Target celestial body searching method and device

Abstract

The invention provides a target celestial body searching method and device, and relates to the field of celestial body shooting. The target celestial body searching method comprises the following steps: determining equipment control coordinates according to a theoretical position of a target celestial body and an equipment rotation plane position of shooting equipment; wherein the theoretical position comprises a theoretical elevation angle and a theoretical azimuth angle; and based on the equipment control coordinate, controlling the shooting equipment to search the target celestial body. According to the target celestial body searching method provided by the embodiment of the invention, the horizontal zero position and the orientation of the shooting equipment can be calibrated based on the absolute position of the sun, so that the target celestial body can be efficiently and accurately shot. The target celestial body searching device based on the target celestial body shooting method can realize automatic calibration of shooting equipment based on the absolute position of the sun so as to realize high-quality celestial body shooting work.

Description

Technical Field

[0001] The present application relates to the field of astronomical photography, and more specifically, to a method and device for finding a target celestial body. Background Art

[0002] In astronomical observation, calibration is crucial for ensuring precise pointing and stable tracking. This includes azimuth and zero calibration of the camera before recording, as well as real-time azimuth and zero calibration during the recording process. Without proper calibration, photographing a target celestial object can result in inability to locate the target or poor quality images.

[0003] At present, the calibration of photographic equipment mainly relies on the built-in or external level of the equipment. The operator judges the status of the level by observation and performs manual calibration; the barrel of the photographic equipment is directly pointed at the target celestial body so that the azimuth angle of the photographic equipment is roughly aligned with the target celestial body; this calibration method requires the operator to have certain prior knowledge of astronomical equipment, and the calibration effect is poor and the efficiency is low, resulting in poor photography of the target celestial body. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a method and device for searching a target celestial body, which calibrates the horizontal zero position and azimuth of a shooting device based on the absolute position of the sun, thereby efficiently and accurately shooting the target celestial body.

[0005] In a first aspect, an embodiment of the present application provides a method for searching for a target celestial body, the method comprising: determining the device control coordinates based on the theoretical position of the target celestial body and / or the position information of the shooting device; wherein the theoretical position includes a theoretical altitude angle and a theoretical azimuth angle; and based on the device control coordinates, controlling the shooting device to search for the target celestial body.

[0006] In the above implementation process, the target celestial body search method provided in the embodiment of the present application determines the device control coordinates based on the theoretical position of the target celestial body and the device rotation plane position of the shooting device, and achieves the capture of the target celestial body based on the device control coordinates. In this process, the horizontal zero position and azimuth of the shooting device are calibrated based on the absolute position of the target celestial body, thereby achieving efficient and accurate high-quality capture of the target celestial body. In particular, in daytime scenes, the calibration of the shooting device based on the absolute position of the sun can achieve efficient and high-precision capture of the sun.

[0007] Optionally, in an embodiment of the present application, the device control coordinates include the device horizontal control coordinates; based on the device control coordinates, controlling the shooting device to search for the target celestial body includes: generating a device support adjustment instruction based on the device horizontal control coordinates; controlling the shooting device adjusted by the device support adjustment instruction to detect the target celestial body at the theoretical position of the target celestial body; if the target celestial body is not detected, adjusting the horizontal azimuth angle of the shooting device at the theoretical altitude angle, and searching for the target celestial body.

[0008] In the above implementation process, the device control coordinates of the target celestial body searching method provided by the embodiment of the present application can be the device horizontal control coordinates. According to the position information of the shooting device, it is determined whether the shooting device is horizontal. After the shooting device is adjusted to be horizontal based on the device horizontal control coordinates, the device is controlled to detect the target celestial body at the theoretical position of the target celestial body. In this process, whether the shooting device is horizontal or not is displayed to the user through the terminal, avoiding the position change of the external level device, such as slipping, which causes the level detection to fail. On the other hand, the bubble level is limited by its structure for level detection, and the deviation range that can be detected is small. The level calibration method based on the device horizontal control coordinates provided by the embodiment of the present application can achieve a larger range of level deviation detection.

[0009] Optionally, in an embodiment of the present application, the device control coordinates include the device command coordinates; the position information of the shooting device includes the device rotation plane position of the shooting device; the device control coordinates are determined according to the theoretical position of the target celestial body and / or the position information of the shooting device, including: determining the rotation axis pointing coordinates of the device rotation plane according to the rotation plane position of the shooting device; wherein the rotation axis pointing coordinates include the rotation axis azimuth angle and the rotation axis altitude angle; according to the deviation between the rotation axis pointing coordinates and the theoretical coordinate position of the target celestial body, the theoretical coordinate position of the target celestial body is compensated to obtain the device command coordinates; wherein the deviation includes the horizontal deviation and / or the height deviation.

[0010] In the above implementation process, in the scenario of azimuth calibration, the above-mentioned device control coordinates can be device command coordinates, which are virtual coordinate positions obtained after compensating for the theoretical coordinate position of the target celestial body based on the deviation between the pointing coordinates of the rotation axis of the shooting device and the theoretical coordinates of the target celestial body. The imaging result of the imaging device pointing to the virtual coordinate position is equivalent to the accurate imaging result after the azimuth calibration of the imaging device. The complex mechanical calibration process is simplified into a coordinate mapping algorithm. The user only needs to trigger the calibration command to complete the entire process, avoiding vibration interference and operational errors, and significantly improving the imaging efficiency and stability of scenes such as sun tracking.

[0011] Optionally, in an embodiment of the present application, the theoretical coordinate position of the target celestial body is compensated according to the deviation between the rotation axis pointing coordinates and the theoretical coordinate position of the target celestial body to obtain the device command coordinates, including: determining the horizontal deviation between the rotation axis azimuth and the theoretical azimuth according to the rotation axis pointing coordinates and the theoretical coordinate position of the target celestial body; and compensating the theoretical altitude angle based on the rotation axis altitude angle and the horizontal deviation to obtain the device command coordinates.

[0012] Optionally, in an embodiment of the present application, the theoretical coordinate position of the target celestial body is compensated according to the deviation between the rotation axis pointing coordinates and the theoretical coordinate position of the target celestial body to obtain the device command coordinates, including: determining the height deviation between the rotation axis altitude angle and the theoretical altitude angle according to the rotation axis pointing coordinates and the theoretical coordinate position of the target celestial body; compensating the theoretical azimuth angle based on the rotation axis azimuth and the height deviation to obtain the device command coordinates.

[0013] In the above implementation process, the target celestial body search method provided by the present application dynamically corrects the command altitude angle (or target azimuth angle) through the geometric relationship between the tilt angle of the rotation axis of the horizontal rotating plane and the target azimuth angle (or target altitude angle), thereby realizing automatic compensation when the device is not in a horizontal state. The mechanical tilt amount (90°-M) is projected onto the target azimuth direction, and the compensation ratio is quantified using the cosine function. This minimizes manual intervention while ensuring the safety threshold, thereby improving the efficiency of searching for the target celestial body.

