阅读说明：本技术 一种天文望远镜的自动寻星方法、装置、存储介质及系统 (Automatic star finding method, device, storage medium and system for astronomical telescope ) 是由 俞小进 于 2021-05-11 设计创作，主要内容包括：本发明公开一种天文望远镜的自动寻星方法,天文望远镜包括支座、主镜和图像识别相机；支座内设有用于驱动支座绕第一方向和/或第二方向进行转动的电机,以改变主镜与图像识别相机的镜头朝向；图像识别相机包括光学镜头、图像传感器、控制主板和倾角传感器；该方法包括当开机后,获取支座的方位数据及倾角传感器的倾角数据计算得出光学镜头的朝向；获取目标星体的位置并结合光学镜头的朝向得出二者的相对位置,并根据相对位置驱动支座内的电机控制支座转动以带动光学镜头以及主镜的转动,以使得目标星体落入光学镜头以及主镜的视场范围内。本发明大大提目标星体的识别速度及精准度。本发明还提供一种天文望远镜的自动寻星装置、系统及存储介质。(The invention discloses an automatic star finding method of an astronomical telescope, wherein the astronomical telescope comprises a support, a primary mirror and an image recognition camera; a motor for driving the support to rotate around the first direction and/or the second direction is arranged in the support so as to change the orientations of the main mirror and the lens of the image recognition camera; the image recognition camera comprises an optical lens, an image sensor, a control main board and a tilt angle sensor; the method comprises the steps of obtaining azimuth data of a support and inclination data of an inclination sensor to calculate the orientation of an optical lens after starting up; the position of the target star is obtained, the relative position of the target star and the optical lens is obtained by combining the orientation of the optical lens, and the motor in the support is driven according to the relative position to control the support to rotate so as to drive the optical lens and the primary mirror to rotate, so that the target star falls into the field range of the optical lens and the primary mirror. The invention greatly improves the identification speed and accuracy of the target star. The invention also provides an automatic star finding device, system and storage medium of the astronomical telescope.)

1. An automatic star finding method for an astronomical telescope comprises a support, a primary mirror and an image recognition camera, wherein the primary mirror and the image recognition camera are mounted on the support; the pointing optical axis of the primary mirror is parallel to the pointing optical axis of the image recognition camera; a motor is arranged in the support and used for driving a part of mechanisms of the support to rotate so as to drive the main mirror and the image recognition camera to rotate, and further the orientation of the lenses of the main mirror and the image recognition camera is changed; the image recognition camera is characterized by comprising an optical lens, an image sensor, a control main board and a tilt angle sensor; the optical lens is electrically connected with the control main board through the image sensor and used for acquiring star point images and sending the star point images to the control main board through the image sensor; the inclination angle sensor is electrically connected with the control main board and used for acquiring inclination angle data of the optical lens; the automatic star finding method comprises the following steps:

the method comprises the following initial steps: when the astronomical telescope is started, acquiring azimuth data of the support and inclination data of the inclination sensor to calculate orientation information of the optical lens;

an acquisition step: acquiring position information of a target star;

a satellite finding step: calculating the relative position of the orientation of the optical lens and the position of the target star according to the orientation information of the optical lens and the position information of the target star;

a driving step: and driving a motor in the support according to the relative position of the orientation of the optical lens and the position of the target star, and driving part of a mechanism of the support to rotate to drive the optical lens to rotate so as to change the orientation of the optical lens, so that the target star falls into the field range of the image recognition camera and further falls into the field range of the primary mirror.

2. The automatic star finding method for the astronomical telescope according to claim 1, wherein the field angle of the image recognition camera is larger than that of the primary mirror; after the target star falls into the field of view range of the image recognition camera in the driving step, the method further comprises the following steps: the method comprises the steps of obtaining a star image shot by an optical lens, carrying out image processing and recognition on the star image to obtain a target star, determining the relative position of the target star and the view field center of an image recognition camera according to the recognized target star, driving a motor in a support according to the relative position of the target star and the view field center of the image recognition camera, enabling part of a mechanism of the support to rotate to drive the optical lens to rotate so as to change the orientation of the optical lens, enabling the target star and the view field center of the image recognition camera to be overlapped, and enabling the target star to fall into the view field range of a primary mirror.

