CN113757503A

CN113757503A - Facial biological feature acquisition method and acquisition device

Info

Publication number: CN113757503A
Application number: CN202110950215.XA
Authority: CN
Inventors: 李端玲; 何召锋; 夏玉峰; 李佩佩; 周琬婷
Original assignee: Beijing University of Posts and Telecommunications
Current assignee: Beijing University of Posts and Telecommunications
Priority date: 2021-08-18
Filing date: 2021-08-18
Publication date: 2021-12-07
Anticipated expiration: 2041-08-18
Also published as: CN113757503B

Abstract

The invention provides a facial biological feature acquisition method and an acquisition device, comprising the following steps: acquiring a scene image of a predetermined area by using a scene camera, analyzing the acquired scene image, and judging whether an acquisition object appears in the predetermined area; if the acquisition object appears in the preset area, acquiring rough information related to the position, the motion state, the height and the face posture of the acquisition object from a scene image acquired by a scene camera; according to the rough information, the vertical position of the parallel platform provided with the feature acquisition camera module is adjusted in place, the facial pose of an acquisition object is dynamically tracked by using the feature acquisition camera module, and the parallel platform and the feature acquisition camera module arranged on the parallel platform are synchronously adjusted, so that the feature acquisition camera module is in the pose and position suitable for acquiring facial biological features; the feature acquisition camera module finishes the acquisition of the facial biological features of the acquisition object. The invention also provides a collecting device for implementing the collecting method.

Description

Facial biological feature acquisition method and acquisition device

Technical Field

The invention relates to the technical field of biological feature acquisition and identification, in particular to a facial biological feature acquisition method and an acquisition device.

Background

The biological characteristic recognition technology is a new technology which converts the characteristics of human physiology, behaviors and the like acquired by acquisition equipment into data information through a computer technology so as to realize identity recognition. The current biological feature recognition technology mainly comprises iris, fingerprint, face, eyeball, palm print, voiceprint, handwriting, gait and other feature recognition technologies. None of these biometrics can perform well in all aspects, with different biometrics having different advantages and disadvantages. The multi-mode biological characteristic fusion recognition simultaneously uses various biological characteristics, makes up for deficiencies, and improves the overall precision and reliability of the identity recognition system. In view of usability, in multi-modal biometric recognition, biometric features that are convenient to use and have high subject acceptance are generally selected. Among the biological features, the human face is the most natural and convenient biological feature which is most friendly to acquire object interaction, so that the human face has an irreplaceable position in the field of biological feature recognition. However, face recognition has large uncertainty in accuracy, and the misrecognition rate is high under dynamic conditions, while the iris, which is one of facial biological features, is recognized as one of the biological features with the highest recognition accuracy due to high uniqueness and stability. The human face and iris features of the human face have the unique advantages of being visible in appearance, rich in information and non-contact in acquisition, and have irreplaceable superiority in medium and long distance identity recognition application scenes.

For the acquisition of the biological characteristic image of the face at a medium and long distance, a plurality of challenges are faced, such as small iris physical size (about 10 mm), high image resolution requirement (about 200 pixels of the iris area), small lens depth of field (about 10cm), and changeable acquisition object states (posture, distance, height, motion, etc.). In consideration of the fact that in general situations, common cameras such as CCTV (cable television) cameras or network cameras are mostly adopted among the existing facial biometric image acquisition devices for image acquisition input, and shot facial images are small, so that how to acquire a clear facial and iris image at a medium and long distance is a very critical problem.

