CN108322665B - Intelligent telescope shooting system and intelligent shooting method - Google Patents
Intelligent telescope shooting system and intelligent shooting method Download PDFInfo
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Abstract
The invention discloses an intelligent shooting system and an intelligent shooting method for a telescope, wherein the shooting system comprises the telescope, an imaging device, a driving mechanism and a controller, the imaging device is used for carrying out exposure imaging on a target star in a lens of the telescope, the imaging device and the driving mechanism are both electrically connected with the controller, the imaging device starts exposure or stops exposure under the control of the controller, the driving mechanism drives the lens of the telescope to rotate by a corresponding angle under the control of the controller, and the deviation angle of the target star is consistent with the rotation angle of the lens of the telescope within the next exposure starting time period after the imaging device stops exposure. The telescope intelligent shooting system of the invention replaces the traditional continuous tracking exposure shooting mode with indirect positioning exposure shooting, reduces the cooling burden, avoids the fine adjustment of the tracking angle and prevents the phenomenon of line dragging in imaging.
Description
Technical Field
The invention relates to the field of image acquisition, in particular to an intelligent telescope shooting system and an intelligent telescope shooting method.
Background
The image sensors used for shooting on the existing astronomical telescopes are additional shooting devices independent of a control system. As the astronomical photography environment is at night, the starlight is dim and the light is insufficient, and the long-time exposure is needed to obtain the starry sky picture.
The prior art has at least the following defects:
a. the image sensor can generate thermal charge under a long-time exposure working mode, so that a lot of random noise is generated on an image, and a high-price freezing device is required to be configured for cooling the image sensor in the traditional photographic equipment;
b. the star displacement caused by the rotation of the earth makes the shot star or star system deviate from the lens, and if the displacement of the star is not tracked, drag lines can be generated during continuous exposure shooting; however, because the amount of movement of the earth is relatively small, the astronomical photographing equipment cannot accurately track the displacement of the celestial body, and the traditional astronomical telescope needs to be provided with a high-price and heavy equatorial telescope to realize celestial body tracking, but does not necessarily cause a tow line.
Disclosure of Invention
In order to solve the problems of the prior art, the invention provides an intelligent telescope shooting system and an intelligent telescope shooting method, which solve the problem of high difficulty in real-time tracking and precise angle adjustment, avoid the phenomenon of image line dragging and reduce the cooling burden, and the technical scheme is as follows:
on one hand, the invention provides an intelligent telescope shooting system which comprises a telescope, an imaging device, a driving mechanism and a controller, wherein the imaging device is used for carrying out exposure imaging on a target star in a lens of the telescope, the imaging device and the driving mechanism are electrically connected with the controller, the imaging device starts exposure or stops exposure under the control of the controller, the driving mechanism drives the lens of the telescope to rotate by a corresponding angle under the control of the controller, and the deviation angle of the target star is consistent with the rotation angle of the lens of the telescope within the period from the time when the imaging device stops exposure to the next start of exposure.
Further, the system also comprises an image processor, the imaging device collects a plurality of frames of images in the time period from starting exposure to stopping exposure and sends the images to the image processor, and the image processor carries out image superposition processing on the plurality of frames of images to obtain a fixed-point superposed image; the image processor carries out image superposition processing on fixed-point superposed images of the same target star body under different coordinates to obtain a target shooting image; or,
and the image processor performs image superposition processing on multi-frame images of the same target star body under different coordinates to obtain a target shooting image.
Further, the system also comprises a temperature sensor connected with the controller, the temperature sensor is used for detecting the temperature of the imaging device and sending the temperature to the controller, and the controller controls the imaging device to stop exposure or controls the driving mechanism to drive the lens of the telescope to rotate according to the temperature detection result.
Further, the deviation angle of the target star is calculated by the following formula:
the deviation angle value is equal to the speed of the earth rotation multiplied by the time;
the controller is also used for reading the current scale value of the telescope and calculating the target adjusting scale value of the telescope after a certain time according to the earth self-rotation speed.
Furthermore, the system also comprises an angle sensor connected with the controller, the angle sensor is used for detecting the rotation angle of the telescope and sending the rotation angle to the controller, and the controller controls the driving mechanism to stop driving according to the angle detection result.
