Method of automatically tracking and photographing celestial objects and photographic apparatus employing this method

• US 9,069,064 B2
• Filed: 05/27/2011
• Issued: 06/30/2015
• Est. Priority Date: 05/28/2010
• Status: Active Grant

• Current Assignee: Ricoh Imaging Company Limited (Ricoh Company Limited)
• Original Assignee: Pentax Ricoh Imaging Americas Corporation (Ricoh Company Limited)
• Inventors: Ohta, Makoto
• Primary Examiner(s): Kelley, Christopher S
• Assistant Examiner(s): Zhou, Zhihan
• Application Number:
  US13/117,517
• Publication Number:
  US 20110292217A1
• Time in Patent Office: 1,495 Days
• Field of Search: 348/169, 348/143, 348/144, 348/147, 348/222.1, 348/345, 342/140, 382/103
• US Class Current: 1/1
• CPC Class Codes: G01S 3/7864 T.V. type tracking systems
• CPC Class Codes: H04N 23/00 Cameras or camera modules comprising electronic image sensors; Control thereof

Abstract

A method of automatically tracking and photographing a celestial object, is provided, which moves relative to a photographic apparatus due to diurnal motion so that the celestial object image formed on an image sensor becomes stationary during a celestial-object auto-tracking photographing operation. The method includes inputting photographing azimuth angle and elevation angle information of the photographic apparatus; calculating preliminary-tracking drive control data based on the photographing azimuth angle and elevation angle information; obtaining first and second preliminary images corresponding to commencement and termination points of the preliminary tracking operation; calculating a deviation amount between a celestial object image in the first preliminary image and a corresponding celestial object image in the second preliminary image; calculating, from the deviation amount, actual-tracking drive control data with the deviation amount cancelled; and performing the celestial-object auto-tracking photographing operation based on the actual-tracking drive control data.

Claims

1. A method of automatically tracking and photographing a celestial object which moves relative to a photographic apparatus due to diurnal motion so that an image of the celestial object that is formed on an imaging surface of an image sensor via a photographing optical system of the photographic apparatus becomes stationary relative to a predetermined imaging area of said image sensor during a celestial-object auto-tracking photographing operation, the method comprising:

inputting photographing azimuth angle information and photographing elevation angle information of the photographic apparatus which is directed toward the celestial object;

calculating first-tracking drive control data for performing a first-tracking photographing operation based on said photographing azimuth angle information and said photographing elevation angle information;

performing the first-tracking photographing operation, for a predetermined exposure time, based on the first-tracking drive control data;

obtaining, after said first-tracking photographing operation based on said first-tracking drive control data finishes, a first preliminary image and a second preliminary image, wherein the first preliminary image corresponds to a commencement point of images taken by said first-tracking photographing operation and the second preliminary image corresponds to a termination point, that occurs upon lapse of the predetermined exposure time, of images taken by said first tracking photographing operation;

calculating an amount of deviation between a celestial object image in said first preliminary image and a corresponding celestial object image in said second preliminary image;

calculating, based on said amount of deviation, second-tracking drive control data for performing a second-tracking photographing operation with said deviation amount cancelled;

performing said second-tracking photographing operation based on said second-tracking drive control data;

judging, in accordance with a comparison between said deviation amount and a predetermined threshold value, whether or not said first-tracking drive control data is to be corrected; and

when it is judged that said first tracking drive control data is to be corrected, said first tracking drive control data is corrected with said deviation amount to calculate said second tracking drive control data.

2. The method according to claim 1, wherein said performing of said first-tracking photographing operation comprises performing an exposure operation while moving at least one of said predetermined imaging area of said image sensor and said image of the celestial object that is formed on said imaging surface of said image sensor.

3. The method according to claim 2, wherein said calculating of the second-tracking drive control data for performing said second-tracking photographing operation comprises:

correcting at least one of said photographing azimuth angle information and said photographing elevation angle information with said deviation amount; and

calculating second-tracking drive control data for moving at least one of said predetermined imaging area of said image sensor and said image of the celestial object that is formed on said imaging surface of said image sensor based on said corrected at least one of said photographing azimuth angle information and said photographing elevation angle information.

4. The method according to claim 2, wherein said calculating of the second-tracking drive control data for performing said second-tracking photographing operation further comprises moving at least one of said predetermined imaging area of said image sensor and said image of the celestial object that is formed on said imaging surface of said image sensor.

