquire target celestial body information and target time information corresponding to the target celestial body information. The target time information includes the shooting start time. The target celestial body information includes at least one of the following: the name of the target celestial body, the number of the target celestial body, and the first spatial coordinates of the target celestial body in the spatiotemporal coordinate system corresponding to the shooting start time. The first spatial coordinates of the target celestial body in the spatiotemporal coordinate system corresponding to the shooting start time can be obtained based on the name or number of the target celestial body. The first rotation command corresponding to the rotation module is obtained based on the first spatial coordinates and the coordinate mapping relationship. The adjustment module is used to control the rotation module to move according to the first rotation command when the current time is the start time of shooting or when the current time has not reached the start time of shooting, so as to drive the shooting module to move to the first position that matches the target celestial body at the start time of shooting. The first calculation module is used to obtain the second spatial coordinates of the target celestial body in the spatiotemporal coordinate system at any time after the start of the shooting, and to obtain the second rotation command corresponding to the rotation module based on the second spatial coordinates and the coordinate mapping relationship. The adjustment module is used to control the movement of the rotation module according to the second rotation command, so as to drive the imaging module to move to a second position that matches the target celestial body at that moment.

19. A shooting device based on timed shooting and automatic alignment functions as described 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 imaging module.

20. A shooting device based on timed shooting and automatic alignment functions as described in claim 19, characterized in that: The storage module stores multiple target celestial body information and multiple target time information corresponding to the multiple target celestial body information.

21. A shooting device based on timed shooting and automatic alignment functions as described 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, it implements the steps of the method as described in any one of claims 1-17.

23. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1-17.

Images