In another aspect, the invention provides an intelligent telescope shooting method, which includes:
the imaging device carries out exposure imaging on a target star in the lens of the telescope, and after the image is collected, the exposure is stopped and timing is started;
calculating a target adjusting scale value of the telescope after a preset time according to the current scale value of the telescope;
the driving mechanism drives the telescope to rotate to the target adjusting scale value;
and when the timing result reaches the preset time, starting exposure by the imaging device and acquiring multi-frame images again.
Further, the shooting method further comprises:
collecting multi-frame images of a target star at each exposure angle and carrying out image superposition processing on the multi-frame images to obtain fixed-point superposed images; carrying out image superposition processing on a plurality of fixed-point superposed images of the same target star to obtain a target shot image; or,
and carrying out image superposition processing on multi-frame images acquired by the same target star at all exposure angles to obtain a target shooting image.
Further, before the imaging device performs exposure imaging on the target star in the telescope lens, the imaging device further comprises:
adjusting a telescope lens to enable the target star to be located at the center of an optical axis of the lens;
and calculating the deviation time of the target star body from the center of the optical axis according to the earth self-rotation speed, and setting the exposure imaging time to be less than or equal to the deviation time.
Further, the step of calculating the target adjustment scale value of the telescope after the preset time is further included;
presetting a working temperature limit value for an imaging device;
detecting the real-time temperature of an imaging device to obtain the cooling time for reducing the real-time temperature to a working temperature limit value;
and setting the preset time to be greater than the cooling time.
Further, after obtaining the target shooting image, the method further includes:
and sending the target shooting image to a mobile terminal in a wireless or wired communication mode.
The technical scheme provided by the invention has the following beneficial effects:
1) by means of frequency conversion, the phenomenon that a shot image is dragged due to tiny offset of a star is avoided;
2) through the intermittent working mode of the image sensor, the image sensor can realize rapid cooling only by additionally arranging a common radiating fin, and random noise points generated by increasing the thermal charge of the image sensor due to high temperature generated by continuous working are reduced;
3) because the absolute position of the star in the shot image is not changed, when the images are overlapped, the star/star system is brighter, and noise points are continuously covered by a black background, so that the brightness contrast of the star/star system is increased, and the denoising difficulty is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a block diagram of a telescope intelligent shooting system according to an embodiment of the present invention;
FIG. 2 is a flow chart of a telescope intelligent shooting method provided by the embodiment of the invention;
FIG. 3 is a flow chart of a method for pre-adjusting the telescope provided by an embodiment of the present invention;
fig. 4 is a flowchart of a method for presetting a time value according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or device.
Example 1
In an embodiment of the present invention, an intelligent photographing system for a telescope is provided, referring to fig. 1, including a telescope, an imaging device, a driving mechanism, an angle sensor, a temperature sensor, an image processor, and a controller, where the imaging device, the driving mechanism, the angle sensor, and the temperature sensor are all electrically connected to the controller, the imaging device is used to perform exposure imaging on a target star in a lens of the telescope, the imaging device starts exposure or stops exposure under the control of the controller, the driving mechanism drives the lens of the telescope to rotate by a corresponding angle under the control of the controller, and a deviation angle of the target star is consistent with a rotation angle of the lens of the telescope until the imaging device stops exposure is started next time.
The working principle of the telescope intelligent shooting system provided by the invention is as follows: and setting the exposure time of the image sensor according to the time when the shot star or the star system deviates from the optical axis center of the lens, and immediately closing the image sensor once the shot star or the shot star deviates from the optical axis center of the lens. And (3) waiting for the temperature of the image sensor to recover, calculating the next coordinate position of the star or the star system, adjusting the lens coordinate to the next coordinate position of the star or the star system by the displacement motor driving control system, and immediately capturing when the star or the star system appears in the center of the optical axis of the lens. If the time required for cooling to the optimal working temperature through the aluminum radiator is T, the position coordinate of the target star body is calculated after the T time is calculated, the imaging device is rotated to the corresponding angle coordinate in advance in the cooling process of the imaging device, when the time reaches the T value, on one hand, the imaging device finishes cooling to reach the optimal working temperature (the probability of imaging noise is reduced), on the other hand, the imaging device is in place in advance, the target star body also enters the imaging range of the imaging device, and the absolute position of the target star body in imaging is not changed under the condition that the calculation result and the rotation adjustment result are correct, the images of the star body shot at the front position and the rear position can be subjected to image superposition operation, and the advantages are that: firstly, the starry sky image can be obtained only by the long-time exposure when the starry light is dim at night, and the starry sky information displayed by the superposed image is clearer; secondly, the random noise points are different in position each time, and the random noise points are continuously covered by the black background due to continuous superposition of the black sky background, so that the noise points are darker and darker, the brightness contrast of the star body or the star system relative to the noise points is larger and larger, and the noise points are easily removed through image processing.