[0014] Optionally, in an embodiment of the present application, the device command coordinates include a command azimuth and a command altitude; based on the device control coordinates, the shooting device is controlled to search for the target celestial body, including: when the shooting device fails to find the target celestial body under the device command coordinates, changing and updating the command azimuth within the azimuth adjustment range; updating the command altitude based on the command altitude update information; controlling the shooting device to search for the target celestial body under the updated command azimuth and command altitude until the target celestial body is found.

[0015] In the above implementation process, the target celestial body search method provided in the embodiment of the present application, after obtaining the command azimuth angle and the command altitude angle, if the shooting device fails to find the target celestial body at the device command coordinates; it can perform an adaptive search within a certain range, significantly improving the success rate of tracking the target celestial body (such as the sun).

[0016] Optionally, in an embodiment of the present application, after finding the target celestial body, the method further includes: centering the target celestial body in the field of view; determining the updated deviation between the real-time theoretical position of the target celestial body and the mechanical coordinates pointed by the rotation axis; judging whether the updated deviation is within the allowable deviation range; and if the updated deviation is within the allowable deviation range, centering the target celestial body in the field of view using a target algorithm.

[0017] In the above-mentioned implementation process, the target celestial body search method provided by the embodiment of the present application deeply combines theoretical astronomical data, sensor feedback and image recognition through the calibration process of "centering the field of view-deviation calculation-threshold determination-precise fine-tuning", so as to realize the dynamic correction of the device pointing error. The accuracy and reliability of the automated calibration are balanced by the threshold value, which not only ensures that the target celestial body (such as the sun) is completely visible, but also further eliminates the residual through the high-precision algorithm, so that the final pointing error is far below the field of view tolerance. It not only reduces the dependence on the user's professional skills, but also enhances the robustness in complex environments (such as shaking of the shooting equipment, movement of the target celestial body, etc.) by verifying the effectiveness of the compensation algorithm in real time.

[0018] Optionally, in an embodiment of the present application, after finding the target celestial body, the method further includes: determining the target deviation between the real-time theoretical position of the target celestial body and the coordinates pointed by the rotation axis; determining the initial horizontal deviation of the shooting device based on the target deviation; and performing horizontal zero position calibration on the shooting device based on the initial horizontal deviation.

[0019] In the above implementation process, the target object search method provided by the embodiment of the present application quantifies the residual target deviation after compensation, reversely infers the initial horizontal zero position error of the camera, and dynamically updates the calibration parameters to achieve initial zero position calibration. This automates the traditional manual leveling process and eliminates long-term influencing factors such as sensor drift and mechanical installation deviation through iterative calibration, significantly improving the pointing accuracy and long-term stability of the camera.

[0020] Optionally, in an embodiment of the present application, before determining the device control coordinates based on the theoretical position of the target celestial body and the position of the device rotation plane of the shooting device, the method also includes: determining the theoretical position of the target celestial body based on the current time and the current position of the shooting device; determining the basic orientation of the shooting device; adjusting the basic orientation of the shooting device based on the theoretical position of the target celestial body, and obtaining the position of the device rotation plane of the shooting device under the basic orientation.

[0021] In the above implementation process, after calculating the theoretical position of the target celestial body, the basic orientation of the device is determined. The basic orientation of the device is calculated based on the compass module and horizontal detection module of the shooting device; then, combined with the current horizontal rotation angle and vertical rotation angle of the shooting device (obtained through mechanical detection), the azimuth and altitude angles to which the telescope is expected to be adjusted are determined, and the position of the rotation plane of the shooting device is determined at this azimuth and altitude angles to carry out calibration and target tracking.

[0022] In the second aspect, an embodiment of the present application provides a device for searching for a target celestial body, the device comprising: a control coordinate generation module and a device control module; the control coordinate generation module is used to determine the device control coordinates based on the theoretical position of the target celestial body and the device rotation plane position of the shooting device; wherein the theoretical position includes a theoretical altitude angle and a theoretical azimuth angle; the device control module is used to control the shooting device to search for the target celestial body based on the device control coordinates.

[0023] Optionally, in an embodiment of the present application, the device also includes an orientation detection module; the orientation detection module is used to: determine the theoretical position of the target celestial body based on the current time and the current position of the shooting device; determine the basic orientation of the shooting device; and, adjust the basic orientation of the shooting device based on the theoretical position of the target celestial body, and obtain the position of the device rotation plane of the shooting device under the basic orientation.

[0024] In a third aspect, an embodiment of the present application provides a computer program product, characterized in that the computer program product includes a computer program / instructions, which, when executed by a processor, implement the steps of the method described in the first aspect of the present application.

[0025] In a fourth aspect, an embodiment of the present application provides an electronic device, comprising a memory and a processor, wherein the memory stores program instructions, and when the processor reads and runs the program instructions, it executes the steps in any implementation method of the above-mentioned first aspect.

[0026] In a fifth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein the computer program instructions are stored in the computer-readable storage medium. When the computer program instructions are read and executed by a processor, the steps in any implementation method of the above-mentioned first aspect are executed. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 A flowchart of a method for searching for a target celestial body provided in an embodiment of the present application;

[0029] Figure 2 A flowchart for searching for a target celestial body based on horizontal calibration provided in an embodiment of the present application;

[0030] Figure 3 A flowchart for searching for a target celestial body based on azimuth calibration provided in an embodiment of the present application;

[0031] Figure 4 A flowchart of azimuth compensation provided in an embodiment of the present application;

[0032] Figure 5 A flowchart of altitude angle compensation provided in an embodiment of the present application;

[0033] Figure 6 A schematic diagram of the position relationship provided in the embodiment of the present application;

[0034] Figure 7 A flowchart for searching for a target celestial body provided in an embodiment of the present application;

[0035] Figure 8 A flow chart of dynamic calibration provided in an embodiment of the present application;

[0036] Figure 9 A zero calibration flow chart provided in an embodiment of the present application;

[0037] Figure 10 A schematic diagram of a module of a target celestial body search device provided in an embodiment of the present application;

[0038] Figure 11 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be described below in conjunction with the accompanying drawings in the embodiments of the present application. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of the systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each box in the flowchart or block diagram may represent a module, program segment, or portion of code, which contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the boxes may also occur in an order different from that marked in the drawings. For example, two consecutive boxes may actually be executed substantially in parallel, or they may sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, as well as the combination of boxes in the block diagram and / or flowchart, may be implemented using a dedicated hardware-based system that performs the specified functions or actions, or may be implemented using a combination of dedicated hardware and computer instructions. In addition, the functional modules in the various embodiments of the present invention may be integrated together to form a separate part, or each module may exist separately, or two or more modules may be integrated to form a separate part.