The existing camera device for acquiring the middle-distance and long-distance images adopts a facial biological feature image acquisition device, so that the problem which cannot be solved by the common camera can be solved. However, most of the existing image acquisition devices are fixed type, single-shaft rotating type and two-shaft tandem type. The image scene that fixed image acquisition device gathered is fixed, needs the people initiative to go to adapt to acquisition device, and the collection object experience is poor. The single-shaft rotary type image acquisition device can enable a camera to rotate along a rotating shaft, only the problem of the facial pitching of an acquisition object in a small range can be overcome, if the pitching degree is too large, the acquired image content is squeezed greatly, and meanwhile, partial images can only be acquired by the single-shaft rotary mode on the left and right side faces of the invisible acquisition device. The two-axis serial image acquisition device can be regarded as an upgrading version of a single axis, and due to the fact that the camera base is fixed, the situations of face pitching and left and right side faces of an acquisition object can be overcome in a small range in two directions, but too large degree can also lead to the fact that the acquired image contents are overstocked together, and the work of a subsequent identification system is influenced.

Therefore, a brand-new multi-degree-of-freedom facial biological feature acquisition device is provided, various problems of the existing facial biological feature acquisition device are solved, and the problem to be solved in the industry is urgently solved.

Disclosure of Invention

According to an aspect of the present disclosure, there is provided a facial biometric acquisition method, the acquisition method including: acquiring a scene image of a predetermined area by using a scene camera, analyzing the acquired scene image, and judging whether an acquisition object appears in the predetermined area; if the acquisition object appears in the preset area, acquiring rough information related to the position, the motion state, the height and the face posture of the acquisition object from a scene image acquired by a scene camera; adjusting the vertical position of the parallel platform provided with the characteristic acquisition camera module in place according to the rough information; simultaneously, dynamically tracking the facial pose of the acquisition object by using a feature acquisition camera module, and synchronously adjusting the parallel platform and the feature acquisition camera module arranged on the parallel platform so as to enable the feature acquisition camera module to be in the pose and position suitable for acquiring facial biological features; the feature acquisition camera module acquires facial biological features of an acquisition object.

Preferably, in the acquisition method, the parallel platform may include an acquisition sub-platform provided with a feature acquisition camera module and a servo sub-platform provided with a servo steering engine; the acquisition sub-platform is connected with the servo sub-platform through a steering engine swing arm and a swinging connecting rod, the servo steering engine adjusts the rotation angle of the steering engine swing arm based on the facial posture of an acquisition object, and the steering engine swing arm drives the swinging connecting rod to move, so that the characteristic acquisition camera module is adjusted in place.

Further preferably, the parallel platform can be a six-degree-of-freedom parallel platform, the acquisition sub-platform and the servo sub-platform of the six-degree-of-freedom parallel platform are connected together through six sets of platform driving mechanisms, each set of platform driving mechanism comprises a swinging connecting rod, a steering engine swinging arm and a servo steering engine, and the servo steering engine adjusts the steering engine swinging arm based on the facial posture of the acquisition object, so that the swinging connecting rod is driven to adjust the posture of the acquisition sub-platform.

In an embodiment of the capturing method according to the present disclosure, a depth camera and a visible light camera in a feature capturing camera module are used to measure a distance from the feature capturing camera module to the capturing object and to accurately acquire facial pose information of the capturing object.

Preferably, the acquisition method further comprises: after the vertical positions of the parallel platform in the vertical direction are adjusted in place, based on images acquired by a depth camera and a visible light camera, the depth information, the distance information and the position information of the current acquisition object are calculated, and then the zoom parameter, the zoom parameter and the angle parameter of a near-infrared iris camera in the characteristic acquisition camera module and the intensity and the angle of a light source module of a fill-in light are calculated; and adjusting the near-infrared iris camera and the light source of the light supplement lamp in place, and acquiring the required facial biological characteristic information.

According to another aspect of the present disclosure, there is also provided an acquisition apparatus for implementing the aforementioned acquisition method, the acquisition apparatus comprising: a vertically disposed stand with a base; a scene camera mounted to the mount; the lifting module can lift up and down along the bracket; the parallel platform is arranged on the lifting module and is provided with a characteristic acquisition camera module; the scene camera is used for acquiring rough information related to the position, the motion state, the height and the facial posture of a collected object, then the height of the parallel platform and the height of the characteristic collection camera module are adjusted through the lifting module, the characteristic collection camera module is provided with a depth camera and a visible light camera which are used for dynamically tracking the facial posture of the collected object, and the parallel platform is provided with a tracking mechanism which is used for adjusting the posture of the characteristic collection camera module based on the collected facial posture.