Specifically, the working process of the telescope intelligent shooting system is as follows:
adjusting a lens of the telescope to enable the target star to be located at the center of an optical axis of the lens, controlling the imaging device to start exposure, continuously shooting the target star until the target star deviates from the center of the optical axis, and closing the imaging device (stopping exposure). Detecting temperature information of the imaging device, and when the optimal working temperature is reached, for example, when the time interval from last snapshot is t1, calculating the position coordinate where the target star is theoretically located after t1+ t2 time (time t2 must cover the whole process of driving the telescope to rotate to the position coordinate where the target star is theoretically located, namely before t1+ t2 is reached, ensuring that the telescope is adjusted to the position coordinate where the target star is theoretically located under the driving of the driving mechanism), calculating the angle coordinate and starting the driving when the imaging device reaches the optimal working temperature, namely, controlling the driving mechanism to drive the lens of the telescope to rotate according to the temperature detection result by the controller. And when the timing reaches t1+ t2, starting exposure on the new position coordinates by the imaging device, and repeating the steps for multiple times just like the last shooting to obtain multiple images shot at the multiple position coordinates. In addition to the above, there is a more convenient way as follows: the maximum time t1 required by the imaging device to reach the optimal working temperature is obtained according to the actual heat dissipation condition, t3 is set to be larger than t1 (namely t3 is ensured to enable the imaging device to complete the cooling process, and meanwhile t3 is also ensured to cover the whole process of driving the telescope to rotate to the theoretical position coordinate), and the theoretical position coordinate of the target star is calculated after the t3 time. Of course, the function of the temperature sensor is to control the imaging device to be turned off in advance (even if the target star body is not deviated from the center of the optical axis) if the temperature is detected to be higher than a certain preset threshold (which is easy to cause a great increase in the probability of image noise), that is, "the controller controls the imaging device to stop exposure" according to the temperature detection result.
The images are then processed by an image processor to superimpose, such as by capturing C at a first coordinate position1An image is superimposed to obtain a first superimposed image, and C is captured at a second coordinate position2An image is superimposed to obtain a second superimposed image … …, C is captured at the Nth coordinate positionnSuperposing the images to obtain an Nth superposed image, and superposing the first superposed image, … … and the Nth superposed image to obtain a final target shooting image; alternatively, for the above C1Sheet image, C2Sheet images … …, CnAnd after the images are collected, carrying out one-time image superposition processing to obtain a final target shooting image.
Since the displacement of the star body is caused by the rotation of the earth, the shot target star body or the star system deviates from the lens, and therefore, the deviation angle of the target star body is calculated by the following formula:
the deviation angle value is equal to the speed of the earth rotation multiplied by the time;
the controller is also used for reading the current scale value of the telescope and calculating the target adjusting scale value of the telescope after a certain time according to the earth self-rotation speed.
The current scale value of the telescope generally comprises scale values of two dials, one is a horizontal turntable scale, and the other is a vertical plane turntable scale, so that the scale value of the telescope is obtained through comprehensive adjustment.
In a preferred embodiment, the angle sensor detects the angle of rotation of the telescope (in three-dimensional space) and sends it to the controller, and when the telescope reaches the target position coordinates, the controller controls the driving mechanism to stop the driving action, and the angle sensor includes but is not limited to a gyroscope, a tilt sensor, an acceleration sensor, and the like; in another optional embodiment, the control of the stopping time of the driving motor can also be realized without setting an angle sensor, for example, the driving mechanism corresponds to the telescope with two dials, the driving mechanism includes a first motor and a second motor, the first motor drives the horizontal dial to rotate, the second motor drives the vertical dial to rotate, the rotation direction and the number of turns of the output shafts of the first motor and the second motor are in a linear relationship with the angle that the corresponding dials rotate, for example, the output shaft of the first motor rotates clockwise by 200 degrees and can drive the horizontal dial to rotate clockwise by 5 degrees (the proportional relationship can be obtained through a test and is not repeated here), and therefore, according to the target adjustment angle, the driving mode of the motor (which direction the output shaft rotates, how many turns can be obtained) can be calculated.