5. The method according to claim 1, wherein said judging comprises determining whether or not said deviation amount exceeds the predetermined threshold value, and

said calculating of the second-tracking drive control data for performing said second-tracking photographing operation comprises:

calculating said second-tracking drive control data for performing said second-tracking photographing operation by correcting said first-tracking drive control data to cancel said deviation amount, when said deviation amount is determined as exceeding said predetermined threshold value; and

setting said first-tracking drive control data to second-tracking drive control data, when said deviation amount is determined as one of equal to and less than said predetermined threshold value.

6. The method according to claim 1, wherein at least one of said first-tracking drive control data and said second-tracking drive control data is for moving said image sensor in directions orthogonal to an optical axis of said photographing optical system and rotating said image sensor about an axis parallel to said optical axis while performing an exposure operation.

7. The method according to claim 1, wherein said predetermined imaging area of said image sensor is a trimmed imaging area which is formed by partly electronically trimming an entire imaging area of said image sensor, and

wherein at least one of said first-tracking drive control data and said second-tracking drive control data is for moving said trimmed imaging area in directions orthogonal to an optical axis of said photographing optical system and rotating said trimmed imaging area about an axis parallel to said optical axis while performing an exposure operation.

8. The method according to claim 1, wherein said calculating of said deviation amount comprises:

converting a position of the celestial object image in said first preliminary image to first X-Y coordinates in an X-Y coordinate system and a position of said corresponding celestial object image in said second preliminary image to second X-Y coordinates in said X-Y coordinate system; and

calculating said deviation amount from a difference between said first X-Y coordinates and said second X-Y coordinates.

9. The method according to claim 8, wherein the following conditions are satisfied:

Δ

X=Xd−

Xd cos θ

+Yd sin θ

Δ

Y=Yd−

Xd sin θ

−

Yd cos θ

wherein Δ

X designates said amount of deviation between an X-coordinate position of the celestial object image in said first preliminary image and an X-coordinate position of said corresponding celestial object image in said second preliminary image;

Δ

Y designates said amount of deviation between a Y-coordinate position of the celestial object image in said first preliminary image and a Y-coordinate position of said corresponding celestial object image in said second preliminary image;

Xd designates an amount of deviation of an X-coordinate position of the center point of the image that is actually captured by said photographic apparatus with respect to the position of the center point of the image that is calculated based on the input photographing azimuth angle information and the input photographing elevation angle information of said photographic apparatus;

Yd designates an amount of deviation of a Y-coordinate position of the center point of the image that is actually captured by said photographic apparatus with respect to the position of the center point of the image that is calculated based on the input photographing azimuth angle information and the input photographing elevation angle information of said photographic apparatus; and

θ

designates a rotational angle of the celestial object image in each of said first preliminary image and said second preliminary image with a center of said imaging surface defined as a rotational center.

10. The method according to claim 9, further comprising:

inputting focal length information of said photographing optical system; and

calculating a first amount of deviation between said photographing azimuth angle information and theoretically-correct photographing azimuth angle information and a second amount of deviation between said photographing elevation angle information and theoretically-correct photographing elevation angle information using said focal length information, said deviation amount Xd and said deviation amount Yd from the following equations;

Δ

h=arctan(Yd/f)

Δ

A=arccos((cos(arctan(Xd/f))−

cos²(hs+arctan(Yd/f)/2))/cos²(hs+arctan(Yd/f)/2))

wherein f designates said focal length information of said photographing optical system,

hs designates said photographing elevation angle information,

Δ

h designates said first deviation amount, and

Δ

A designates said second deviation amount.

12. The method according to claim 1, wherein the first-tracking photographing operation comprises performing an exposure operation while moving at least one of the predetermined imaging area of the image sensor and the image of the celestial object that is formed on the imaging surface of the image sensor.

19. The method according to claim 1, wherein the judging judges whether or not the first-tracking drive control data is to be corrected, before correction is performed on the first-tracking drive control data using the deviation amount.

11. A photographic apparatus which automatically tracks and photographs a celestial object which moves relative to said photographic apparatus due to diurnal motion so that an image of the celestial object that is formed on an imaging surface of an image sensor via a photographing optical system of said photographic apparatus becomes stationary relative to a predetermined imaging area of said image sensor during a celestial-object auto-tracking photographing operation, said photographic apparatus comprising:

an inputter that inputs photographing azimuth angle information and photographing elevation angle information of said photographic apparatus which is directed toward the celestial object;

a calculator that calculates first-tracking drive control data for performing a first-tracking photographing operation based on the photographing azimuth angle information and the photographing elevation angle information;

a device that performs the first-tracking photographing operation, for a predetermined exposure time, based on the first-tracking drive control data;

