CN114542874A - Device for automatically adjusting photographing height and angle and control system thereof - Google Patents
Device for automatically adjusting photographing height and angle and control system thereof Download PDFInfo
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- CN114542874A CN114542874A CN202210169623.6A CN202210169623A CN114542874A CN 114542874 A CN114542874 A CN 114542874A CN 202210169623 A CN202210169623 A CN 202210169623A CN 114542874 A CN114542874 A CN 114542874A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/046—Allowing translations adapted to upward-downward translation movement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/08—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a vertical axis, e.g. panoramic heads
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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Abstract
The utility model provides a device of automatically regulated height of shooing and angle and control system thereof, has solved when shooing the people's face photo camera can not automatically regulated and not track the people's face center, the too high problem of photo distortion. The system comprises a lens height adjusting unit, a camera and a human face height adjusting unit, wherein the lens height adjusting unit automatically adjusts the vertical height of a lens to enable the height of the camera to be flush with the height of the human face; the face recognition unit trains a face key point recognition and tracking model through a deep learning algorithm, and 3 face key points in the image are searched, wherein the face key points comprise a left eye center, a right eye center and a face center; and the lens plane angle adjusting unit automatically calculates and adjusts the center line of the lens to coincide with the center point of the face according to the coordinates of key points of the face in the image and the focal length of the lens, so that the face is positioned in the center of the picture and no distortion is generated in imaging. The device and the control system have the advantages of wide application scene, good effect, low cost and easy popularization and use.
Description
Technical Field
The invention relates to the field of image processing, in particular to a device for automatically adjusting the photographing height and angle and a control system thereof.
Background
Automatic service equipment has been widely used in fields such as government affairs service, bank, public transport, business, traffic management, in order to guarantee security and the authenticity handled of business, can require the business to handle the people and keep the photo usually, and some businesses still can require to keep the certificate photo when involving the certificate is handled, therefore self-service equipment generally can be equipped with the camera, draws the people's head photo of business handling. The self-service equipment generally has two schemes for acquiring the face photo of the business transactor, one scheme is to shoot the certificate photo through the self-service certificate photo equipment, generally the business transactor needs to find specific equipment and follow an equipment guide instruction, and a good photo taking effect can be obtained, but the self-service equipment wastes time and labor; in addition, the quality of the face photos extracted by a plurality of self-service devices is unsatisfactory due to the fact that the position of the camera is fixed, a human body can move freely, and the quality is influenced by objective factors such as light rays, and particularly when the angle of the camera is not vertical to the plane where the face is located but has angle deviation, face information of the obtained photos is incomplete, and various functional applications such as follow-up face comparison are influenced. Therefore, there is a need to improve self-service device face photo acquisition schemes to address this problem.
Disclosure of Invention
In view of the above situation, the present invention provides a device for automatically adjusting the photographing height and angle and a control system thereof, and a method for obtaining a face photograph, which realizes automatic face tracking and dynamic camera height and angle adjustment, thereby achieving the function of automatically, rapidly and high-quality human face photograph extraction.
The invention achieves the following beneficial effects: the device and the system can be used on various self-service equipment provided with cameras, have wide application scenes and ensure the picture shooting quality.
Drawings
Fig. 1 is a schematic structural diagram of an apparatus according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a preliminary image obtained by the lens height adjusting unit in the embodiment of the present invention.
Fig. 3 is a schematic diagram of a lens plane angle adjusting unit according to an embodiment of the present invention.
In the figure, 1-the center of the left eye, 2-the center of the right eye, 3-the center of the connecting line of the centers of the left eye and the right eye, 4-a vertical moving device, 41-a bearing platform, 42-a vertical moving motor, 43-a fixed plate, 44-a ball screw and 5-a rotating camera.
Detailed Description
The technical scheme of the invention is further explained in detail by combining the drawings in the specification.
The invention provides a human face photo acquisition device and a human face photo acquisition system based on automatic human face tracking and dynamic camera height and angle adjustment, and the system realizes automatic, rapid and high-quality extraction of human face photos from auxiliary equipment.
In order to achieve the purpose, the system specifically comprises a lens height adjusting unit, a face recognition unit and a lens plane angle adjusting unit, and the following technical scheme is adopted.
And the lens height adjusting unit is used for calibrating the height of the human face. The specific method comprises the following steps: according to the height range of 95% of Chinese people, the installation adjustable height of the lens is selected to be between 160cm and 170cm, the central line of the lens is in a horizontal position, and the height can be adjusted in a sliding mode up and down; the height adjustment is carried out by taking the highest point vertical coordinate of the pixels of the face area in the picture as a reference, the maximum value of the pixel coordinates of the picture is assumed to be (X, Y), and the highest point coordinate of the pixels of the face area is assumed to be (X)i，ymax) The lens adjusting height is delta h:
in the formula, theta is the visual angle of the camera, and l is the horizontal distance between the business transactor and the lensEstimating according to the size of self-service equipment, generally between 40-60 cm, generally taking the highest ordinate of the pixel point of the face area in the photo to be 0.94 and the optimal range (0.93, 0.95), and when the pixel point is in the optimal range
When the distance delta h is larger than 0, the lens is raised by delta h; when in use
When the lens height is reduced by delta h; the wide-angle lens adopted by the common self-service equipment can be disregarded
The situation when, if a smaller viewing angle is used, the
The lens is required to be raised, and the raising angle is required to be calculated according to the lens parameters.