Example 2
In another embodiment of the present invention, a telescope intelligent shooting method is provided, and referring to fig. 2, the method includes the following processes:
and S1, exposing and imaging the target star in the lens of the telescope by the imaging device.
Specifically, the exposure imaging is preferably to continuously capture a plurality of images, but the invention is not limited to this, one image is formed at each coordinate position, and the technical scheme of the invention can be also realized by overlapping a plurality of single images corresponding to enough coordinate positions, so as to obtain a target star/galaxy image with high enough brightness.
It should be emphasized that, in the exposure imaging process, to ensure that the target star does not deviate from the current coordinates, when the deviation occurs, S2 should be immediately executed.
And S2, turning off the imaging system and starting timing.
Specifically, the imaging system includes but is not limited to image sensors such as CCD sensors, CMOS sensors, etc., and the understanding that the imaging system is off should be interpreted as the imaging system stopping exposure, which is the starting point for the imaging system to start cooling.
And S3, calculating the target adjusting scale value of the telescope after the preset time according to the current scale value of the telescope.
Specifically, the basis for calculating the target adjustment scale value is the earth rotation speed, the calculation method is as described above, and the relationship between the earth rotation speed and the scale of the dial of the telescope is also as described above, which is not described herein again.
Here, the following explanation needs to be made on the preset time:
the preset time needs to satisfy two conditions simultaneously: the method comprises the following steps that firstly, the imaging system can be cooled to the optimal working temperature or lower than the optimal working temperature; and secondly, the telescope can be driven by the driving mechanism to rotate from the current scale value to the target adjusting scale value.
And S4, driving the telescope to rotate to the target regulation scale value by the driving mechanism.
Specifically, the method for controlling the driving mechanism to drive the telescope to reach the target adjustment scale value by using the angle sensor or the motor to drive the parameter strategy has been described in detail in the above embodiments, and is not described herein again.
And S5, judging whether the timing result reaches the preset time, if so, controlling the imaging device to start exposure, and repeatedly executing S1-S4 until the time is repeated for multiple times.
As explained in S3, when the preset time is reached, the telescope has reached (or is lower than) the optimal operating temperature and has reached (or has reached in advance) the target adjustment scale value, so that when the technical result reaches the preset time, it indicates that the target star/galaxies has now reached the same absolute position as in the previous imaging, and at this time, the imaging device can be turned on to image the target star/galaxies on-going exposure.
In one embodiment of the invention, after each exposure imaging, the multi-frame image of the target star under each exposure angle is subjected to image superposition processing to obtain a fixed-point superposed image; carrying out image superposition processing on a plurality of fixed-point superposed images of the same target star to obtain a target shot image;
in another embodiment of the invention, after repeatedly executing S1-S5 for multiple times, the image superposition processing is carried out on the multi-frame images acquired by the same target star body under various exposure angles, so as to obtain the target shooting image. Both modes are realizable modes, and the target shooting image is sent to the mobile terminal through a wireless or wired communication mode.
Specifically, S1 is preceded by a pre-adjustment operation of the telescope, as shown in fig. 3, including the following steps:
s011, adjusting a telescope lens to enable the target star to be located at the center of an optical axis of the lens;
s012, calculating the deviation time of the target star body from the center of the optical axis according to the self-rotation speed of the earth;
and S013, setting the exposure imaging time to be less than or equal to the deviation time.
Preferably, the focal length is adjusted before S1 to make the imaging system image clearly.
Further, S3 is preceded by a preset time value, as shown in fig. 4, which includes the following steps:
s031, presetting an operating temperature limit (corresponding to the above-mentioned optimal operating temperature) for the imaging device;
s032, detecting the real-time temperature of the imaging device to obtain the cooling time for reducing the real-time temperature to the working temperature limit value;
and S033, setting the preset time to be longer than the cooling time.
S3 is followed by checking whether the preset time value is sufficient to drive the telescope to reach the target adjustment scale value, i.e. when the timing result reaches the preset time and the scale of the telescope has not been adjusted, S5 is cancelled, S3 needs to be re-executed, i.e. the preset time value is reset, and the setting result should be increased (to prevent the situation that the angle adjustment is not reached again).