[0040] In astronomical observation, calibration is the core prerequisite for ensuring accurate pointing and stable tracking of equipment. The calibration involved in the field of astronomical observation includes azimuth calibration and zero calibration of the shooting equipment before shooting, as well as real-time azimuth calibration and real-time zero calibration of the shooting equipment during the shooting process. Calibrating the shooting equipment before shooting can eliminate the mechanical deviation caused by the installation process to the shooting equipment, or the impact of the current environment on the azimuth pointing and horizontal zero position of the shooting equipment; during the shooting process, the position of celestial bodies continues to shift over time due to the rotation of the earth, and the observation equipment must be calibrated to dynamically correct the pointing parameters, otherwise the target will quickly move out of the field of view; in addition, mechanical structure deviations and environmental interference may also occur during the shooting process, requiring real-time azimuth calibration and horizontal zero position calibration of the shooting equipment. If the shooting equipment is not calibrated, it is very likely that the target celestial body will not be captured, or even the target celestial body will not be in the field of view.

[0041] The inventors' research has found that calibration is particularly challenging during the day. Because the sun is out, stars may not be visible during the day. Unlike the night sky, where star points or constellations are visible, visible stars or other celestial bodies can be used directly as reference points. Furthermore, during the day, there may be more environmental interference, such as temperature fluctuations, wind, and even human activity, which can affect device stability. The nighttime environment is relatively more stable, resulting in better device stability. Therefore, due to the limitations of natural conditions during the day, a highly accurate and automated calibration solution is urgently needed.

[0042] Taking photography of the sun as an example, some current solutions directly calculate the sun's altitude and azimuth based on the device's current GPS and time. They then roughly calculate the lens's azimuth at that moment based on the device's compass. Furthermore, they calculate the approximate altitude of the lens based on the difference between the lens's current vertical rotation angle and its initial position. Finally, they control the device so that the lens points roughly toward the sun.

[0043] This shooting method does not involve horizontal and azimuth calibration of the shooting device. When there is a very small deviation on the shooting device side, such as a deviation of 1-2°, it is difficult for the user to detect; however, such a deviation is reflected in a large field of view. In order to magnify the target, the actual field of view of the telescope is very small, usually less than 1° in diameter. The field of view of a high-power telescope will be even smaller. As a result, when the lens rotates to the expected altitude and azimuth angles, the target is not even in the picture, and cannot be identified and centered based on the image recognition algorithm.

[0044] Using the example of photographing the sun, some solutions currently exist that rely on built-in or external leveling devices to determine the level of the device. For example, a bubble level (external) can be placed on the device's horizontal rotating surface, or a small bubble stone level (built-in) can be installed on the horizontal rotating surface to determine whether the device is level by observing the position of the bubble.

[0045] External bubble levels are inconvenient to carry. Built-in bubble levels can wear and oxidize over time, making them difficult to read. Furthermore, if the level deviates significantly, the bubble level will tilt to one side, preventing a clear view of the level. This makes it difficult for users without experience using the device to determine the correct level.

[0046] Based on this, the present application proposes a method and apparatus for finding a target celestial body. This method determines control coordinates for controlling a device based on the theoretical position of the target celestial body and the current position of a photographic device. The device is then adjusted based on the control coordinates, and the device is azimuthally and zero-calibrated. The target celestial body is then photographed, thereby enabling efficient and high-precision tracking of the target celestial body.

[0047] Before introducing the specific content of this plan, it should be noted that the main starting point of the target celestial body search method provided in this application is to solve the problems existing in tracking and photographing target celestial bodies during the day; of course, the target celestial body search method proposed in this application can also be used for checking and calibrating equipment before photographing target stars at night.

[0048] Please see Figure 1 , Figure 1 This is a flow chart of the target celestial body search method provided in the embodiment of the present application; This application provides a target celestial body search method. The target celestial body search method can be Figure 11 The electronic device provided is implemented. The target celestial body search method includes the following steps:

[0049] Step S100: Determine the device control coordinates according to the theoretical position of the target celestial body and the device rotation plane position of the shooting device.

[0050] In the above step S100 , the device control coordinates are determined according to the theoretical position of the current target celestial body and / or the position information of the photographing device.

[0051] The theoretical position of the target celestial body. For example, the target celestial body, taking the Sun as an example, calculates the theoretical altitude and azimuth of the Sun at that time based on the current time and geographic location. For example, the current implementation is 2:00 PM on XX / XX / XXXX, with the geographic location being longitude λ and latitude φ. Based on the current time and geographic location, professional software (such as SunCalc or PVGIS) or a programming library (such as Python's astropy) can be used to automatically calculate the current solar altitude and azimuth.

[0052] It should be noted that the above-mentioned process of calculating the theoretical position of the target celestial body can be implemented by a built-in processor in the astronomical camera, or the data can be sent to the terminal and calculated at the terminal.

[0053] The device's location information is a parameter that represents the device's current position. It is typically detected by hardware in the camera, such as an accelerometer or gyroscope. In addition to specific location coordinates, the device's position in the rotation plane or the coordinates of the rotation axis of the rotation plane can also be used to represent the device's current position.

[0054] The device control coordinates refer to the control coordinates for controlling the mechanical structure of the shooting device. In the embodiment of the present application, the control of the mechanical structure of the shooting device can be achieved by manual control by the user or automatic control by the shooting device.

[0055] Step S200: Based on the device control coordinates, control the shooting device to search for the target celestial body.

[0056] In step S200, the camera is controlled to search for the target celestial object based on the device control coordinates. In one embodiment, the mechanical structure of the camera is adjusted based on the device control coordinates, and the camera is controlled to search for the target celestial object after calibration. In another embodiment, the device control coordinates are calibrated coordinates, and the camera is controlled to search for the target celestial object according to the device control coordinates.

[0057] pass Figure 1 As can be seen, the target celestial body search method provided in the embodiments of the present application determines the device control coordinates based on the theoretical position of the target celestial body and the device rotation plane position of the shooting device, and achieves the capture of the target celestial body based on the device control coordinates. In this process, the horizontal zero position and azimuth of the shooting device are calibrated based on the theoretical position of the target celestial body, thereby achieving high-quality capture of the target celestial body efficiently and accurately. In particular, in daytime scenes, the calibration of the shooting device based on the absolute position of the sun can achieve efficient and high-precision capture of the sun.

[0058] Please see Figure 2 , Figure 2 This is a flowchart of searching for a target celestial body based on horizontal calibration provided in an embodiment of the present application; in an optional embodiment, the device control coordinates include the device horizontal control coordinates. In step S200 above, controlling the camera to search for the target celestial body based on the device command coordinates can be achieved by the following steps:

[0059] Step S201: Generate an equipment support adjustment instruction based on the equipment horizontal control coordinates.