3. The automatic star finding method for the astronomical telescope according to claim 1, wherein an orientation sensor is arranged in the support, and the orientation sensor is used for acquiring orientation data of the support; and the azimuth data of the optical lens and the azimuth data of the primary mirror are the same as the azimuth data of the support.

4. The automatic star finding method for the astronomical telescope according to claim 1, wherein the mount comprises a base and a mounting rack, the bottom of the mounting rack is fixed on the base, and the top of the mounting rack is provided with the image recognition camera and the primary mirror; a first rotating mechanism is arranged in the base and drives the base to do circular motion around a first direction; a second rotating mechanism is arranged in the mounting rack, one end of the second rotating mechanism is provided with an image recognition camera, the other end of the second rotating mechanism is provided with the main mirror, and the image recognition camera and the main mirror are respectively arranged on two sides of the mounting rack; the second rotating mechanism is used for driving the image recognition camera and the primary mirror to do circular motion around a second direction; the first direction is the direction of a central shaft of the base; the second direction is a direction perpendicular to the central axis of the main mirror.

5. An automatic star finding device for an astronomical telescope, comprising a memory and a processor, wherein the memory stores an automatic star finding program running on the processor, and the automatic star finding program is a computer program, and is characterized in that: the processor, when executing the automatic star finding program, implements the steps of an automatic star finding method for an astronomical telescope as claimed in any one of claims 1 to 4.

6. A storage medium which is a computer-readable storage medium having an automatic star finder program stored thereon, the automatic star finder program being a computer program characterized in that: the automatic star finding program when executed by a processor implements the steps of an automatic star finding method for an astronomical telescope as claimed in any one of claims 1 to 4.

7. An automatic star finding system of an astronomical telescope comprises a support, a primary mirror and an image recognition camera, wherein the primary mirror and the image recognition camera are arranged on the support; the pointing optical axis of the primary mirror is parallel to the pointing optical axis of the image recognition camera; a motor is arranged in the support and used for driving a part of mechanisms of the support to rotate so as to drive the main mirror and the image recognition camera to rotate, and further the orientation of the lenses of the main mirror and the image recognition camera is changed; the automatic star finding system is characterized by comprising a main control device; the image recognition camera comprises an optical lens, an image sensor, a control main board and a tilt angle sensor; the optical lens is electrically connected with the control main board through the image sensor and used for acquiring star point images and sending the star point images to the control main board through the image sensor; the inclination angle sensor is electrically connected with the control main board and used for acquiring inclination angle data of the optical lens;

the main control device is connected with the control mainboard in a communication mode and used for executing the steps of the automatic star finding method of the astronomical telescope, which is disclosed by any one of claims 1 to 4.

8. The automatic star finder system for astronomical telescopes according to claim 7, wherein said image recognition camera further comprises a bluetooth module; the control mainboard is in communication connection with the main control equipment through the Bluetooth module.

9. The automatic star finder system for astronomical telescopes of claim 7, wherein said master device is a mobile device.

10. The system of claim 9, wherein the mobile device is further configured to obtain GPS data and data collection time of the mobile device, and calculate orientation information of the optical lens according to the GPS data, the data collection time, the orientation data of the mount, and the tilt data of the tilt sensor of the mobile device.

Technical Field

The invention relates to an astronomical telescope, in particular to an automatic star finding method, device, storage medium and system of the astronomical telescope.

Background

Astronomical telescopes are important tools for observing celestial bodies, and many astronomical telescopes suitable for different purposes are available in the market. However, the current astronomical telescopes need to be calibrated manually by a technician with a certain professional foundation and then locate the target star, so as to realize the observation of the target star. For some common people interested in celestial bodies, the equipment is complex to operate, has high operation threshold and is difficult to popularize and use.

Disclosure of Invention

In order to overcome the defects of the prior art, one of the purposes of the invention is to provide an automatic star finding method for an astronomical telescope, which can solve the problem that the astronomical telescope in the prior art needs manual calibration and positioning by professional staff when observing a star.

The invention also aims to provide an automatic star finding device for an astronomical telescope, which can solve the problem that a professional needs to manually calibrate and position when the astronomical telescope in the prior art observes a star.

The invention further aims to provide a storage medium which can solve the problem that a professional needs to manually calibrate and position when an astronomical telescope in the prior art observes a star.

The invention also aims to provide an automatic star finding system of the astronomical telescope, which can solve the problem that the astronomical telescope in the prior art needs manual calibration and positioning by professional staff when observing a star.

