CN102348068A - Head gesture control-based following remote visual system - Google Patents
Head gesture control-based following remote visual system Download PDFInfo
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Abstract
The invention provides a head gesture control-based following remote visual system. The head gesture control-based following remote visual system comprises a video display and interaction device and a following visual device; the video display and interaction device comprises a wireless video and audio transmission-reception module, a video glasses display module, a head gesture detection sensor module, a controller and a communication module; and the following visual device comprises a camera with an audio-capturing function, a wireless video and audio transmission-emission module, a steering gear tripod head device, a communication module and a controller. The system adopts a body-feeling interactive operation manner, an operator can enjoy the vision of the cameras and the audio of a microphone in a copying manner through wearing video glasses which are provided with a body-feeling detection sensor, and the operator can control the vision of the camera by using head motion in a manner of controlling own eyes, so that the motion-following control of a tripod head is realized, the virtual reality immersion is increased, and a three-dimension-one, i.e. video, audio and motion, operating experience is brought for the operator.
Description
Technical field
The present invention relates to video monitoring, image processing field, be specifically related to a kind of servo-actuated far field vision system based on head pose control.
Background technology
Along with the reduction of camera cost of manufacture, camera is used more and more widely.In order to increase the camera visible angle, all adopted The Cloud Terrace to realize the control that camera is moved up and down in the plurality of applications.And the most of mode that adopts manual rocking bar of camera The Cloud Terrace operation is at present promptly controlled the motion of The Cloud Terrace through rocking bar, though can realize the basic exercise controlled function, operating flexibility is relatively low, especially for the FPV device of using on robot or the model plane.
Summary of the invention
The objective of the invention is provides a kind of servo-actuated far field vision system based on head pose control for the operator of The Cloud Terrace camera; Through wearing the video eyeglasses that body sense detecting sensor is installed; Realization is to the motion accompanying control of The Cloud Terrace; Increase the feeling of immersion of virtual reality, bring the three-dimensional integrated formula operating experience of video, sound and motion to the operator.
The present invention adopts following technical scheme:
A kind of servo-actuated far field vision system based on head pose control comprises video demonstration and interactive device and servo-actuated sighting device.
Video shows and interactive device comprises wireless image-sound transmission receiver module, video eyeglasses display module, head pose detecting sensor module, controller and communication module.The servo-actuated sighting device comprises camera, wireless image-sound transmission transmitter module, steering wheel cradle head device, communication module and the controller with audio collection function.
In video demonstration and the interactive device; The attitude detecting sensor module is placed on video eyeglasses inside; Be connected to controller I/O port through the model selection pin, the horizontal direction of attitude detecting sensor module and the output of the voltage of vertical direction are connected to controller I/O port, and power circuit output end is connected to the power port of controller; The input of communication module is connected to the COM1 of controller, and signal lamp is connected to the universal port of controller.In the servo-actuated sighting device; Horizontal steering wheel and vertical steering wheel are connected to two interfaces of cradle head control device respectively; Power circuit output end is connected to the power port of cradle head control device; The input of communication module is connected to the COM1 of cradle head control device, and signal lamp is connected to the universal port of cradle head control device.
System of the present invention is by camera collection real-time image and acoustic information; And output analog signal; Analog signal is transferred to the video eyeglasses display module through transport module; The operator can observe the visual field in camera dead ahead and can hear on-the-spot sound through video eyeglasses, and wherein transport module adopts wireless or wire transmission module.Controller in the head pose detection module resolves to the Position Control instruction to The Cloud Terrace with detected exercise data; And position command is transferred to the cradle head control module through communication module; The cradle head control module is controlled The Cloud Terrace; Thereby realize the pursuit movement of camera to head part's attitude, promptly realized the two-dimentional servomechanism that camera and head are formed, communication module wherein can be wireless or wired mode.