[0060] Similarly, in step S201 above, the gyroscope and accelerometer of the camera device can be used to determine whether the camera device is currently level, and if not, the degree of deviation and angle of the camera device. It should be noted that this process can be calculated and implemented on the camera device's processor, then transmitted to the terminal, where the user obtains the device support adjustment instructions; alternatively, the basic data for this process can be directly transmitted from the camera device to the terminal, where the terminal performs the calculations, and the user obtains the device support adjustment instructions at the terminal.

[0061] In the embodiment of the present application, the device support adjustment instruction can be understood as a control instruction on how to adjust the mechanical structure of the device to adjust the shooting device to a horizontal level after calculating the device horizontal control coordinates of the shooting device and combining the current state of the device mechanical structure.

[0062] Step S202: controlling the photographing device adjusted by the device support adjustment instruction to detect the target celestial body at the theoretical position of the target celestial body.

[0063] In the above step S202, as a possible implementation, after obtaining the device support adjustment instruction, the user manually adjusts the mechanical structure of the device according to the instruction, generally adjusting the length of the three support structures of the tripod of the shooting device.

[0064] As a possible implementation, the above-mentioned equipment support adjustment instructions can also be sent directly to the equipment control device, such as a certain equipment clamping device, which can realize clamping control of the mechanical structure of the shooting equipment through corresponding control to achieve adjustment of the mechanical structure of the shooting equipment.

[0065] In the above implementation process, the camera, after adjustment based on the device support adjustment instructions, is essentially level. Furthermore, the camera's lens barrel is controlled to rotate toward the theoretical position of the target celestial body. The camera detects the geographic location via the GPS module; the horizontal orientation is calculated via the compass module, and the azimuth angle of the lens is changed by rotating the first rotation axis (controlling the horizontal rotation of the lens); assuming the device is already leveled, the lens's elevation angle is calculated by detecting the mechanical position of the second rotation axis (controlling the vertical rotation of the lens), thereby directing the lens barrel toward the theoretical position of the target celestial body.

[0066] Step S203: If the target celestial body is not detected, adjust the horizontal azimuth angle of the photographing device at the theoretical altitude angle and search for the target celestial body.

[0067] In step S203, if the lens barrel is pointing to the theoretical altitude and azimuth angles corresponding to the theoretical position of the target celestial object, and the target celestial object is not present in the image, further adjustment of the photographic equipment is required. Specifically, the lens barrel is rotated horizontally at the current altitude angle to detect whether the target celestial object is found. If the target celestial object is detected, the photographing process for the target celestial object is executed; if the target celestial object is not detected, an error message is reported. The range of horizontal rotation can be approximately ±25°, and the rotation process can be achieved by multiple smaller rotation angles. For example, the lens barrel is controlled to rotate horizontally (continuously or at intervals) at an angle that is at least smaller than the horizontal azimuth angle of the target celestial object, and the presence of the target celestial object in the image is detected after each rotation.

[0068] pass Figure 2 It can be seen that the device control coordinates of the target celestial body search method provided in the embodiment of the present application can be the device horizontal control coordinates. According to the position information of the shooting device, it is determined whether the shooting device is horizontal. After the shooting device is adjusted to be horizontal based on the device horizontal control coordinates, the control device is used to detect the target celestial body at the theoretical position of the target celestial body. In this process, whether the shooting device is horizontal or not is displayed to the user through the terminal, avoiding the position change of the external horizontal device, such as slipping, which causes the horizontal detection to fail. On the other hand, the bubble level is limited by its structure for the detection of the level, and the deviation range that can be detected is relatively small. The horizontal calibration method based on the device horizontal control coordinates provided in the embodiment of the present application can achieve a larger range of horizontal deviation detection.

[0069] Please see Figure 3 , Figure 3 A flow chart for searching a target celestial body based on azimuth calibration is provided for an embodiment of the present application; in an optional embodiment, the device control coordinates include the device command coordinates, and the position information of the shooting device includes the device rotation plane position of the shooting device.

[0070] The device command coordinates are, as can be understood, coordinates that have been calibrated, and the shooting device is controlled to search for the target celestial body according to the device control coordinates.

[0071] The device rotation plane position of the shooting device, it can be understood that the device rotation plane position can be represented by the rotation axis pointing coordinates of the rotation plane.

[0072] In the above step S200, the device control coordinates are determined according to the theoretical position of the target celestial body and / or the device rotation plane position of the shooting device, which can be achieved by the following steps:

[0073] Step S210: Determine the coordinates of the rotation axis of the device's rotation plane according to the position of the device's rotation plane.

[0074] The rotation axis pointing coordinates include the rotation axis azimuth angle and the rotation axis altitude angle.

[0075] In the above step S210, the coordinates of the rotation axis of the rotation plane of the device are determined according to the position of the rotation plane of the shooting device, and the coordinates include the azimuth angle of the rotation axis and the altitude angle of the rotation axis. For example, the shooting device is located on the X-axis, Y-axis and Z-axis corresponding to the mechanical structure. The horizontal detection module of the shooting device can detect its own tilt components in the X-axis, Y-axis and Z-axis directions through the acceleration sensor and gyroscope detection, and then determine the horizontal direction of the X-axis and Y-axis in combination with the compass, and then calculate the actual offset direction of the device in the horizontal coordinate, that is, the horizontal coordinate (N, M) pointed by the Z axis, that is, the rotation axis pointing coordinate, where N is the azimuth angle of the rotation axis and M is the altitude angle of the rotation axis.

[0076] In the embodiment of the present application, the horizontal detection module can be an acceleration sensor, a gyroscope, or a single acceleration sensor, a gyroscope or a magnetometer in the shooting device.

[0077] Step S220: Compensate the theoretical coordinate position of the target celestial body according to the deviation between the rotation axis pointing coordinate and the theoretical coordinate position of the target celestial body to obtain the device command coordinate.

[0078] In step S220, the deviation between the rotation axis pointing coordinates and the theoretical coordinates of the target celestial body is determined, and the theoretical coordinates of the target celestial body are compensated based on the deviation, thereby obtaining the device command coordinates. In this process, the theoretical coordinates of the target celestial body include the theoretical altitude angle and the theoretical azimuth angle, and the rotation axis pointing coordinates include the rotation axis azimuth angle and the rotation axis altitude angle. In the actual calculation process, the deviation of the camera device may exist in both the azimuth angle and the altitude angle, or in only one of them. In the actual calculation process, the theoretical coordinates of the target celestial body are compensated according to the deviation.