One of the purposes of the invention is realized by adopting the following technical scheme:

an automatic star finding method for an astronomical telescope comprises a support, a primary mirror and an image recognition camera, wherein the primary mirror and the image recognition camera are mounted on the support; the pointing optical axis of the primary mirror is parallel to the pointing optical axis of the image recognition camera; a motor is arranged in the support and used for driving a part of mechanisms of the support to rotate so as to drive the main mirror and the image recognition camera to rotate, and further the orientation of the lenses of the main mirror and the image recognition camera is changed; the image recognition camera comprises an optical lens, an image sensor, a control main board and a tilt angle sensor; the optical lens is electrically connected with the control main board through the image sensor and used for acquiring star point images and sending the star point images to the control main board through the image sensor; the inclination angle sensor is electrically connected with the control main board and used for acquiring inclination angle data of the optical lens; the automatic star finding method comprises the following steps:

the method comprises the following initial steps: when the astronomical telescope is started, acquiring azimuth data of the support and inclination data of the inclination sensor to calculate orientation information of the optical lens;

an acquisition step: acquiring position information of a target star;

a satellite finding step: calculating the relative position of the orientation of the optical lens and the position of the target star according to the orientation information of the optical lens and the position information of the target star;

a driving step: and driving a motor in the support according to the relative position of the orientation of the optical lens and the position of the target star, and driving part of a mechanism of the support to rotate to drive the optical lens to rotate so as to change the orientation of the optical lens, so that the target star falls into the field range of the image recognition camera and further falls into the field range of the primary mirror.

Further, the field angle of the image recognition camera is larger than that of the primary mirror; after the target star falls into the field of view range of the image recognition camera in the driving step, the method further comprises the following steps: the method comprises the steps of obtaining a star image shot by an optical lens, carrying out image processing and recognition on the star image to obtain a target star, determining the relative position of the target star and the view field center of an image recognition camera according to the recognized target star, driving a motor in a support according to the relative position of the target star and the view field center of the image recognition camera, enabling part of a mechanism of the support to rotate to drive the optical lens to rotate so as to change the orientation of the optical lens, enabling the target star and the view field center of the image recognition camera to be overlapped, and enabling the target star to fall into the view field range of a primary mirror.

Furthermore, an orientation sensor is arranged in the support and used for acquiring orientation data of the support; and the azimuth data of the optical lens and the azimuth data of the primary mirror are the same as the azimuth data of the support.

Further, the support comprises a base and a mounting rack, the bottom of the mounting rack is fixed on the base, and the top of the mounting rack is provided with the image recognition camera and the primary mirror; a first rotating mechanism is arranged in the base and drives the base to do circular motion around a first direction; a second rotating mechanism is arranged in the mounting rack, one end of the second rotating mechanism is provided with an image recognition camera, the other end of the second rotating mechanism is provided with the main mirror, and the image recognition camera and the main mirror are respectively arranged on two sides of the mounting rack; the second rotating mechanism is used for driving the image recognition camera and the primary mirror to do circular motion around a second direction; the first direction is the direction of a central shaft of the base; the second direction is a direction perpendicular to the central axis of the main mirror.

The second purpose of the invention is realized by adopting the following technical scheme:

an automatic star finding device for astronomical telescope comprises a memory and a processor, wherein the memory is stored with an automatic star finding program running on the processor, the automatic star finding program is a computer program, and the processor executes the automatic star finding program to realize the steps of the automatic star finding method for astronomical telescope adopted by one of the purposes of the invention.

The third purpose of the invention is realized by adopting the following technical scheme:

a storage medium which is a computer-readable storage medium having stored thereon an automatic star finding program which is a computer program that, when executed by a processor, implements the steps of an automatic star finding method for an astronomical telescope as adopted in one of the objects of the present invention.

