CN112019742A - Face tracking mobile phone holder based on OpenCV and operation method thereof - Google Patents
Face tracking mobile phone holder based on OpenCV and operation method thereof Download PDFInfo
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- CN112019742A CN112019742A CN202010823290.5A CN202010823290A CN112019742A CN 112019742 A CN112019742 A CN 112019742A CN 202010823290 A CN202010823290 A CN 202010823290A CN 112019742 A CN112019742 A CN 112019742A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/02—Constructional features of telephone sets
- H04M1/04—Supports for telephone transmitters or receivers
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
- H04N21/20—Servers specifically adapted for the distribution of content, e.g. VOD servers; Operations thereof
- H04N21/21—Server components or server architectures
- H04N21/218—Source of audio or video content, e.g. local disk arrays
- H04N21/2187—Live feed
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/61—Control of cameras or camera modules based on recognised objects
- H04N23/611—Control of cameras or camera modules based on recognised objects where the recognised objects include parts of the human body
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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Abstract
The invention discloses a face tracking mobile phone holder based on OpenCV and an operation method thereof, wherein the mobile phone holder comprises a mobile phone camera, a virtual video stream server, a wireless router, a PC host, an MCU, a steering engine and a holder mechanical part; the invention further provides an OpenCV-based operation method for the face tracking mobile phone holder. The mobile phone holder has the function of automatically tracking the face, the program can be iterated quickly, and the program in the single chip microcomputer can be upgraded in the air through a network. The invention automatically adjusts the shooting angle through the picture shot by the camera of the mobile phone, so that the face is always positioned in the center of the picture. The problem of the live broadcast of network in-process anchor need constantly adjust the cell-phone angle of shooing is solved, let the anchor can be absorbed in live broadcast content, need not to pay close attention to the cell-phone angle of shooing to promote live broadcast quality, make this live broadcast more competitive, be fit for popularizing and applying.
Description
Technical Field
The invention belongs to the technical field of intelligent holders, and relates to a face tracking mobile phone holder based on OpenCV and an operation method thereof.
Background
Research on camera heads has begun internationally in the early nineties of the last century. The starting in foreign countries is also a relatively high research in the aspect of the camera pan-tilt, and the focus of the foreign research on the camera pan-tilt system is mainly the presentation of the stereoscopic vision effect of the camera during shooting, so that the requirements on the speed regulation control precision and the positioning accuracy of the pan-tilt are very high; in addition, since structural design software is used forever abroad, researchers can achieve design requirements through comprehensive optimization and engineering simulation of the structural design software on the reasonable structural layout of kinematics and dynamic characteristics, and therefore the structural design method has a leading advantage in the aspect of structural design. The earliest study to combine a stereo vision head with a camera was the oxford university in england, the first generation of vision heads being Yorick. The initial Yorick reduces the rotational speed of the pan-tilt head so as to realize the accurate positioning of the pan-tilt head, and then the rotational speed is improved through the optimized upgrading of products. In the later stages, acceleration is increased in order to better cope with the rapid response of an emergency. Because the harmonic gear reduction box and the direct current servo motor are applied to the Yorick series three-dimensional tripod head, the influence of the return difference on the precision can be almost ignored and is not considered.