System works flow process of the present invention is following:
Step 1: the image information in its dead ahead of camera collection, the acoustic information around the built-in Mike of camera gathers simultaneously, image and voice signal transmit transmitter module through wireless image-sound, send with wireless;
Step 2: after wireless image-sound transmission receiver module receives the wireless image-sound signal, export video eyeglasses to, the real-time video-audio signal with receiving of video eyeglasses is presented to the operator;
Step 3: be installed in the head pose detecting sensor detecting operation person's on the video eyeglasses level and perpendicular attitude, and export with the form of voltage signal;
Step 4: video shows with the controller of interactive device gathers the voltage signal by the output of head pose detecting sensor through its built-in AD modular converter; And it is converted into the control command of The Cloud Terrace steering wheel, through communication module the control command packet is sent to the servo-actuated sighting device;
At first inner each functional module of initialization controller comprises modules such as clock, GPIO, AD, SPI, then the initialize communications module; Get into recurrent state, detect the voltage signal of attitude detecting sensor output, and calculate the high level time of steering wheel control pwm signal in one-period according to formula 1; With the array that the time of horizontal steering wheel that calculates and vertical steering wheel is formed, the control command as The Cloud Terrace sends to tripod head controlling device through communication module with control command; If receive answer signal; Then get into new round circulation, otherwise continue sending controling instruction, up to receiving answer signal.
Y=0.606X+0.5 formula 1
Wherein, Y is the high level time of steering wheel control pwm signal in one-period, the magnitude of voltage that X exports for the MMA7620 that gathers.
The reference voltage of AD conversion is 3.3V.
Step 5: the servo-actuated sighting device receives by video through communication module and shows the packet that interactive device sends, and parses the control command of The Cloud Terrace, carries out corresponding action according to control command control The Cloud Terrace, thereby realizes the accompany movement of camera to the head part.
At first inner each functional module of initialization controller comprises modules such as clock, GPIO, AD, SPI, then the initialize communications module; Get into order and receive wait state; After the control command that receives steering wheel, whether the high level time of judging steering wheel control pwm signal is in 0.5ms～2.5ms scope, if in its scope; Then control steering wheel and carry out the control corresponding action, and send and reply control signal (0x55); If the data of the control command that receives in 0.5ms～2.5ms scope, are not then abandoned these data, and continue to receive, up to receiving correct control command.
Beneficial effect: the invention provides a kind of body sense interactive operation mode, the operator can realize the motion tracking of camera to operator's head through wearing a kind of special video eyeglasses device.This device has realized that not only the vision of camera and Mike's sound reproduction given the operator; And realized that the operator is just as utilizing the draw oneself up eyes visual field of head movement to control the visual field of camera; Just as operator's body faces camera position; Make the operator have better " first person ", especially be fit to the FPV vision system of remote-controlled machine human visual system and model plane.
Description of drawings
Fig. 1 is a system construction drawing of the present invention;
Fig. 2 is that the video of the embodiment of the invention shows and interactive device control section block diagram;
Fig. 3 is the block diagram of the servo-actuated sighting device control section of the embodiment of the invention;
Fig. 4 is embodiment of the invention LED light circuit and power circuit diagram;
Fig. 5 is the interface circuit figure of embodiment of the invention wireless communication module;
Fig. 6 is an embodiment of the invention head pose detection module MMA7620 circuit diagram;
Fig. 7 is embodiment of the invention steering wheel control interface circuit figure;
Fig. 8 is an embodiment of the invention Attitute detecting device software flow pattern;
Fig. 9 is an embodiment of the invention tripod head controlling device software flow pattern.
Embodiment:
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
A kind of servo-actuated far field vision system based on head pose control comprises video demonstration and interactive device and servo-actuated sighting device.
Video shows and interactive device comprises wireless image-sound transmission receiver module, video eyeglasses display module, head pose detecting sensor module, controller and communication module.The servo-actuated sighting device comprises camera, wireless image-sound transmission transmitter module, steering wheel cradle head device, communication module and the controller with audio collection function.System configuration is as shown in Figure 1.
Camera collection image and sound are transferred to transmitter module, and transmitter module is with the audio-visual receiver module that is transferred to, and receiver module is transferred to video eyeglasses with signal again, thereby make the operator can experience sound and image information.When operator's head pose changed, Attitute detecting device became the Position Control order with the information analysis that changes, and through communication module The Cloud Terrace is controlled, and realizes the head movement that camera is followed the people.The block diagram of video demonstration and interactive device control section servo-actuated sighting device control section respectively as shown in Figures 2 and 3.