The fourth purpose of the invention is realized by adopting the following technical scheme:

an automatic star finding system of an astronomical telescope comprises a support, a primary mirror and an image recognition camera, wherein the primary mirror and the image recognition camera are arranged on the support; the pointing optical axis of the primary mirror is parallel to the pointing optical axis of the image recognition camera; a motor is arranged in the support and used for driving a part of mechanisms of the support to rotate so as to drive the main mirror and the image recognition camera to rotate, and further the orientation of the lenses of the main mirror and the image recognition camera is changed; the automatic star finding system comprises a main control device; the image recognition camera comprises an optical lens, an image sensor, a control main board and a tilt angle sensor; the optical lens is electrically connected with the control main board through the image sensor and used for acquiring star point images and sending the star point images to the control main board through the image sensor; the inclination angle sensor is electrically connected with the control main board and used for acquiring inclination angle data of the optical lens;

the main control device is connected with the control mainboard in a communication mode and used for executing the steps of the automatic star finding method of the astronomical telescope adopted by one of the purposes of the invention.

Further, the image recognition camera further comprises a bluetooth module; the control mainboard is in communication connection with the main control equipment through the Bluetooth module.

Further, the master control device is a mobile device.

Further, the mobile device is further configured to acquire GPS data and data acquisition time of the mobile device, and calculate orientation information of the optical lens according to the GPS data of the mobile device, the data acquisition time, orientation data of the support, and tilt data of the tilt sensor.

Compared with the prior art, the invention has the beneficial effects that:

the method comprises the steps of firstly, calculating the initial attitude of the astronomical telescope, namely the orientation of a lens through the azimuth data of the astronomical telescope and the inclination angle data of the lens of an image recognition camera; and then calculating the relative position of the lens and the target star by combining the position information of the target star, and further driving a motor to control the support to rotate so as to drive the image recognition camera and the primary mirror to rotate, so that the target star falls into the field range of the image recognition camera and the primary mirror, and the target star is positioned. The invention can automatically position the target star without any manual positioning operation, thereby reducing the manual operation difficulty, simultaneously quickly reducing the search range and improving the automatic identification speed.

Drawings

FIG. 1 is a schematic view of the overall structure of an astronomical telescope provided by the present invention;

FIG. 2 is a flow chart of an automatic star finding method for an astronomical telescope according to the present invention;

fig. 3 is a flowchart of step S4.

In the figure: 1. a support; 2. a primary mirror; 3. an image recognition camera.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.

Example one

The invention initially obtains the pointing information of the telescope by arranging the sensor in the telescope, and then points the lens of the telescope to the target star according to the position information of the target star, thereby realizing the positioning of the target star; meanwhile, a star point image of a target star body in the starry sky is obtained according to an image recognition camera coaxial with the primary mirror, the accurate state of the telescope is calculated by combining a recognition algorithm to automatically correct the target star body to a corresponding position in real time, so that automatic star finding is realized, manual calibration is not needed to identify the difference between the initial state and the theoretical state of the telescope to perform coordinate compensation adjustment, the calibration time is greatly reduced, and meanwhile, the accurate correction of feedback closed-loop control can be performed by using a star point image tracking technology according to controllable time frequency during tracking, so that the target star body is always in the observation range of the primary mirror.

The invention provides a preferred embodiment, an automatic star finding system of an astronomical telescope, as shown in figure 1, the astronomical telescope comprises a support 1, a primary mirror 2 and an image recognition camera 3. The main mirror 2 and the image recognition camera 3 are both mounted on the support 1, and the main mirror 2 is parallel to the pointing optical axis of the image recognition camera 3. And the primary mirror 2 is used for observing a target star. And the image recognition camera 3 is used for searching a target star.

Preferably, the support 1 axially rotates around the b axis, and then drives the main mirror 2 and the image recognition camera 3 mounted on the support 1 to axially rotate around the b axis. The support 1 axially rotates around the axis a, and then drives the primary mirror 2 and the image recognition camera 3 which are arranged on the support 1 to axially rotate around the axis a. That is, the rotation of the support 1 in different directions can drive the rotation of the main mirror 2 and the image recognition camera 3, so as to adjust the orientation of the lens of the main mirror 2 and the lens of the image recognition camera 3. More specifically, the present invention is based on the automatic star finding of the existing astronomical telescope, and it is well known to those skilled in the art that how to drive the support 1 to rotate by the motor to change the lens orientation of the primary mirror 2 can be determined according to the structure of the existing astronomical telescope in the present embodiment, and the present embodiment is not described in detail.