In addition to the development of camera holders by some well-known electric companies in foreign countries, a lot of intelligent sensing equipment companies also develop camera holders. The horizontal direction of the high-speed positioning device developed by Bosey company can be quickly changed from 0-100 degrees within 1 second, so that the high-speed positioning device can be used for quickly shooting and positioning under various environments. The tripod head mechanism developed by the american cisco company for video conferences introduces in detail the design principle and the control process of the tripod head, and can control the movement of the tripod head on the vertical plane and the horizontal plane by using a wireless transmission protocol. The research on the tripod head in China is relatively late compared with foreign countries, so the research on the camera tripod head technology is relatively lagged compared with foreign countries, but the development trend of the research on the tripod head is better at present. The research on the camera tripod head is also based on the monitoring tripod head in China. The camera pan-tilt technology was successively researched make internal disorder or usurp in China's institute of automation, colleges and universities such as Shanghai Committee, and scientific research institutions, and the focus of research make internal disorder or usurp on the camera pan-tilt is also in many different directions. The open industrial camera vision control platform developed in 2003 by the automated research make internal disorder or usurp of the Chinese academy of sciences realizes the control of a plurality of multi-degree-of-freedom holders which are self-developed to pass through an upper computer, thereby controlling the postures and shooting angles of a plurality of different cameras. A novel digital camera self-timer system is designed in 2006 by Shanghai province. The system enables the cradle head to be applied to a digital camera self-shooting system, solves the problem that the angle of the digital camera cannot be adjusted due to self-shooting, adopts a face detection technology, and controls the rotation of the cradle head to realize the self-shooting of the digital camera.
It is not difficult to find out by combining the research on the tripod heads at home and abroad, with the rapid development of the research on the intelligent control technology, the research make internal disorder or usurp on the camera tripod head is only researched by a few foreign countries at the beginning, but also strives to catch up with the development of the technical field at home and maintain certain competitiveness in the field. Small, light, omnibearing, high-precision and intelligent control are becoming the main direction of the development of camera holders, and the camera holders are also developing towards diversification. Therefore, the design and development of the camera pan-tilt head do not have a fixed mode under the current environment.
In the age of rapid development of the internet, the development and progress of the internet + is advocated, and the network people see the development and progress of the internet. The network live broadcast is a new network mode, according to relevant data statistics, by the end of 2017, each type of domestic live broadcast platform breaks through more than 500 families, the online user scale exceeds 3.5 hundred million, the daily active user amount reaches 3000 ten thousand, the market scale reaches 500 hundred million yuan, and the explosion degree of the live broadcast industry is visible. With the rapid development of the network broadcast industry, the requirement of audiences on the network broadcast quality is increasingly strengthened. In the live broadcasting process of the anchor, the shooting direction of the mobile phone can be continuously adjusted because the mobile phone can not shoot the front of the anchor, so that the energy of the anchor can be dispersed undoubtedly, and the live broadcasting quality is reduced. The existing mobile phone holder only has the anti-shaking and steering functions and cannot solve the problem.
Disclosure of Invention
The invention aims to provide an OpenCV-based face tracking mobile phone holder and an operation method thereof. A mobile phone holder with a face tracking function is developed based on OpenCV. The tripod head automatically adjusts the shooting angle through the picture shot by the mobile phone camera, so that the face is always positioned at the center of the picture. The problem of the live broadcast of network in-process anchor need constantly adjust the cell-phone angle of shooing is solved, let the anchor can be absorbed in live broadcast content, need not to pay close attention to the cell-phone angle of shooing to promote live broadcast quality, make this live broadcast more competitive, be fit for popularizing and applying.
The technical scheme is as follows:
a face tracking mobile phone holder based on OpenCV comprises an outer holder fixing platform 1, a movable support control steering engine 2, an inner holder rotating platform 3, a movable support 4, a first steering engine driving gear 5, a second steering engine driving gear 6, a holder fixing column 7, a rotary steering engine 11 and a holder chassis 8 from top to bottom, wherein the inner holder rotating platform 3 is provided with the movable support control steering engine 2 and the movable support 4, the movable support control steering engine 2 is connected with the movable support 4 through the first steering engine driving gear 5 to drive the movable support 4 to rotate back and forth, and the rotary steering engine 11 is connected with the inner holder rotating platform 3 through the second steering engine driving gear 6 to drive the inner holder rotating platform to rotate forward or reversely; the cradle head chassis 8 is provided with a Wifi Bluetooth system-level chip 9 and a steering engine driving version 10, and further comprises a video streaming server, wherein the video streaming server is established by a mobile phone terminal.