[0079] pass Figure 3 It can be seen that in the scenario of azimuth calibration, the above-mentioned device control coordinates can be the device command coordinates, which are virtual coordinate positions obtained after compensating the theoretical coordinate position of the target celestial body according to the deviation between the pointing coordinates of the rotation axis of the shooting device and the theoretical coordinates of the target celestial body. The imaging result of the imaging device pointing to the virtual coordinate position is equivalent to the accurate imaging result after the azimuth calibration of the imaging device. The complex mechanical calibration process is simplified into a coordinate mapping algorithm. The user only needs to trigger the calibration command to complete the entire process, avoiding vibration interference and operation errors, and significantly improving the imaging efficiency and stability of scenes such as sun tracking.

[0080] Please see Figure 4 , Figure 4A flowchart of azimuth compensation provided in an embodiment of the present application; in an optional implementation of an embodiment of the present application, in the above step S220, the theoretical coordinate position of the target celestial body is compensated according to the deviation between the rotation axis pointing coordinate and the theoretical coordinate position of the target celestial body to obtain the device command coordinate, which can be achieved by the following steps:

[0081] Step S2211: Determine the horizontal deviation between the rotation axis azimuth and the theoretical azimuth according to the rotation axis pointing coordinates and the theoretical coordinate position of the target celestial body.

[0082] Step S2212: Based on the rotation axis elevation angle and the horizontal deviation, the theoretical elevation angle is compensated to obtain the device command coordinates.

[0083] Please see Figure 5 , Figure 5 A flowchart of altitude angle compensation is provided for an embodiment of the present application. In an optional embodiment of the embodiment of the present application, in the above step S220, the theoretical coordinate position of the target celestial body is compensated according to the deviation between the rotation axis pointing coordinate and the theoretical coordinate position of the target celestial body to obtain the device command coordinate, which can be achieved by the following steps:

[0084] Step S2221: Determine the height deviation between the rotation axis altitude angle and the theoretical altitude angle according to the rotation axis pointing coordinates and the theoretical coordinate position of the target celestial body.

[0085] Step S2222: Based on the rotation axis azimuth angle and the height deviation, the theoretical azimuth angle is compensated to obtain the device command coordinates.

[0086] Please refer to Figure 6 , Figure 6 A schematic diagram of the position relationship provided for an embodiment of the present application; the following description uses the theoretical coordinate position of the target celestial body (F1, G1), the rotation axis pointing coordinates (N, M), and altitude angle compensation as an example to illustrate several compensation principles. Figure 6 In the figure, the horizontal plane where the black line is located is the theoretical horizontal plane of the shooting device, the plane where the green line is located is the actual rotation plane of the shooting device, and the red dot is the theoretical coordinate position of the target celestial body (F1, G1). However, due to deviation, the shooting device actually points to the blue dot after executing (F1, G1).

[0087] To obtain the command coordinates, we actually need to solve the difference in altitude angles between the blue and red dots. This altitude angle difference is equal to the difference in altitude angles between the theoretical horizontal plane and the actual rotation plane at the same azimuth, that is, the difference between the black and green dots.

[0088] Optionally, the rotation axis pointing coordinate is (arbitrary azimuth, 90°), that is, the rotation axis of the horizontal rotation plane points to the zenith. At this time, the imaging device is in an absolutely horizontal position and no deviation compensation is required. That is, the command altitude angle G2 in the device command coordinate is G1, and the device command coordinate is (F1, G2).

[0089] Optionally, the rotation axis points to coordinates (N, M), where M≠90°, and the calculated tilt angle D=90°-M is determined to determine whether D is less than or equal to the target deviation.

[0090] Among them, the target deviation D is a threshold used to determine whether the current deviation is too large. When D is not less than the target deviation, it is necessary to prompt that the deviation is too large. It should be noted that excessive deviation will burden the drive motor, and the structure will produce unpredictable deformation under the influence of gravity. Therefore, when the deviation is too large, even if it is theoretically possible to increase compensation to achieve shooting, the user should be prompted to manually adjust the level. In the case of a large deviation, the user can more easily adjust the level based on the prompt. For example, the target deviation can be 10°, that is, if D≤10°, automatic compensation is started; if D>10°, the user is prompted to manually level to avoid motor overload or structural deformation.

[0091] Optionally, when D is less than or equal to the target deviation, when the target azimuth angle F1 = N or F1 = N±180°, the direction of the rotation axis deviation of the horizontal rotation plane is the same as the current direction of the target celestial body, and the plane guided by the rotation axis of the horizontal rotation plane is offset in the same direction as the target celestial body. At this time, the altitude angle that needs to be compensated is the largest, and there is a maximum compensation amount.

[0092] When F1=N, the compensation amount is +D, that is, G2=G1+D.

[0093] When F1 = N ± 180°, the compensation amount is -D, that is, G2 = G1-D.

[0094] Use G2 as the command altitude angle in the device command coordinates, that is, the command coordinates are (F1, G2).

[0095] Optionally, when D is less than or equal to the target deviation, when F1 = N±90°, there is minimum compensation, that is, G2 = G1.

[0096] Alternatively, when F1 is other, the compensation is between 0 and D, and the command elevation angle of the command coordinate is G2 = G1 ± D * cos (|F1-N|), where the sign of the command elevation angle is determined by the position of F1 relative to N. Specifically, ΔF = |F1-N| is calculated. If ΔF > 180°, ΔF = 360° - ΔF, ensuring that ΔF∈[0,180°]. In other words, if F1 is located in the clockwise direction of N (F1 > N, and ΔF ≤ 180°), the compensation amount is positive (+); if F1 is located in the counterclockwise direction of N (F1 < N, and ΔF > 180°), the compensation amount is negative (-).

[0097] pass Figures 4 to 6 It can be seen that the target celestial body search method provided by the present application dynamically corrects the command altitude angle (or target azimuth angle) through the geometric relationship between the tilt angle of the rotation axis of the horizontal rotating plane and the target azimuth angle (or target altitude angle), thereby achieving automatic compensation when the device is not in a horizontal state. The mechanical tilt amount (90°-M) is projected onto the target azimuth direction, and the compensation ratio is quantified using the cosine function. This minimizes manual intervention while ensuring the safety threshold, thereby improving the efficiency of searching for the target celestial body.

[0098] Please see Figure 7 , Figure 7 This is a flowchart for searching for a target celestial body provided in an embodiment of the present application; in an optional embodiment of the present application, the device command coordinates include a command azimuth and a command altitude. In the above step S200, based on the device control coordinates, controlling the camera to search for the target celestial body further includes the following steps:

[0099] Step S231: When the photographing device fails to find the target celestial body under the device command coordinates, the command azimuth is changed and updated within the azimuth adjustment range.

[0100] In the above step S231, after obtaining G2, the driving structure is controlled to rotate the lens barrel to point to G2, and drive the azimuth angle to F1, and image recognition is performed under the (F1, G2) coordinates to determine whether there is a target star, such as the sun, in the picture; if there is a target star, the shooting action of the target star is executed.