The main mirror 2 and the lens of the image recognition camera 3 can be rotated in the direction, that is, in the shooting range, by rotating the driving support 1. In the practical application process, because the target star is not necessarily exactly in the lens shooting range of the main mirror 2 and the image recognition camera 3, the lens orientations of the main mirror 2 and the image recognition camera 3 can be changed by the rotation of the support 1, so that the target star falls into the lens shooting range of the main mirror 2 and the image recognition camera 3, and the observation, tracking and the like of the target star can be further realized.

More specifically, the cradle 1 in the present embodiment includes a base and a mounting bracket. Wherein, the bottom of mounting bracket is fixed in on the base, and primary mirror 2 and image recognition camera 3 are installed to the top.

Specifically, a first transmission mechanism is arranged in the base and drives the base to move around the circumference of the b shaft seat. Wherein, the b axis in fig. 1 refers to the central axis of the base. For example, set up the motor in the base, carry out circular motion along the b axle through motor drive base, can drive the mounting bracket and do circular motion, and then drive image recognition camera 3 and the primary mirror 2 of installing on the mounting bracket and do circular motion, realize also that the orientation of the camera lens of image recognition camera 3 and primary mirror 2 on the horizontal direction.

More specifically, the mounting frame is provided with a second transmission mechanism. One end of the second transmission mechanism is provided with an image recognition camera 3, the other end of the second transmission mechanism is provided with a main mirror 2, and the image recognition camera 3 and the main mirror 2 are respectively arranged on two sides of the mounting rack. Wherein the image recognition camera 3 is parallel to the optical axis of the primary mirror 2. And the second rotating mechanism is used for driving the image recognition camera 3 and the primary mirror 2 to do circular motion around the axis a, so that the inclination angle of the lens of the image recognition camera 3 and the primary mirror 2 can be adjusted. That is, with the above two structures, the orientation of the image recognition camera 3 and the lens of the primary mirror 2 can be changed through the support 1, so as to subsequently realize the positioning and tracking of the target star. The first transmission mechanism and the second transmission mechanism may be changed according to actual conditions, and are not limited to the structures shown in the drawings in the present embodiment.

Preferably, the support 1 in this embodiment is provided with an orientation sensor therein. And the orientation sensor is used for acquiring orientation data of the support 1, namely position information of the support 1. Meanwhile, the main mirror 2 and the image recognition camera 3 are mounted on the support 1, and therefore, the position information of the support 1 acquired by the orientation sensor is also the position information of the main mirror 2 and the image recognition camera 3. Preferably, the position information in this embodiment can be expressed by the right ascension and declination coordinates. In a quite long time, the declination coordinate of the star generally changes little, so that the angular distance between the declination coordinate of the right ascension of the next target and the declination coordinate of the right ascension of the star can be calculated according to the declination coordinate of the right ascension of the next target, and thus, the main mirror 2 and the optical lens can be aligned to the corresponding target by driving the motor to rotate the corresponding angular distance.

Preferably, the image recognition camera 3 includes an optical lens, an image sensor, a control board, a tilt sensor, and a bluetooth module. In particular, the optical lens is used for acquiring star point images. The optical lens is electrically connected with the control mainboard through the image sensor and used for sending the star point image to the control mainboard through the image sensor.

The inclination angle sensor is electrically connected with the control mainboard and used for acquiring the inclination angle data of the optical lens and sending the inclination angle data to the control mainboard.

Preferably, this embodiment further includes a master control device. The control mainboard is in communication connection with the main control equipment through the Bluetooth module and is used for sending the star point image data and the inclination angle data to the main control equipment, so that the main control equipment performs image processing and data calculation.

More preferably, the present embodiment realizes the positioning and tracking of the target star through the image recognition camera 3, that is, the target star is first positioned through the image recognition camera 3, and then the target star is observed through the primary mirror 2.

Preferably, the master device may be an external mobile device, or another controller device. The main control equipment is used for calculating the orientation of the optical lens according to the orientation data of the orientation sensor, the inclination angle data sent by the inclination angle sensor and/or the star point image of the optical lens, and further combining the position information of the target star to orient the optical lens to the target star, namely enabling the target star to fall into the field range of the image recognition camera 3 and the primary mirror 2, so that the positioning of the target star is realized, and the target star is observed conveniently; meanwhile, in the observation process, the target star can be positioned and tracked in real time by combining the star point image of the optical lens.