Furthermore, the steering engine adopts a digital steering engine, and the steering engine drive plate adopts a digital steering engine drive plate.
Further, the main control chip is a Wifi Bluetooth system level chip, the chip integrates WiFi/Bluetooth/BLE radio frequency and low power consumption technology, and supports an open real-time operating system, so that the angle output is realized through Wifi
Further, the holder fixing column 7 is connected with the holder chassis 8 and fixedly supports the whole holder.
Further, a mobile phone can be fixed above the mobile support 4.
Further, the rotating device is composed of a moving support control steering engine 2, a holder rotating inner platform 3, a moving support 4, a first steering engine driving gear 5, a second steering engine driving gear 6 and a rotating steering engine 11, the moving support control steering engine 2 realizes front and back rotation of the moving support through the first steering engine driving gear 5, and the rotating steering engine 11 drives the holder rotating inner platform 3 to realize left and right rotation through the second steering engine driving gear 6.
Further, the movable support controls the angle linkage of the steering engine 2 and the rotating steering engine 11 to realize the free movement function of the holder.
The invention discloses an OpenCV-based operation method for a face tracking mobile phone holder, which comprises the following steps: transmitting an image captured and obtained by a camera to a terminal through a network camera APP, and establishing a video streaming server on the terminal; the image is processed by the virtual video streaming server and then transmitted to the PC host in a video streaming mode; the PC host computer obtains the face position by calling a Haar cascade classification model by using a penCV and calculates the offset, so that the steering engine rotation angle is obtained. And the steering engine angle is transmitted to a wifi Bluetooth system level chip through a wireless network, then angle information is output to a steering engine driving plate, the steering engine driving plate drives the steering engine to rotate, so that the aim of automatically adjusting the shooting angle of a mobile support arranged on the holder is achieved, and the video stream of a main broadcast or a self-media fan achieves an expected effect.
The invention has the beneficial effects that:
the mobile phone holder has the function of automatically tracking the face, the technical scheme is developed by using Python, the upper computer is developed by adopting OpenCV + Python3, and the single chip microcomputer is developed by adopting ESP32+ MicroPython. Because the whole course is developed by using Python, the program of the technical scheme of the invention can be iterated rapidly, wherein the program in the singlechip can be upgraded in the air through a network. And calling a HaarcCascade model by using OpenCV to perform face recognition and eye recognition, drawing a rectangle in a video stream, identifying the face, and acquiring the center coordinate of the face with the largest area in the current picture. The invention automatically adjusts the shooting angle through the picture shot by the camera of the mobile phone, so that the face is always positioned in the center of the picture. The problem of the live broadcast of network in-process anchor need constantly adjust the cell-phone angle of shooing is solved, let the anchor can be absorbed in live broadcast content, need not to pay close attention to the cell-phone angle of shooing to promote live broadcast quality, make this live broadcast more competitive, be fit for popularizing and applying.
Drawings
Fig. 1 is a schematic structural diagram of an OpenCV-based face tracking mobile phone holder according to the present invention, where a is a top view, B is a front view, and C is a side view;
FIG. 2 is a schematic structural diagram of a mechanical part of the pan/tilt head;
fig. 3 is a diagram illustrating a face detection feature value.
Detailed Description
The technical solutions of the present invention will be described in further detail with reference to the accompanying drawings and the detailed description.
As shown in fig. 1, a face tracking mobile phone holder based on OpenCV comprises, from top to bottom, an external holder fixing platform 1, a moving support control steering engine 2, an internal holder rotating platform 3, a moving support 4, a first steering engine driving gear 5, a second steering engine driving gear 6, a holder fixing column 7, a rotating steering engine 11 and a holder chassis 8, wherein the internal holder rotating platform 3 is provided with the moving support control steering engine 2 and the moving support 4, the moving support control steering engine 2 is connected with the moving support 4 through the first steering engine driving gear 5 to drive the moving support 4 to rotate back and forth, and the rotating steering engine 11 is connected with the internal holder rotating platform 3 through the second steering engine driving gear 6 to drive the internal holder rotating platform to rotate forward or backward; the cradle head chassis 8 is provided with a Wifi Bluetooth system-level chip 9 and a steering engine driving version 10, and further comprises a video streaming server, wherein the video streaming server is established by a mobile phone terminal.