The face recognition unit adopts a deep learning model trained in advance to recognize face key points, and particularly extracts pixel coordinates of three key points, namely a left eye center 1, a right eye center 2 and a center 3 of a left-right eye center connecting line, with reference to fig. 1. A face key point detection CNN model is developed and trained on the basis of a TensorFlow open-source machine learning platform, model input data are images after the shooting height is adjusted through a lens height adjusting unit, the lens and the centers of left and right eyes are basically in the same horizontal plane, and then the horizontal angle of a camera can be adjusted through 3 face key points to ensure that a face is located at the center of a picture.
The lens plane angle adjusting unit adjusts the shooting angle of the lens on the horizontal plane, so that the lens is opposite to the face, and the shooting quality of the face picture is improved. Through the steps, the key point 3 is found out to be used as the center of the face, and the face is located in the center of the picture when the key point 3 is located in the center of the picture, so that the picture quality is guaranteed.
The self-service photographing equipment generally adopts wide-angle photographing, the edge of a picture of a photo has a barrel-shaped distortion phenomenon protruding outwards, pixels in the central area of a lens have no distortion, and the distortion of an image formed is more serious as the image is farther away from the center of the lens, so that when the center of a human face is over against the center of the lens, the total distortion of the formed image is less. In the invention, when the center of the lens and the key point 3 of the face are on the same line, the face is in the center of the picture and the total distortion is least, therefore, the lens plane angle adjusting unit needs to make the key point 3 of the face be on the center line of the lens in the first step; and secondly, correcting the radial distortion of the image and finally imaging.
The first step is a specific method: in fig. 2, points 1, 2, and 3 are on the same horizontal axis 0x, which is the position of the actual face on the horizontal plane; horizontal axes 0x, v0vxIn the same horizontal plane, the horizontal axis v0vxIs the pixel position of a picture obtained by imaging through a camera on a 0x horizontal axis; y-axis lens center line, f camera lens focal length, v0The center point of the image obtained by the camera is point 1, point 3 and point 2 are away from the lens center line in sequence, at this time, the face is located in the image of the half side of the picture, the other half side does not contain or contains little face information, and barrel distortion can cause the face information to be compressed and distorted. If the key point 3 of the face is located on the central line of the lens, the key points 1 and 2 are nearest to the center of the lens, so that the overall distortion of the face is minimum, and therefore, the lens rotates by an angle alpha in the horizontal plane to enable the central line of the lens to pass through the key point 3. The lens plane angle adjusting unit solves the alpha angle and adjusts the central line of the lens to pass through the key point 3.
As can be seen from fig. 2:
therefore, the method comprises the following steps:
substituting the above equation into equation (1) yields:
finally, when the face key point 3 is not on the shot central line, the shot needs to be rotated within the horizontal plane by an angle α according to the following formula (2):
the second step is a specific method: and carrying out distortion correction on the face imaging by adopting an open source radial distortion correction model on an OpenCV platform, and finally imaging to obtain a high-quality picture with the face in the center of the picture and without distortion.
A device for automatically adjusting the photographing height and angle can realize camera adjustment by adopting the following structure (see figure 3): in practical use, the camera adjusting mechanism comprises a vertical moving mechanism 4 for controlling the camera to slide up and down, a rotary camera 5 (the rotary camera 5 can adopt an existing element on the market) arranged on a vertical moving mechanism slide block, and a controller, and the system can be integrated in the controller.
The vertical moving device 4 comprises a bearing platform 41, a vertical moving motor 42 fixed at one end of the bearing platform 41 and a fixing plate 43, wherein the vertical moving motor and the rotary camera 5 are electrically connected with the controller; the rotary camera 5 is rotatably installed on the fixing plate 43, the fixing plate 43 is fixed with a driving shaft of the vertical moving motor 42 through the ball screw 44, the ball screw 44 comprises a screw and a nut in sliding connection with the screw, the other side end of the fixing plate 43 is fixed on the nut, the controller controls the vertical moving distance of the vertical moving motor according to the adjusting height provided by the lens height adjusting unit, and the controller controls the rotating angle of the rotary camera 5 according to the lens plane angle adjusting unit, so that the height and plane rotating angle of the camera 5 are adjusted.
Of course, the bearing platform 41 can also be fixedly installed on a synchronous block, the synchronous block is fixedly clamped on a synchronous belt, and the synchronous belt is connected with the vertical moving motor 42 through a synchronous wheel.
In another implementation manner, the supporting platform 41 is installed on a servo module, and the vertical moving motor 42 is a servo motor, and the servo motor drives the servo module to move.