Preferably, the present embodiment is illustrated with a mobile device:

the method comprises the steps of firstly installing the mobile equipment through corresponding APP (Application program), and then connecting the mobile equipment with a control main board and a position sensor after the astronomical telescope is started so as to automatically acquire position data of the position sensor and inclination angle data of the inclination angle sensor. More specifically, the mobile device also acquires the location information of the mobile device through the GPS of the own device.

And then the mobile equipment calculates the initial attitude information of the astronomical telescope, namely the orientation information of the optical lens according to the position information, the azimuth data and the inclination data of the mobile equipment. Specifically, the orientation information of the lens of the image recognition camera 3 may be represented by star coordinates.

And then the mobile equipment acquires the data information of the target star, such as the position information of the target star, input by the operator. Specifically, the operator may input data information of the star finding target, such as relevant data of star coordinates, names, and the like of the target star through a relevant page provided by the APP on the mobile device.

The mobile device obtains the relative position between the orientation of the optical lens and the position of the target star according to the orientation information of the optical lens and the data information of the target star, and generates a driving signal according to the relative position to drive the motor to control the rotation of the support 1, so as to drive the rotation of the optical lens, and the target star falls into the field range of the image recognition camera 3.

Because the optical lens and the optical axis of the primary mirror 2 are coaxially arranged, the target star also falls into the field of view of the primary mirror 2, and an operator can observe the target star through the primary mirror 2.

More preferably, the angle of view of the image recognition camera 3 is larger than that of the main mirror 2 in the present embodiment due to the problem of the accuracy of the sensor. At this time, when the target star is falling within the field of view range of the image recognition camera 3, it does not necessarily fall within the field of view range of the main mirror 2.

Specifically, when the target star falls within the field of view of the image recognition camera 3: the mobile device firstly obtains a star point image of the optical lens through the control main board in real time, carries out image processing and recognition on the star point image to obtain a target star body, then recognizes the target star body to determine the relative position of the target star body and the view field center of the image recognition camera 3, generates a driving signal according to the relative position, and drives the support 1 to rotate through the motor so that the target star body is located at the view field center of the image recognition camera 3. Due to the coaxial design of the primary mirror 2 and the optical lens, when the target star is coincident with the center of the field of view of the image recognition camera 3, the target star inevitably falls into the field of view of the primary mirror 2, and the positioning of the target star is realized. At this time, the operator can observe the target star through the primary mirror 2.

More preferably, since the target star is far away from the astronomical telescope, the target star can be seen as a point in the star image, and therefore, the position of the target star in the star image can be obtained by identifying the star image through an image processing technology, so as to calculate the relative distance between the target star and the center of the field of view of the image identification camera 3. For example, in the image recognition algorithm of this embodiment, the angular relative position of the target star is calculated according to the focal length of the camera and the star point image of the target star and compared with the central point data of the database, so as to recognize the target star in the star point image.

In the embodiment, the geographical position of the astronomical telescope, the orientation of the optical lens and the like are acquired by the position information of the azimuth sensor, the inclination sensor and the mobile equipment, so that the searching range can be quickly reduced, and the automatic identification speed is greatly improved.

After the target star is determined, the mobile device drives the support 1 to rotate according to the movement of the target star so as to track the target star. Specifically, the mobile device acquires a star image of the optical image in real time to determine the deviation of the target star relative to the center of the field of view of the image recognition camera 3, so as to drive the support 1 to rotate, so that the target star is always in the center of the field of view of the image recognition camera 3, that is, the target star is always in the center of the field of view of the primary mirror 2, and tracking of the target star is achieved.

For example, the target star may be deviated from the center of the main mirror 2 after a certain period of time due to a mechanical error, and thus the orientation of the main mirror 2 is precisely adjusted by the mobile device acquiring a star point image captured by the optical lens of the image recognition camera 3. Similarly, the offset distance of the target star relative to the center of the field of view of the image recognition camera 3 may be limited, and once it is detected that the offset distance of the target star relative to the center of the field of view of the image recognition camera 3 is close to the limited offset distance, the orientation of the optical lens, that is, the orientation of the primary mirror 2, may be corrected by driving the motor of the support 1, so that the target is always within the limited range. In the embodiment, after the target star is positioned, the star point image of the image recognition camera 3 is acquired in real time to perform feedback closed-loop control to drive the support 1 to rotate, so that the target star is tracked, and the target star is always in the field of view of the primary mirror 2.