Preferably, in a specific embodiment of the acquisition device according to the present disclosure, the parallel platform may include an acquisition sub-platform mounted with the feature acquisition camera module and a servo sub-platform mounted with the servo steering engine; the acquisition sub-platform is connected with the servo sub-platform through a steering engine swing arm and a swinging connecting rod, the servo steering engine adjusts the rotation angle of the steering engine swing arm based on the facial posture of the acquisition object, and the steering engine swing arm drives the swinging connecting rod to move, so that the characteristic acquisition camera module is adjusted in place.

Preferably, the parallel platform can be a six-degree-of-freedom parallel platform, the acquisition sub-platform and the servo sub-platform of the six-degree-of-freedom parallel platform can be connected together through six sets of platform driving mechanisms, each set of platform driving mechanism comprises a swinging connecting rod, a steering engine swinging arm and a servo steering engine, and the servo steering engine adjusts the steering engine swinging arm based on the facial posture of the acquisition object, so that the swinging connecting rod is driven to adjust the posture of the acquisition sub-platform.

Further preferably, in the acquisition device, the feature collection camera module may include a feature collection camera module mounting plate and a light supplement lamp set, and the depth camera is a binocular depth camera.

Preferably, in a specific embodiment, the light filling lamp set can include a right light filling lamp module, a lower left light filling lamp module and a left light filling lamp module.

The invention aims to provide a brand-new multi-degree-of-freedom facial biological feature acquisition device, which can effectively overcome the problems of variable postures and faces, different heights and long acquisition distance of an acquisition object, and simultaneously ensures that the acquired iris images have enough identification resolution, so that the imaging system with shallow depth of field acquires clear iris images at different positions, and the irises can be illuminated by near-infrared light sources at different positions and distances.

By utilizing the technical scheme according to the present disclosure, the beneficial effects that can be obtained are at least:

the gesture, the face and the iris of the collected object are actively tracked through the collecting device, the collected object does not need to be adjusted and adapted to the collecting device, information collection can be completed in a short time, therefore, the collected object can be collected almost senseless, and high-precision and quick facial feature collection can be realized.

The height of the feature acquisition camera is adjusted by adopting the lifting module, so that the face information acquisition under the conditions of the height and the face pitching posture of the acquisition object can be effectively adapted in a large range;

the six-degree-of-freedom parallel platform is adopted to adjust the posture of the characteristic acquisition camera, so that the posture of the camera is finely adjusted within a certain range, and the integrity of the acquired facial image information of the acquisition object is ensured;

the multi-camera cooperative acquisition control is adopted in the facial biological feature image device, so that the problems of variable postures and faces, different heights and long acquisition distance of an acquisition object can be effectively solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:

FIG. 1 shows a schematic diagram of one embodiment of a facial biometric acquisition method according to the present disclosure;

FIG. 2 illustrates a schematic perspective view of one embodiment of an acquisition device according to the present disclosure;

FIG. 3 is a schematic top view of the parallel platform of the collection device of FIG. 2;

FIG. 4 is a schematic diagram of one embodiment of a feature capture camera module configuration in one embodiment of a capture device according to the present disclosure.

Reference numerals:

10-a lifting motor; 20-a scene camera; 30-scene camera mount; 40-a lifting module; 50-a feature capture camera module; 60-parallel platforms; 70-a support; 501-a feature collection camera module mounting plate; 502-a depth camera; 503-right light supplement lamp module; 504-high resolution near infrared iris camera; 505-lower right fill light module; 506-a lower left fill light module; 507-a left fill light module; 601-acquisition sub-platform; 602-oscillating connecting rod; 603-steering engine swing arm; 604-servo steering engine; 605-parallel base; 606-servo sub-platform.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present application will be described in further detail with reference to the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.

It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and/or processing steps closely related to the scheme according to the present invention are shown in the drawings, and other details not closely related to the present invention are omitted.