System controller of the present invention is selected STM32 or STC89C52RC for use; Select the STM32F103 controller in this example for use; In video demonstration and the interactive device, it is the MEMS obliquity sensor of MMA7620 that attitude detecting sensor has adopted model, detecting operation person's head pose; The communication module of system can be wire communication module or wireless communication module, adopts the RF24L01 wireless transport module in this example.Attitude detecting sensor detecting operation person head two-dimensional attitude data; Be transferred to the STM32F103 controller; Controller rule of thumb shines upon formula, parses the Position Control instruction of The Cloud Terrace, is transferred to the cradle head control device through communication module; Controller and attitude detecting sensor provide 3.3V power supply by power module, and through relay indicating light indication different working state.The steering wheel cradle head device is selected steering wheel model MD933 for use; Camera adopts the 520 line CCD cameras of SONY, and the built-in sound collection module of camera can be gathered its acoustic information on every side; And through wireless image-sound transmission transmitter module signal is transferred to wireless image-sound transmission receiver module together with vision signal; Video eyeglasses can display image, and can play sound, thereby presents to the operator.The wireless image-sound transport module is selected the logical 1.2G 800MW wireless image-sound transmission of cypress reflector for use, and the video eyeglasses display module is selected farsighted device X-MEN72 video eyeglasses for use.
In the servo-actuated sighting device; Controller STM32F103 receives the control command from the head pose checkout gear through wireless communication module RF24L01, according to control command, and the horizontal steering wheel and vertical steering wheel of control The Cloud Terrace; Realize camera following to operator's head movement; Its middle controller provides 3.3V power supply by power module, and through relay indicating light indication different working state, the steering wheel power supply is directly provided by 4 joint 1.5V No.5 cells.
LED light circuit and power circuit are as shown in Figure 4, and P3 wherein is a power input interface, and through LM1117-3.3 voltage stabilizing chip, output 3.3V galvanic current is pressed.LED2 is the power work indicator light.
The interface circuit of RF24L01 wireless communication module is as shown in Figure 5, and MMA7620 attitude detecting sensor circuit theory diagrams are as shown in Figure 6, and MMA7620 attitude detecting sensor module is placed on video eyeglasses inside, with people's face towards horizontal vertical.Wherein G1, G2, SLEEP MODE are the model selection pin, connect PC1, PC2, the PC3 pin of controller respectively.AD1 and AD2 are respectively the voltage output signal of horizontal direction and vertical direction, connect the PA6 and the PA7 pin of controller respectively.
The connecting circuit of steering wheel is as shown in Figure 7, and horizontal steering wheel Servo1 connects controller PA0 interface, vertical steering wheel Servo2 connection processing device PA1 interface.
System works flow process of the present invention is following:
Step 1: the image information in its dead ahead of camera collection, the acoustic information around the built-in Mike of camera gathers simultaneously, image and voice signal transmit transmitter module through wireless image-sound, send with wireless;
Step 2: after wireless image-sound transmission receiver module receives the wireless image-sound signal, export video eyeglasses to, the real-time video-audio signal with receiving of video eyeglasses is presented to the operator;
Step 3: be installed in head pose detecting sensor on the video eyeglasses with detecting operation person's level and perpendicular attitude, and with the form output of voltage signal;
Step 4: video shows with the controller of interactive device gathers the voltage signal by the output of head pose detecting sensor through its built-in AD modular converter; And it is converted into the control command of The Cloud Terrace steering wheel, through communication module the control command packet is sent to the servo-actuated sighting device;
As shown in Figure 8, at first inner each functional module of initialization controller comprises modules such as clock, GPIO, AD, SPI; The initialize communications module gets into recurrent state then, detects the voltage signal of attitude detecting sensor output; And calculate the high level time of steering wheel control pwm signal in one-period according to formula 1, with the array of the time composition of the horizontal steering wheel that calculates and vertical steering wheel, as the control command of The Cloud Terrace; Through communication module control command is sent to tripod head controlling device,, then get into new round circulation if receive answer signal; Otherwise the continuation sending controling instruction is up to receiving answer signal.
Y=0.606X+0.5 formula 1
Wherein, Y is the high level time of steering wheel control pwm signal in one-period, the magnitude of voltage that X exports for the MMA7620 that gathers.
The reference voltage of AD conversion is 3.3V.