The telescope intelligent shooting system has simple structure, can build a system on any telescope entity, has simple and convenient operation, and can realize effective high-quality shooting of the stars/galaxies on the premise of unknown astronomical system and telescope debugging skills.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The intelligent telescope shooting system is characterized by comprising a telescope, an imaging device, a driving mechanism and a controller, wherein the imaging device is used for exposing and imaging a target star in a lens of the telescope, the imaging device and the driving mechanism are electrically connected with the controller, the imaging device starts exposure or stops exposure under the control of the controller, the driving mechanism drives the lens of the telescope to rotate by a corresponding angle under the control of the controller, the deviation angle of the target star is consistent with the rotation angle of the lens of the telescope when the imaging device stops exposure until the next exposure starting time period, and the time corresponding to the rotation angle of the lens of the telescope is longer than the maximum time required for the imaging device to cool to the optimal working temperature.
2. The shooting system of claim 1, characterized in that the system further comprises an image processor, the imaging device collects a plurality of frames of images in the period from the start exposure to the stop exposure and sends the images to the image processor, and the image processor performs image superposition processing on the plurality of frames of images to obtain a fixed-point superposed image; the image processor carries out image superposition processing on fixed-point superposed images of the same target star body under different coordinates to obtain a target shooting image; or,
and the image processor performs image superposition processing on multi-frame images of the same target star body under different coordinates to obtain a target shooting image.
3. The camera system as claimed in claim 1, further comprising a temperature sensor connected to the controller, wherein the temperature sensor is used for detecting the temperature of the imaging device and sending the temperature to the controller, and the controller controls the imaging device to stop exposure or controls the driving mechanism to drive the lens of the telescope to rotate according to the temperature detection result.
4. The camera system of claim 1, wherein the angle of departure of the target star is calculated by the following formula:
the deviation angle value is equal to the speed of the earth rotation multiplied by the time;
the controller is also used for reading the current scale value of the telescope and calculating the target adjusting scale value of the telescope after a certain time according to the earth self-rotation speed.
5. The camera system as claimed in claim 1, further comprising an angle sensor connected to the controller, wherein the angle sensor is configured to detect an angle of rotation of the telescope and send the angle to the controller, and the controller controls the driving mechanism to stop the driving operation according to the angle detection result.
6. An intelligent telescope shooting method is characterized by comprising the following steps:
the imaging device carries out exposure imaging on a target star in the lens of the telescope, and after the image is collected, the exposure is stopped and timing is started;
calculating a target adjusting scale value of the telescope after a preset time according to the current scale value of the telescope, wherein the preset time is longer than the time required by the temperature of the imaging device to be reduced to the working temperature and is longer than or equal to the time required by the telescope to rotate from the current scale value to the target adjusting scale value under the driving of the driving mechanism;
the driving mechanism drives the telescope to rotate to the target adjusting scale value;
and when the timing result reaches the preset time, starting exposure by the imaging device and acquiring multi-frame images again.
7. The photographing method according to claim 6, further comprising:
collecting multi-frame images of a target star at each exposure angle and carrying out image superposition processing on the multi-frame images to obtain fixed-point superposed images; carrying out image superposition processing on a plurality of fixed-point superposed images of the same target star to obtain a target shot image; or,
and carrying out image superposition processing on multi-frame images acquired by the same target star at all exposure angles to obtain a target shooting image.
8. The shooting method according to claim 6, wherein before the imaging device performs exposure imaging on the target star in the telescope lens, the method further comprises:
adjusting a telescope lens to enable the target star to be located at the center of an optical axis of the lens;
and calculating the deviation time of the target star body from the center of the optical axis according to the earth self-rotation speed, and setting the exposure imaging time to be less than or equal to the deviation time.
9. The photographing method according to claim 6, wherein the calculating of the target adjustment scale value of the telescope after a preset time further comprises;
presetting a working temperature limit value for an imaging device;
detecting the real-time temperature of an imaging device to obtain the cooling time for reducing the real-time temperature to a working temperature limit value;
and setting the preset time to be greater than the cooling time.
10. The shooting method according to claim 7, wherein said obtaining the target shot image further comprises:
and sending the target shooting image to a mobile terminal in a wireless or wired communication mode.
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| CN108322665A (en) | 2018-07-24 |
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