It should be emphasized that the term "comprises/comprising/comprises/having" when used herein, is taken to specify the presence of stated features, elements, steps or components, but does not preclude the presence or addition of one or more other features, elements, steps or components.

It should be noted that the terms of orientation and orientation used in the present specification are relative to the position and orientation shown in the drawings; the term "coupled" herein may mean not only directly coupled, but also indirectly coupled, in which case intermediates may be present, if not specifically stated. A direct connection is one in which two elements are connected without the aid of intermediate elements, and an indirect connection is one in which two elements are connected with the aid of other elements.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, like reference characters designate the same or similar parts throughout the several views.

The invention is further described below with reference to the accompanying drawings. In the following description, the directions "up", "down", "left", "right", "front", "rear", and the like are referred to as the left-right direction, the up-down direction, and the front-rear direction of the apparatus shown in the drawing sheet with reference to itself. It will be understood that the actual orientation and relative position of the various components may vary depending on where the viewer is positioned, the placement of the components.

According to one aspect of the present disclosure, a facial biometric acquisition method is presented. As shown in fig. 1, with reference to the apparatus and device of fig. 2, in one embodiment of the acquisition method, the acquisition method comprises:

acquiring a scene image of a predetermined area using the scene camera 20, analyzing the acquired scene image, and determining whether an acquisition object is present in the predetermined area;

if the acquisition object appears in the predetermined area, acquiring rough information related to the position, the motion state, the height and the facial posture of the acquisition object from the scene image acquired by the scene camera 20;

adjusting the vertical position of the parallel platform 60 provided with the feature acquisition camera module 50 in place according to the rough information;

dynamically tracking the facial pose of the acquisition object by using the feature acquisition camera module 501, and synchronously adjusting the parallel platform 60 and the feature acquisition camera module arranged thereon so that the feature acquisition camera module 50 is in the pose and position suitable for acquiring facial biological features;

the feature capture camera module 50 captures facial biometric features of the captured subject.

Subsequently, the above acquisition process is repeated when the next acquisition object appears.

Preferably, in the acquisition method, referring to fig. 3, the parallel platform 60 may include an acquisition sub-platform 601 mounted with the feature acquisition camera module 50 and a servo sub-platform 606 mounted with a servo steering engine 604.

In one embodiment, as shown in fig. 3, the acquisition sub-platform 601 and the servo sub-platform 606 can be connected together through a steering engine swing arm 603 and a swing link 602. The servo steering engine 604 adjusts the rotation angle of the steering engine swing arm 603 based on the facial posture of the collection object, and the steering engine swing arm 603 drives the oscillating connecting rod 602 to move, so that the feature collection camera module 50 is adjusted in place.

Further preferably, the parallel platform can be a six-degree-of-freedom parallel platform, and the acquisition sub-platform and the servo sub-platform of the six-degree-of-freedom parallel platform are connected together through six sets of platform driving mechanisms. Each set of platform driving mechanism comprises a swinging connecting rod 602, a steering engine swinging arm 603 and a servo steering engine 604. The servo steering engine adjusts a steering engine swing arm based on the facial posture of the collecting object, so that the swing connecting rod is driven to adjust the posture of the collecting sub-platform.

In an embodiment of the capturing method according to the present disclosure, a depth camera and a visible light camera in a feature capturing camera module may be used to measure a distance from the feature capturing camera module to the capturing object and to accurately acquire facial pose information of the capturing object.

For example, in one embodiment, the acquisition method according to the present disclosure is further described in conjunction with the examples of the acquisition device illustrated in fig. 2-4.

For example, in the capture device shown in the figures, the depth camera 502 may be a binocular depth camera located on the upper side of the feature capture camera module mounting plate 501. The depth camera can be used for detecting the distance between the target acquisition object and the acquisition device, accurately estimating the facial posture of the acquisition object, and providing distance information between the target acquisition object and the acquisition device and a biological characteristic image of a visible light face.