The steering engine adopts a digital steering engine, and the steering engine drive plate adopts a digital steering engine drive plate.
The main control chip is a Wifi Bluetooth system level chip, integrates WiFi/Bluetooth/BLE radio frequency and low power consumption technology, supports an open real-time operating system, and further realizes angle output through Wifi.
The holder fixing column 7 is connected with a holder chassis 8 and fixedly supports the whole holder.
The mobile phone can be fixed above the mobile bracket 4.
The movable support control steering wheel 2, the rotary inner platform 3 of the holder, the movable support 4, the first steering wheel driving gear 5, the second steering wheel driving gear 6 and the rotary steering wheel 11 form a rotating device, the movable support control steering wheel 2 realizes the front and back rotation of the movable support through the first steering wheel driving gear 5, and the rotary steering wheel 11 drives the rotary inner platform 3 of the holder to realize the left-turning and right-turning through the second steering wheel driving gear 6.
The free movement function of the holder can be realized by controlling the angle linkage of the steering engine 2 and the rotary steering engine 11 through the movable support
As shown in fig. 2, the operation flow of the face tracking mobile phone holder based on OpenCV in the present invention is as follows: transmitting an image captured and obtained by a camera to a terminal through a network camera APP, and establishing a video streaming server on the terminal; the image is processed by the virtual video streaming server and then transmitted to the PC host in a video streaming mode; the PC host computer obtains the face position by calling a Haar cascade classification model by using a penCV and calculates the offset, so that the steering engine rotation angle is obtained. And the steering engine angle is transmitted to a wifi Bluetooth system level chip through a wireless network, then angle information is output to a steering engine driving plate, the steering engine driving plate drives the steering engine to rotate, so that the aim of automatically adjusting the shooting angle of a mobile support arranged on the holder is achieved, and the video stream of a main broadcast or a self-media fan achieves an expected effect.
The method comprises the following steps:
(1) reading and transmitting of mobile phone camera image
And acquiring an image of the mobile phone camera by using the network camera APP, and establishing a video streaming server on the mobile phone.
(2) Reading of OpenCV video streams
Under the local area network, the PC acquires images through the IP and also through a port number, and the protocol is HTTP (hyper text transfer protocol). The video stream is read under OpenCV using the VideoCapture () function. The core code is as follows:
# fixed URL (Uniform resource locator)
ip _ camera _ url ═ http:// username: password @ IP address: port number/'.
# creation of one VideoCapture (video Capture)
cap＝cv2.VideoCapture(ip_camera_url)
(3) Face detection and offset calculation
As shown in fig. 3, the position of the face in the screen is obtained using an API (application program interface) of face detection by OpenCV, and the pixel offset (offset) of the face position from the center of the screen in the x-axis and y-axis is calculated.
The pixel offset X on the X-axisoffsetPixel offset Y on the Y-axisoffsetThe calculation formula of (2) is as follows:
xoffset＝xReal-xTarget (1)
yoffset＝yReal-yTarget (2)
(4) establishing P-control model for new steering engine angle by using pixel offset (offset)
First we pair x separatelyoffset，yoffsetAnd angle increment (change amplitude) of the steering engine on an X axis and a Y axis are established into a mathematical model, because the pixel offset and the angle increment of the steering engine are in a linear relation, a proportionality coefficient is defined as Kp, and the angle increment of the steering engine in the X axis direction and the Y axis direction is respectively Xdelta_degree、ydelta_degreeThen there are:
xdelta_degree＝Kp·xoffset (5)
ydelta_degree＝Kp·yoffset (6)
the original angles of the steering engine in the X-axis direction and the Y-axis direction are respectively Xold_degree，yold_degreeNew angles are respectively xnew_degree、ynew_degreeThen there are:
xnew_degree＝xold_degree+xdelta_degree (7)
ynew_degree＝yold_degree+ydelta_degree (8)
the P-control model is therefore:
xnew_degree＝xold_degree+Kp·xoffset (9)
ynew_degree＝yold_degree+Kp·yoffset (10)
(5) control the steering engine to execute actions
Angle information xnew_degree、ynew_degreeThe human face is sent to the single chip microcomputer through the serial port communication UART to analyze and execute corresponding operation, so that the human face is located in the middle of a picture as far as possible.