Step 5: the servo-actuated sighting device receives by video through communication module and shows the packet that interactive device sends, and parses the control command of The Cloud Terrace, carries out corresponding action according to control command control The Cloud Terrace, thereby realizes the accompany movement of camera to the head part.
As shown in Figure 9, at first inner each functional module of initialization controller comprises modules such as clock, GPIO, AD, SPI; The initialize communications module gets into order and receives wait state, after the control command that receives steering wheel then; Whether the high level time of judging steering wheel control pwm signal is in 0.5ms～2.5ms scope; If in its scope, then control steering wheel and carry out the control corresponding action, and send and reply control signal (0x55); If the data of the control command that receives in 0.5ms～2.5ms scope, are not then abandoned these data, and continue to receive, up to receiving correct control command.
Claims (2)
1. servo-actuated far field vision system based on head pose control; It is characterized in that: comprise video demonstration and interactive device and servo-actuated sighting device, video shows and interactive device comprises wireless image-sound transmission receiver module, video eyeglasses display module, head pose detecting sensor module, controller and communication module; The servo-actuated sighting device comprises camera, wireless image-sound transmission transmitter module, steering wheel cradle head device, communication module and the controller with audio collection function;
In said video demonstration and the interactive device; The attitude detecting sensor module is placed on video eyeglasses inside; And be connected to controller I/O port through the model selection pin, and the horizontal direction of attitude detecting sensor module and the output of the voltage of vertical direction are connected to controller I/O port, and power circuit output end is connected to the power port of controller; The input of communication module is connected to the COM1 of controller, and signal lamp is connected to the universal port of controller; In the servo-actuated sighting device; Horizontal steering wheel and vertical steering wheel are connected to two interfaces of cradle head control device respectively; Power circuit output end is connected to the power port of cradle head control device; The input of communication module is connected to the COM1 of cradle head control device, and signal lamp is connected to the universal port of cradle head control device.
2. the far field vision system based on head pose control according to claim 1, it is characterized in that: the system works flow process is following:
Step 1: the image information in its dead ahead of camera collection, the acoustic information around the built-in Mike of camera gathers simultaneously, image and voice signal transmit transmitter module through wireless image-sound, send with wireless;
Step 2: after wireless image-sound transmission receiver module receives the wireless image-sound signal, export video eyeglasses to, the real-time video-audio signal with receiving of video eyeglasses is presented to the operator;
Step 3: be installed in the head pose detecting sensor detecting operation person's on the video eyeglasses level and perpendicular attitude, and export with the form of voltage signal;
Step 4: video shows with the controller of interactive device gathers the voltage signal by the output of head pose detecting sensor through its built-in AD modular converter; And it is converted into the control command of The Cloud Terrace steering wheel, through communication module the control command packet is sent to the servo-actuated sighting device;
At first inner each functional module of initialization controller comprises modules such as clock, GPIO, AD, SPI, then the initialize communications module; Get into recurrent state, detect the voltage signal of attitude detecting sensor output, and calculate the high level time of steering wheel control pwm signal in one-period according to formula 1; With the array that the time of horizontal steering wheel that calculates and vertical steering wheel is formed, the control command as The Cloud Terrace sends to tripod head controlling device through communication module with control command; If receive answer signal, then get into new round circulation, otherwise continue sending controling instruction; Up to receiving answer signal
Y=0.606X+0.5 formula 1
Wherein, Y is the high level time of steering wheel control pwm signal in one-period, the magnitude of voltage that X exports for the attitude detecting sensor of gathering, and the reference voltage of AD conversion is 3.3V;
Step 5: the servo-actuated sighting device receives by video through communication module and shows the packet that interactive device sends, and parses the control command of The Cloud Terrace, carries out corresponding action according to control command control The Cloud Terrace, thereby realizes the accompany movement of camera to the head part;
At first inner each functional module of initialization controller comprises modules such as clock, GPIO, AD, SPI, then the initialize communications module; Get into order and receive wait state; After the control command that receives steering wheel, whether the high level time of judging steering wheel control pwm signal is in 0.5ms～2.5ms scope, if in its scope; Then control steering wheel and carry out the control corresponding action, and send and reply control signal; If the data of the control command that receives in 0.5ms～2.5ms scope, are not then abandoned these data, and continue to receive, up to receiving correct control command.
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