[0101] If the target star cannot be detected, the control drive structure rotates the lens barrel within the azimuth adjustment range (e.g., ±30°), and then determines whether the target star exists at the updated command azimuth after the change.

[0102] Step S232: Update the command altitude angle based on the command altitude angle update information.

[0103] In step S232, since the stars are moving in real time, the command elevation angle must also be constantly updated to ensure that the actual lens pointing elevation angle does not change each time. The process of updating the command elevation angle based on the command elevation angle update information can involve calculating the updated command elevation angle in the camera's computing unit and providing the updated command elevation angle directly to the drive unit. Alternatively, to reduce the computational burden, the calculation can be performed once at the planned capture frame, with 3-5 calculations per second being sufficient.

[0104] Step S233: Control the photographing device to search for the target celestial body at the updated command azimuth angle and command altitude angle until the target celestial body is found.

[0105] For example, if it is detected that the sun does not exist, the control module controls the drive structure to rotate the lens barrel to search for the sun on the trajectory from (F1-30°, G2±y) to (F1+30°, G2±y). Specifically, since the viewing angle of the sun is approximately 0.53°, the rotation speed can be set to about 1° per second. 3-5 frames are evenly spaced per second and the first image recognition algorithm (fast but possible misidentification) is used to determine whether the sun exists. If the sun exists, the rotation is paused; then the second image recognition algorithm (accurate but time-consuming) is used to determine whether the sun exists. If the sun does not exist, the rotation continues until a 60° traversal is completed. The first image recognition algorithm and the second image algorithm can be image recognition algorithms such as Yolo5.

[0106] It should be noted that if the target celestial body is the sun, brightness is the dominant contradiction, and short exposure is required during the shooting process; if the target celestial body is the moon or other celestial bodies at night, the signal-to-noise ratio is the dominant contradiction for dim celestial bodies, and long exposure is required during the shooting process.

[0107] Additionally, during nighttime observations, if the target celestial body is an ordinary star or star cluster, since there are always visible star points in the night sky, the coordinates can be directly calculated by matching the star map, without the need for a special process similar to sun recognition. However, for high-brightness celestial bodies such as the moon, its strong light will obscure the surrounding star points. At this time, a method similar to the above-mentioned sun recognition needs to be adopted: first, detect whether there is an area in the picture that is significantly higher than the background brightness, and then further verify whether the bright area has a clear boundary and an arc-shaped edge (such as the circular outline of the moon) by adjusting the exposure parameters, thereby confirming the target. The target celestial body recognition method provided in the embodiment of the present application can be extended to the recognition of other high-brightness celestial bodies (such as planets such as Venus and Jupiter), but the brightness threshold and edge detection parameters need to be adjusted according to the target characteristics.

[0108] pass Figure 7It can be seen that the target celestial body search method provided in the embodiment of the present application, after obtaining the command azimuth angle and the command altitude angle, if the shooting device fails to find the target celestial body at the device command coordinates; an adaptive search can be performed within a certain range, significantly improving the success rate of tracking the target celestial body (such as the sun).

[0109] Please see Figure 8 , Figure 8 A flow chart of dynamic calibration provided in an embodiment of the present application; in an optional implementation of the embodiment of the present application, after the target celestial body is found, the target celestial body search method further includes:

[0110] Step S241: Center the target celestial body in the field of view.

[0111] In the above step S241, after the target celestial body is suspected to be found, the target celestial body is focused. After focusing, if it is determined to be the target celestial body, the target celestial body is centered in the field of view, and parameters such as image brightness and gain are adjusted to perform shooting.

[0112] Step S242: Determine the updated deviation between the real-time theoretical position of the target celestial body and the mechanical coordinates according to the rotation axis pointing direction.

[0113] In the above step S242, after centering, the user can confirm that the target celestial body has been centered and can choose to start the dynamic calibration process.

[0114] Determine the real-time theoretical position of the target celestial body, for example, calculate the theoretical altitude angle G1 of the target celestial body based on time and geographic location.

[0115] The mechanical coordinates pointed by the rotating axis can be read in combination with a mechanical encoder. For example, the actual rotation angle Q1 of the rotating axis pointing to the mechanical coordinates can be read by the mechanical encoder.

[0116] At the same time, the current horizontal deviation M is obtained through the horizontal sensor.

[0117] Step S243: Determine whether the updated deviation is within the allowable deviation range.

[0118] In step S243, it is determined whether the updated deviation is within the allowable deviation range. First, the updated deviation is calculated, that is, whether |Q1-G1±(90-M)*cos(|F1-N|)| is within the allowable deviation range. This verifies whether the device command coordinates can accurately point the lens barrel to the height coordinate after horizontal correction, or whether there is a certain acceptable deviation.

[0119] In this embodiment, the maximum allowable deviation range is associated with the field of view height and is set to no more than 1 / 2 of the length of the camera's field of view in the numerical direction. This ensures that even with some deviation, the target celestial object can be seen in the image, allowing the user to manually aim at the target. For example, assuming the camera's maximum vertical field of view height is approximately 2°, the maximum allowable deviation range can be set to 1°.

[0120] Preferably, taking the target celestial body as the sun as an example, the maximum value of the allowable deviation range can be set to less than 1 / 2 of the field of view height minus 0.5° / 2 (the visible size of the sun), that is, 0.75°. At this time, the entire sun is in the picture, taking into account both the success rate and fault tolerance of automatic calibration.

[0121] Step S244: When the updated deviation is within the allowable deviation range, the target celestial body is centered in the field of view using the target algorithm.

[0122] In the above step S244, when the updated deviation is within the allowable deviation range, a high-precision algorithm (such as sub-pixel edge detection and star point centroid fitting) is used for further fine-tuning to accurately center the target and reduce subsequent tracking errors.

[0123] pass Figure 8 It can be seen that the target celestial body search method provided in the embodiment of the present application deeply combines theoretical astronomical data, sensor feedback and image recognition through the calibration process of "centering the field of view-deviation calculation-threshold determination-precise fine-tuning", so as to realize the dynamic correction of the device pointing error. The accuracy and reliability of the automated calibration are balanced by the threshold, which not only ensures that the target celestial body (such as the sun) is completely visible, but also further eliminates the residual through the high-precision algorithm, so that the final pointing error is far below the field of view tolerance. It not only reduces the dependence on the user's professional skills, but also enhances the robustness in complex environments (such as shaking of the shooting equipment, movement of the target celestial body, etc.) by verifying the effectiveness of the compensation algorithm in real time.

[0124] Please see Figure 9 , Figure 9 A zero calibration flow chart provided in an embodiment of the present application; in an optional implementation manner of the embodiment of the present application, after the target celestial body is found, the target celestial body search method further includes:

[0125] Step S251: Determine the target deviation between the real-time theoretical position of the target celestial body and the coordinates pointed by the rotation axis.