a device that obtains, after said first-tracking photographing operation based on said first-tracking drive control data finishes, a first preliminary image and a second preliminary image, wherein the first preliminary image corresponds to a commencement point of images taken by the first-tracking photographing operation and the second preliminary image corresponds to a termination point, that occurs upon lapse of the predetermined exposure time, of images taken by said first tracking photographing operation;

a calculator that calculates an amount of deviation between a celestial object image in the first preliminary image and a corresponding celestial object image in the second preliminary image;

a calculator that calculates, based on the amount of deviation, second-tracking drive control data for performing a second-tracking photographing operation with said deviation amount cancelled;

a device that performs the second-tracking photographing operation based on the second-tracking drive control data;

a judger that judges, in accordance with a comparison between said deviation amount and a predetermined threshold value, whether or not said first-tracking drive control data is to be corrected, and

when it is judged that said first tracking drive control data is to be corrected, said first tracking drive control data is corrected with said deviation amount to calculate said second tracking drive control data.

20. The photographic apparatus according to claim 11, wherein the judger judges whether or not the first-tracking drive control data is to be corrected, before correction is performed on the first-tracking drive control data using the deviation amount.

13. A method of automatically tracking and photographing a celestial object which moves relative to a photographic apparatus due to diurnal motion so that an image of the celestial object that is formed on an imaging surface of an image sensor via a photographing optical system of the photographic apparatus becomes stationary relative to a predetermined imaging area of the image sensor during a celestial-object auto-tracking photographing operation, the method comprising:

inputting azimuth information with respect to the photographic apparatus, of the celestial object;

calculating first-tracking drive control data for performing a first-tracking photographing operation based on the azimuth information;

performing the first-tracking photographing operation, during a predetermined exposure time, based on the first-tracking drive control data;

obtaining, after said first-tracking photographing operation based on said first-tracking drive control data finishes, a first preliminary image, upon lapse of a predetermined time, and a second preliminary image, wherein the first preliminary image and the second preliminary image respectively correspond to a commencement point and a termination point of images taken by said first-tracking photographing operation;

calculating an amount of deviation between a celestial object image in said first preliminary image and a corresponding celestial object image in said second preliminary image;

calculating, based on the amount of deviation, second-tracking drive control data for performing a second-tracking photographing operation with the deviation amount cancelled,

performing the second-tracking photographing operation based on the second-tracking drive control data;

judging, in accordance with a comparison between the deviation amount and a predetermined threshold value, whether or not the first-tracking drive control data is to be corrected; and

wherein said calculating of the second-tracking drive control data for performing said second-tracking photographing operation comprises correcting said first-tracking drive control data with said deviation amount to calculate said second-tracking drive control data.

14. The method according to claim 13, wherein the image information obtained by the first-tracking photographing operation is stored in a memory.

15. The method according to claim 13, wherein image information obtained by the second-tracking photographing operation is stored in a memory.

16. A photographic apparatus which automatically tracks and photographs a celestial object which moves relative to a photographic apparatus due to diurnal motion so that an image of the celestial object that is formed on an imaging surface of an image sensor via a photographing optical system of the photographic apparatus becomes stationary relative to a predetermined imaging area of the image sensor during a celestial-object auto-tracking photographing operation, the photographic apparatus comprising:

an inputter that inputs azimuth information of the celestial object with respect to the photographic apparatus;

a device that performs the first-tracking photographing operation, during a predetermined exposure time, based on the first-tracking drive control data;

a device that obtains, after said first-tracking photographing operation based on said first-tracking drive control data finishes, a first preliminary image and, upon lapse of a predetermined time, a second preliminary image wherein, the first preliminary image and the second preliminary image respectively correspond to a commencement point and a termination point of images taken by the first-tracking photographing operation;

a calculator that calculates an amount of deviation between a celestial object image in the first preliminary image and a corresponding celestial object image in the second preliminary image;

a calculator that calculates, based on the amount of deviation, second-tracking drive control data for performing a second-tracking photographing operation with the deviation amount cancelled,

a device that performs the second-tracking photographing operation based on the second-tracking drive control data; and

a device that judges, in accordance with a comparison between the deviation amount and a predetermined threshold value, whether or not the first-tracking drive control data is to be corrected,

wherein said calculating of the second-tracking drive control data for performing said second-tracking photographing operation comprises correcting said first-tracking drive control data with said deviation amount to calculate said second-tracking drive control data.

17. The photographic apparatus according to claim 16, wherein the image information obtained by the first-tracking photographing operation is stored in a memory.

18. The photographic apparatus according to claim 16, wherein image information obtained by the second-tracking photographing operation is stored in a memory.