Example two

The invention provides another embodiment, an automatic star finding method of an astronomical telescope is applied to the automatic star finding system of the astronomical telescope, as shown in fig. 2, the method specifically comprises the following steps:

and step S1, acquiring azimuth data of the support and inclination data of the inclination sensor after the telescope is started, and calculating orientation information of the optical lens.

Wherein the position data of the support can be acquired by arranging a position sensor in the support. The azimuth data may be represented by coordinate values in a relative coordinate system, may be represented by longitude and latitude coordinates, and may be specifically selected according to actual conditions.

The tilt data refers to a tilt of an optical lens of the image recognition camera.

And step S2, acquiring the position information of the target star.

And step S3, calculating the relative position between the orientation of the optical lens and the position of the target star according to the orientation information of the optical lens and the position information of the target star.

And step S4, driving a motor in the support according to the relative position of the orientation of the optical lens and the position of the target star, so that part of the mechanism of the support rotates to drive the optical lens to rotate to change the orientation of the optical lens, and the target star falls into the field range of the image recognition camera and further falls into the field range of the primary mirror. The first direction is the direction of the b axis in fig. 1, that is, the direction of the central axis of the base. The second direction is the direction of the a-axis in fig. 1, i.e., the direction perpendicular to the central axis of the optical lens.

Preferably, the mount moves circularly around the b-axis to change the orientation of the lens of the optical lens in the horizontal direction. The support rotates around the a axis, and the inclination angle of the optical lens can be changed. That is, the orientation information of the optical lens is changed by the rotation of the support, so that the optical lens faces the target star, that is, the target star falls into the field range of the image recognition camera and the field range of the primary mirror, and is shot by the optical lens and observed by the primary mirror.

More preferably, after the target star falls within the field of view of the image recognition camera in step S4, since the field of view of the image recognition camera is larger than the field of view of the primary mirror, that is, when the target star falls within the field of view of the image recognition camera, the target star does not necessarily fall within the field of view of the primary mirror, as shown in fig. 3, step S4 further includes:

and step S41, acquiring star point images shot by the optical lens and carrying out image processing and identification on the star point images to obtain target star bodies.

And step S42, determining the relative position of the target star and the center of the field of view of the image recognition camera according to the recognized target star.

And step S43, driving a motor in the support according to the relative position of the target star and the view field center of the image recognition camera, so that part of the mechanism of the support rotates to drive the optical lens to rotate to change the orientation of the optical lens, so that the target star is overlapped with the view field center of the image recognition camera, and the target star falls into the view field range of the primary mirror.

When the field angle of the image recognition camera is larger than that of the primary mirror, the shooting range of the optical lens of the image recognition camera can be larger, and the target star can be quickly positioned.

Meanwhile, the field angle of the image recognition camera is larger than that of the primary mirror, and when the target star falls into the field range of the image recognition camera, the target star does not fall into the field range of the primary mirror, so that the target star can be positioned in the field center of the image recognition camera through a star point image shot by the optical lens. Because the primary mirror is parallel to the optical axis of the image recognition camera, the target star necessarily falls into the field of view of the primary mirror.

Preferably, during the observation of the target star, the target star may be shifted from the center of the field of view of the image recognition camera due to mechanical errors or movement of the target star, etc. The method comprises the steps of acquiring a star point image sent by an image recognition camera in real time, and judging whether a target star body deviates from the view field center or a limited range of the image recognition camera according to the star point image; if the star-shaped object is in the star-shaped image, the motor can be driven to control the support to rotate according to the relative distance between the target star-shaped object in the star-shaped image and the view field center of the image recognition camera so as to drive the image recognition camera to rotate, and then the target star-shaped object is always in the view field center of the image recognition camera or in a limited range, so that the tracking of the target star-shaped object is realized.

EXAMPLE III

The invention also provides an automatic star finding device of the astronomical telescope, which comprises a memory and a processor, wherein the memory is stored with an automatic star finding program which can run on the processor, the automatic star finding program is a computer program, and the processor executes the automatic star finding program to realize the steps of the automatic star finding method of the astronomical telescope provided by the second embodiment.

Example four

A storage medium which is a computer-readable storage medium having an automatic star finding program stored thereon, wherein the automatic star finding program is a computer program, and when the automatic star finding program is executed by a processor, the automatic star finding program realizes the steps of the automatic star finding method for the astronomical telescope according to the second embodiment.

The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.