[0126] In step S251, based on the aforementioned process, even after horizontal compensation, the camera still cannot accurately point to the altitude angle. For example, assuming that the actual altitude angle of the sun is calculated to be 40° based on the geographic location and time, after the device performs horizontal compensation, the pointing altitude is lower (or higher) than the sun's altitude by x°, where x is the target deviation. For example, taking the altitude angle as an example, the real-time theoretical altitude angle of the target celestial body (such as the sun) is 40°, and the actual pointing altitude angle after compensation by the device is 39.2°, then the target deviation x = 40° - 39.2° = 0.8°.

[0127] Step S252: Determine the initial horizontal deviation of the shooting device according to the target deviation.

[0128] Step S253: Based on the initial horizontal deviation, perform horizontal zero calibration on the shooting device.

[0129] In the above steps S252 to S253, the horizontal zero position parameters of the device are reversely corrected (such as adjusting the zero point of the horizontal sensor or the mechanical limit) according to the target deviation x to correct the horizontal zero position of the device.

[0130] It should be noted that the deviation correction of the compass based on azimuth is similar and will not be elaborated on here.

[0131] pass Figure 9 As can be seen, the target object search method provided in the embodiments of this application quantifies the residual target deviation after compensation, reversely infers the initial horizontal zero error of the camera, and dynamically updates the calibration parameters to achieve initial zero calibration. This automates the traditional manual leveling process and eliminates long-term influencing factors such as sensor drift and mechanical installation deviation through iterative calibration, significantly improving the pointing accuracy and long-term stability of the camera.

[0132] In an optional embodiment, before determining the device control coordinates based on the theoretical position of the target celestial body and the device rotation plane position of the photographing device, the method further includes:

[0133] Determine the theoretical position of the target celestial body according to the current time and the current position of the shooting device; determine the basic orientation of the shooting device; adjust the basic orientation of the shooting device based on the theoretical position of the target celestial body, and obtain the position of the device rotation plane of the shooting device under the basic orientation.

[0134] That is to say, after calculating the theoretical position of the target celestial body, the basic orientation of the device is determined. The basic orientation of the device is based on the calculation obtained by the compass module and the horizontal detection module of the shooting device; then, combined with the current horizontal rotation angle and vertical rotation angle of the shooting device (obtained through mechanical detection), the azimuth and altitude angles to which the telescope is expected to be adjusted are determined, and the position of the rotation plane of the shooting device is determined at this azimuth and altitude angles to carry out calibration and target tracking.

[0135] In summary, the target celestial body search method provided in the embodiment of the present application can complete the calibration process without human intervention, avoiding the inefficiency caused by operational vibration and repeated adjustments in manual leveling. Compared with the traditional manual solution that relies on physical adjustment of the bracket, the automatic calibration in the target celestial body search method provided in the embodiment of the present application is free from the limitations of the mechanical structure and can achieve precise correction in any posture (including the high-inclination state of the equatorial mount mode), so that the device is directly compatible with daytime solar observation while maintaining polar axis alignment, without the need for repeated adjustments.

[0136] In addition, the target celestial body search method provided in the embodiment of the present application automatically eliminates the zero drift caused by mechanical wear and temperature deformation through a periodic self-correction function based on the absolute position of the sun. It not only solves the problem of accuracy degradation caused by long-term use of traditional methods, but also can quickly complete equipment status verification before night observation.

[0137] Please see Figure 10 , Figure 10 This is a module diagram of a target celestial body searching device provided in an embodiment of the present application; the present application provides a target celestial body searching device, and the target celestial body searching device 100 includes a control coordinate generating module 110 and a device control module 120.

[0138] The control coordinate generation module 110 is used to determine the device control coordinates according to the theoretical position of the target celestial body and the device rotation plane position of the shooting device; wherein the theoretical position includes a theoretical altitude angle and a theoretical azimuth angle.

[0139] The device control module 120 is used to control the photographing device to search for the target celestial body based on the device control coordinates.

[0140] In an optional embodiment, please continue to see Figure 10 The target celestial body searching device 100 further includes an orientation detection module 130, which is used to: determine the theoretical position of the target celestial body according to the current time and the current position of the shooting device; determine the basic orientation of the shooting device; and adjust the basic orientation of the shooting device based on the theoretical position of the target celestial body, and obtain the position of the device rotation plane of the shooting device under the basic orientation.

[0141] In an optional embodiment, the device control coordinates include the device horizontal control coordinates; in the process of controlling the shooting device to search for the target celestial body based on the device control coordinates, the device control module 120 is used to: generate a device support adjustment instruction based on the device horizontal control coordinates; control the shooting device adjusted by the device support adjustment instruction to detect the target celestial body at the theoretical position of the target celestial body; if the target celestial body is not detected, adjust the horizontal azimuth angle of the shooting device at the theoretical altitude angle and search for the target celestial body.

[0142] In an optional embodiment, the device control coordinates include the device command coordinates; the position information of the shooting device includes the device rotation plane position of the shooting device; in the process of determining the device control coordinates based on the theoretical position of the target celestial body and / or the position information of the shooting device, the device control module 120 is used to: determine the rotation axis pointing coordinates of the device rotation plane based on the rotation plane position of the shooting device; wherein the rotation axis pointing coordinates include the rotation axis azimuth angle and the rotation axis altitude angle; according to the deviation between the rotation axis pointing coordinates and the theoretical coordinate position of the target celestial body, compensate for the theoretical coordinate position of the target celestial body to obtain the device command coordinates.

[0143] In an optional embodiment, in the process of compensating the theoretical coordinate position of the target celestial body based on the deviation between the rotation axis pointing coordinate and the theoretical coordinate position of the target celestial body to obtain the device command coordinate, the device control module 120 is configured to: determine the horizontal deviation between the rotation axis azimuth and the theoretical azimuth based on the rotation axis pointing coordinate and the theoretical coordinate position of the target celestial body; compensate the theoretical altitude angle based on the rotation axis altitude angle and the horizontal deviation to obtain the device command coordinate; and / or determine the altitude deviation between the rotation axis altitude angle and the theoretical altitude angle based on the rotation axis pointing coordinate and the theoretical coordinate position of the target celestial body; and compensate the theoretical azimuth angle based on the rotation axis azimuth and the altitude deviation to obtain the device command coordinate.

[0144] In an optional embodiment, the device command coordinates include a command azimuth and a command altitude; in the process of controlling the shooting device to search for the target celestial body based on the device control coordinates, the device control module 120 is used to: change and update the command azimuth within the azimuth adjustment range when the shooting device fails to find the target celestial body under the device command coordinates; update the command altitude based on the command altitude update information; control the shooting device to search for the target celestial body under the updated command azimuth and command altitude until the target celestial body is found.