The right fill light module 503 is located on the right side of the feature capture camera module mounting plate 501; the lower right fill light module 505 is located on the lower right side of the feature capture camera module mounting plate 501; the lower left fill light module 506 is located on the lower left side of the feature capture camera module mounting plate 501; left light filling lamp module 507 is located the left side of feature acquisition camera module mounting panel 501.

The high-resolution near-infrared iris camera 504 is used for shooting iris biological characteristic information of a target acquisition object, calculating parameters such as zoom, zoom and angle of the high-resolution near-infrared iris camera 504 according to the distance of the acquisition object provided by the binocular depth camera 502 from the acquisition device and accurate estimation of facial posture information of the acquisition object, and shooting a clear iris image; the high-resolution near-infrared iris camera 504 is located at the center of the feature capture camera module mounting plate 501.

These components, assemblies or devices may be fixedly attached in place by screws or other suitable means and devices.

The facial biological feature acquisition camera module 50 is connected with an acquisition sub-platform 601 of the six-degree-of-freedom parallel platform 60, the distance between an acquisition object and an acquisition device and the accurate estimation of the facial posture of the acquisition object are measured by a binocular depth camera 502 in the facial biological feature acquisition camera module, the zoom, angle parameters and the intensity and angle of an intelligent light source module of the high-resolution near-infrared iris camera are calculated 504, the posture of the six-degree-of-freedom parallel platform 60 is adjusted to enable the facial biological feature acquisition camera module 50 to face, the light supplementing lamp module is adjusted to enable the light supplementing range to be aligned to the face for supplementing light, and then the facial biological feature acquisition of the acquisition object is completed.

According to another aspect of the present disclosure, a collecting device for implementing the aforementioned collecting method is also presented.

Referring to fig. 2-4, in one embodiment of an acquisition device according to the present disclosure, the acquisition device comprises: a vertically arranged bracket 70 with a base; a scene camera 20 mounted to the stand; a lifting module 40 which can be lifted up and down along the support 70; a parallel platform 60 mounted on the lifting module 40, the parallel platform 60 being mounted with a feature capture camera module 50; the scene camera 20 is configured to obtain information related to a position, a motion state, a height, and a facial posture of a collection object, where the information is rough information and may be used for rough positioning adjustment of the collection device. The six-degree-of-freedom parallel platform 60 controls the lifting module 40 to lift according to the information detected by the scene camera 20, and adjusts the six-degree-of-freedom parallel platform to a proper height. As shown in fig. 2, the capturing device further includes a lifting motor 10 and a scene camera mounting base 30.

The heights of the parallel platform 60 and the feature capture camera module 50 can be adjusted by the lifting module 40, the feature capture camera module 50 is provided with a depth camera 502 and a visible light camera for dynamically tracking the facial pose of the capture object, and the parallel platform is provided with a tracking mechanism for adjusting the pose of the feature capture camera module based on the collected facial pose.

Referring to fig. 3, preferably, in one embodiment of the capturing device according to the present disclosure, the parallel platform 60 may include a capturing sub-platform 601 mounted with the feature capturing camera module 50 and a servo sub-platform 606 mounted with a servo steering engine 604. Preferably, the parallel platform may be a six-degree-of-freedom parallel platform, and the acquisition sub-platform 601 and the servo sub-platform 606 of the six-degree-of-freedom parallel platform may be connected together through six sets of platform driving mechanisms. Each set of platform driving mechanism comprises a swinging connecting rod 602, a steering engine swinging arm 603 and a servo steering engine 604, wherein the servo steering engine 604 adjusts the steering engine swinging arm 603 based on the facial posture of the acquisition object, so as to drive the swinging connecting rod 602 to adjust the posture of the acquisition sub-platform 601.