The above description is only a preferred embodiment of the present invention, and the scope of the present invention is not limited to the above embodiment, but equivalent modifications or changes made by those skilled in the art according to the present disclosure should be included in the scope of the present invention as set forth in the appended claims.
Claims (9)
1. The utility model provides an automatic adjust device of height and angle of shooing which characterized in that:
the device comprises a vertical moving mechanism for controlling the camera to slide up and down, a rotary camera arranged on a sliding block of the vertical moving mechanism, and a controller;
the vertical moving device comprises a bearing platform, a vertical moving motor fixed at one end of the bearing platform and a fixing plate; the vertical moving motor and the rotary camera are electrically connected with the controller;
the rotary camera is rotatably installed on the fixed plate, the fixed plate is connected with a driving shaft of the vertical moving motor through a transmission device and is positioned on the bearing platform, the controller controls the vertical moving distance of the vertical moving motor to control the fixed plate, and meanwhile, the controller controls the rotating angle of the rotary camera, so that the height and the plane rotating angle of the camera are adjusted.
2. The device for automatically adjusting the photographing height and angle as claimed in claim 1, wherein: the transmission device is a ball screw, the ball screw comprises a screw rod and a nut in sliding connection with the screw rod, the fixing plate is installed on the nut, and the screw rod is arranged in the bearing platform and connected with a driving shaft of the vertical moving motor.
3. The device for automatically adjusting the photographing height and angle as claimed in claim 1, wherein: the transmission device comprises a synchronous belt and a synchronous belt, a fixing plate is arranged on a synchronous block, the synchronous block is fixedly clamped on the synchronous belt, and the synchronous belt is connected with a vertical moving motor through a synchronous wheel.
4. The device for automatically adjusting the photographing height and angle as claimed in claim 1, wherein: the bearing platform is installed on the servo module, and vertical moving motor is servo motor, and servo motor drives servo module and realizes the removal action.
5. A control system applied to the device for automatically adjusting the photographing height and angle is characterized in that: the system comprises a lens height adjusting unit, a face recognition unit and a lens plane angle adjusting unit;
the lens height adjusting unit is used for calibrating the face height, adjusting the lens height according to the current face region position, and enabling the lens and the centers of the left eye and the right eye to be in the same horizontal plane to obtain a preliminary image;
the face recognition unit recognizes face key points by adopting a deep learning model according to the preliminary image, and extracts pixel coordinates of three key points, namely a left eye center, a right eye center and a center of a left-right eye center connecting line;
in the lens plane angle adjusting unit, firstly, based on the pixel coordinates of the key points, the lens angle is adjusted to enable the key points to be located on the central line of the lens, then, the radial distortion of the image is corrected and finally the image is formed, and the picture with the finally adjusted lens height and angle is obtained.
6. The control system of the device for automatically adjusting the photographing height and angle according to claim 5, wherein: the specific implementation method of the lens height adjusting unit is as follows: according to the preset height range, the adjusting height of the lens is selected to be between 160cm and 170cm, the central line of the lens is in the horizontal position, and the lens is installed in a vertically sliding mode to adjust the height; adjusting by taking the vertical coordinate of the highest point of the pixels of the face area in the image as a reference, and setting the maximum value of the pixel coordinates of the photo as (X, Y) and the highest point coordinate of the pixels of the face area as (X)i,ymax) The lens adjusting height is delta h:
in which theta is the angle of view of the camera and l is the distance from the user to the lensHorizontal distance when
When, Δ h>0, raising the lens by delta h; when in use
When the lens height is decreased by Δ h.
7. The control system of the device for automatically adjusting the photographing height and angle according to claim 5, wherein: in the face recognition unit, a face key point detection CNN model is developed and trained on the basis of a TensorFlow open-source machine learning platform, model input data are images after the shooting height is adjusted through a lens height adjusting unit, a lens and the centers of left and right eyes are positioned on the same horizontal plane, and then the horizontal angle of a camera is adjusted through 3 face key points to ensure that a face is positioned at the center of a picture.
8. The control system of the device for automatically adjusting the photographing height and angle according to claim 5, wherein: in the lens plane angle adjusting unit, for the preliminary image, 3 key points of the face are on the same horizontal axis 0x, and the key points are the positions of the actual face on the horizontal plane; horizontal axes 0x, v0vxIn the same horizontal plane, the horizontal axis v0vxIs the pixel position of a picture obtained by imaging through a camera on a 0x horizontal axis; y-axis is the lens center line, f is the camera lens focal length, v0The central point of the image obtained by the camera, 3 the key points of the individual face are sequentially far away from the central line of the lens; the lens plane angle adjusting unit solves the horizontal plane rotation alpha angle and adjusts the lens through the alpha angle, so that the lens center line passes through the center of the center connecting line of the left eye and the right eye.
9. The control system of the device for automatically adjusting the photographing height and angle according to claim 5, wherein: in the lens plane angle adjusting unit, an open source radial distortion correction model on an OpenCV platform is adopted to carry out distortion correction on face imaging, and finally imaging is carried out to obtain a distortion-free picture with the face positioned in the center of the picture.
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