[0145] In an optional embodiment, after the target celestial body is found, the device control module 120 is further used to: center the target celestial body in the field of view; determine the updated deviation between the real-time theoretical position of the target celestial body and the mechanical coordinates pointed by the rotation axis; determine whether the updated deviation is within the allowable deviation range; and if the updated deviation is within the allowable deviation range, center the target celestial body in the field of view using the target algorithm.

[0146] In an optional embodiment, after the target celestial body is found, the device control module 120 is further used to: determine the target deviation between the real-time theoretical position of the target celestial body and the coordinates pointed by the rotation axis; determine the initial horizontal deviation of the shooting device based on the target deviation; and perform horizontal zero position calibration on the shooting device based on the initial horizontal deviation.

[0147] See Figure 11 , Figure 11 The electronic device 200 provided in the embodiment of the present application includes a processor 201 and a memory 202 , wherein the memory 202 stores machine-readable instructions executable by the processor 201 , and when the machine-readable instructions are executed by the processor 201 , the method described above is performed.

[0148] Based on the same inventive concept, a computer program product is characterized in that the computer program product includes a computer program / instruction, which is executed by a processor to perform the steps in any implementation of the above-mentioned target celestial body search method.

[0149] Based on the same inventive concept, an embodiment of the present application also provides a computer-readable storage medium, which stores computer program instructions. When the computer program instructions are read and run by a processor, the steps in any implementation method of the above-mentioned target celestial body search method are executed.

[0150] The computer-readable storage medium can be a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or other media that can store program code.

[0151] In this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the elements.

[0152] The above description is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, various modifications and variations of the present application are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for searching a target celestial body, characterized in that: The method comprises: Determine the device control coordinates based on the theoretical position of the target celestial body and / or the position information of the photographing device; wherein the theoretical position includes a theoretical altitude angle and a theoretical azimuth angle; Based on the device control coordinates, the photographing device is controlled to search for the target celestial body.

2. The method according to claim 1, characterized in that in, The device control coordinates include device horizontal control coordinates; and controlling the photographing device to search for the target celestial body based on the device control coordinates includes: generating a device support adjustment instruction based on the device horizontal control coordinate; controlling the photographing device adjusted by the device support adjustment instruction to detect the target celestial body at the theoretical position of the target celestial body; If the target celestial body is not detected, the horizontal azimuth angle of the photographing device is adjusted at the theoretical altitude angle, and the target celestial body is searched for.

3. The method according to claim 1, characterized in that in, The device control coordinates include device command coordinates; the position information of the shooting device includes the device rotation plane position of the shooting device; and determining the device control coordinates based on the theoretical position of the target celestial body and / or the position information of the shooting device includes: Determine the rotation axis pointing coordinates of the device's rotation plane according to the position of the device's rotation plane; wherein the rotation axis pointing coordinates include a rotation axis azimuth angle and a rotation axis altitude angle; According to the deviation between the rotation axis pointing coordinate and the theoretical coordinate position of the target celestial body, the theoretical coordinate position of the target celestial body is compensated to obtain the device command coordinate; wherein the deviation includes a horizontal deviation and / or a height deviation.

4. The method according to claim 3, characterized in that The step of compensating the theoretical coordinate position of the target celestial body according to the deviation between the rotation axis pointing coordinate and the theoretical coordinate position of the target celestial body to obtain the device command coordinate includes: Determining a horizontal deviation between the azimuth angle of the rotation axis and the theoretical azimuth angle according to the pointing coordinates of the rotation axis and the theoretical coordinate position of the target celestial body; Based on the rotation axis elevation angle and the horizontal deviation, the theoretical elevation angle is compensated to obtain the device command coordinates.

5. The method according to claim 3, characterized in that The step of compensating the theoretical coordinate position of the target celestial body according to the deviation between the rotation axis pointing coordinate and the theoretical coordinate position of the target celestial body to obtain the device command coordinate includes: Determining a height deviation between the rotation axis elevation angle and the theoretical elevation angle according to the rotation axis pointing coordinates and the theoretical coordinate position of the target celestial body; Based on the rotation axis azimuth angle and the height deviation, the theoretical azimuth angle is compensated to obtain the device command coordinates.

6. The method according to any one of claims 3 to 5, characterized in that in, The device command coordinates include a command azimuth and a command altitude; and controlling the photographing device to search for the target celestial body based on the device control coordinates includes: When the photographing device fails to find the target celestial body at the device command coordinates, changing and updating the command azimuth within the azimuth adjustment range; updating the command altitude angle based on the command altitude angle update information; The photographing device is controlled to search for the target celestial body at the updated command azimuth angle and command altitude angle until the target celestial body is found.

7. The method according to claim 6, characterized in that After finding the target celestial body, the method further includes: Centering the target celestial object in the field of view; Determine the updated deviation between the real-time theoretical position of the target celestial body and the mechanical coordinates according to the rotation axis; Determining whether the update deviation is within an allowable deviation range; When the updated deviation is within the allowable deviation range, the target celestial body is centered in the field of view using a target algorithm.

8. The method according to claim 6, characterized in that After finding the target celestial body, the method further includes: Determining a target deviation between a real-time theoretical position of a target celestial body and a coordinate pointed to by the rotation axis; determining an initial horizontal deviation of the photographing device according to the target deviation; Based on the initial horizontal deviation, a horizontal zero position calibration is performed on the shooting device.

9. The method according to claim 1, characterized in that Before determining the device control coordinates based on the theoretical position of the target celestial body and the device rotation plane position of the photographing device, the method further includes: Determine the theoretical position of the target celestial body according to the current time and the current position of the photographing device; Determining a base orientation of the camera; The basic orientation of the shooting device is adjusted based on the theoretical position of the target celestial body, and the position of the device rotation plane of the shooting device under the basic orientation is obtained.

10. A target celestial body search device, characterized in that: The device comprises: a control coordinate generation module and a device control module; The control coordinate generation module is used to determine the device control coordinates according to the theoretical position of the target celestial body and the device rotation plane position of the shooting device; wherein the theoretical position includes a theoretical altitude angle and a theoretical azimuth angle; The device control module is used to control the shooting device to search for the target celestial body based on the device control coordinates.

11. The device according to claim 10, characterized in that The device further includes a position detection module; the position detection module is configured to: Determine the theoretical position of the target celestial body according to the current time and the current position of the photographing device; Determining a base orientation of the camera; and The basic orientation of the shooting device is adjusted based on the theoretical position of the target celestial body, and the position of the device rotation plane of the shooting device under the basic orientation is obtained.

12. A computer program product, characterized in that The computer program product comprises a computer program / instruction, which implements the steps of the method according to any one of claims 1 to 9 when executed by a processor.

Images