In the specific application process, whether the mobile phone or the camera is fixed well or not and whether a clear article image can be obtained or not should be confirmed before the mobile phone or the camera is used, and then the mobile phone or the camera is debugged to check whether each device works normally or not. And when the power supply is switched on, the working indicator lamp is turned on, so that the equipment starts to work normally.
The above description is only a preferred embodiment of the present invention, and the scope of the present invention is not limited thereto, and any simple modifications or equivalent substitutions of the technical solutions that can be obviously obtained by those skilled in the art within the technical scope of the present invention are within the scope of the present invention.
Claims (8)
1. The utility model provides a face tracking cell-phone cloud platform based on OpenCV which characterized in that: the cradle head comprises an outer fixed platform of the cradle head, a movable support control steering engine, an inner rotating platform of the cradle head, a movable support, a first steering engine driving gear, a second steering engine driving gear, a fixed column of the cradle head, a rotary steering engine and a chassis of the cradle head from top to bottom, wherein the inner rotating platform of the cradle head is provided with the movable support control steering engine and the movable support; the cloud platform chassis is provided with a Wifi Bluetooth system level chip, a steering engine driving version and a video streaming server, and the video streaming server is located at the mobile phone terminal.
2. The OpenCV-based face tracking mobile phone holder according to claim 1, wherein the steering engine is a digital steering engine, and the steering engine driving plate is a digital steering engine driving plate.
3. The OpenCV-based face tracking mobile phone holder according to claim 1, wherein the main control chip is a Wifi Bluetooth system-level chip, which integrates WiFi/Bluetooth/BLE radio frequency and low power consumption technologies and supports an open real-time operating system, thereby realizing angle output through Wifi.
4. The OpenCV-based face tracking mobile phone holder according to claim 1, wherein the holder fixing column is connected to the holder chassis and fixedly supports the entire holder.
5. The OpenCV-based face tracking mobile phone holder according to claim 1, wherein a mobile phone is fixed above the mobile bracket 4.
6. The OpenCV-based face tracking mobile phone holder is characterized in that the movable support controls a steering engine, a holder rotating inner table, a movable support, a first steering engine driving gear, a second steering engine driving gear and a rotating steering engine to form a rotating device, the movable support controls the steering engine to rotate back and forth through the first steering engine driving gear, and the rotating steering engine drives the holder rotating inner table through the second steering engine driving gear to rotate left and right.
7. The OpenCV-based face tracking mobile phone holder according to claim 1, wherein the mobile bracket controls the angle linkage of the steering engine and the rotary steering engine to realize the free movement function of the holder.
8. An operation method of the face tracking mobile phone holder based on the OpenCV is characterized by comprising the following steps: transmitting an image captured and obtained by a camera to a terminal through a network camera APP, and establishing a video streaming server on the terminal; the image is processed by the virtual video streaming server and then transmitted to the PC host in a video streaming mode; the PC host computer calls a Haar cascade classification model by using a penCV to obtain the position of a human face, and calculates the offset, so that the rotation angle of the steering engine is obtained; and the steering engine angle is transmitted to the wifi Bluetooth system level chip through a wireless network, then angle information is output to the steering engine driving plate, and the steering engine driving plate drives the steering engine to rotate.
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Application publication date: 20201201 |