In this example, as shown in fig. 3, the parallel platform includes 1 acquisition sub-platform 601, 1 parallel base 605, 1 servo sub-platform 606, and 6 sets of acquisition sub-platform driving mechanisms. Each group of collecting sub-platform driving mechanisms comprises 1 oscillating connecting rod 602, 1 steering engine oscillating arm 603 and 1 servo steering engine 604. The acquisition sub-platform 601 is connected with 6 602 oscillating connecting rods, meanwhile, the acquisition sub-platform 601 is connected with a 501 characteristic acquisition camera module mounting plate through screws, and the platform moves to drive the adjustment of the position and the posture of the whole camera module; the swing connecting rod 602 is in screw connection with the acquisition sub-platform 601 and the steering engine swing arm 603; the steering engine swing arm 603 is concentrically matched and connected with the servo steering engine 604; the swing arm 603 of the steering engine is connected with the swing connecting rod 602 through screws; the servo steering engine 604 is driven by the motion power of the parallel platform; the servo steering engine 604 is concentrically matched and connected with the steering engine swing arm 603; the servo steering engine 604 is connected with the parallel base 605 and the servo sub-platform 606 in a matching way, and the parallel base 605 and the servo sub-platform 606 are provided with positioning fixing grooves designed for the servo steering engine 604; 604 is fixed between the parallel base 605 and the servo sub-platform 606, and the servo steering engine 604 is clamped and fixed by penetrating the parallel base 605 and the servo sub-platform 606 through screws; the parallel base 605 is fixedly connected with the lifting module 40; the parallel base 605 and the servo sub-platform 606 are matched to clamp and fix the servo steering engine 604; the servo sub-platform 606 and the parallel base 605 cooperate to fixedly clamp the servo steering engine 604.

In this embodiment, the acquisition sub-platform 601 and the servo sub-platform 606 are connected together through a steering engine swing arm 603 and a swing link 602. During operation, the servo steering engine 604 can adjust the rotation angle of the steering engine swing arm 603 based on the facial posture of the acquisition object, and the steering engine swing arm 603 drives the oscillating connecting rod 602 to move, so as to adjust the feature acquisition camera module 50 in place. The servo steering engine 604 rotates to drive the steering engine swing arm 603 to swing, and the angle relation between the head swing connecting rod 602 and the steering engine swing arm 603 and the angle relation between the head swing connecting rod 602 and the acquisition sub-platform 601 are changed under the motion of the steering engine swing arm 603 and the connection and constraint of the acquisition sub-platform 601. The six-degree-of-freedom motion of the parallel platform is realized through the mutual motion coordination of 6 groups of acquisition sub-platform driving mechanisms.

Further preferably, in the collecting device, the feature collecting camera module 50 may include a feature collecting camera module mounting plate 501 and a fill light lamp set.

Preferably, in one embodiment, the light supplement lamp set may include a right light supplement lamp module 503, a lower right light supplement lamp module 505, a lower left light supplement lamp module 506 and a left light supplement lamp module 507.

As shown in fig. 4, the facial biometric feature capturing camera module 50 includes a feature capturing camera module mounting plate 501, a binocular depth camera 502, a right fill-in light module 503, an infrared iris camera 504, a right lower fill-in light module 505, a left lower fill-in light module 506, and a left fill-in light module 507. The characteristic acquisition camera module mounting plate 501 is used for connecting each camera and the light supplement lamp module and providing a reference fixed mounting position; which is fixedly connected with a collecting sub-platform 601 screw in a 60 six-degree-of-freedom parallel platform.

The lifting module 40 and the bracket 70 are connected together in a relatively sliding manner, and the installation height of the lifting module is adjusted according to the height range of most of the collected objects. The scene camera 20 may be installed on the upper portion of the elevating module 40, and is used for detecting the collection object appearing in the scene 20, and roughly estimating the basic information of the position, motion state, height, facial posture and the like of the collection object. The scene camera can be installed on the upper portion of the lifting module through the scene camera mounting seat.

The parallel platform 60 is connected to the lifting module 40, and controls the lifting module 40 to lift and adjust the six-degree-of-freedom parallel platform to a proper height according to information detected by the scene camera. The feature acquisition camera module 50 is connected with an acquisition sub-platform 601 of the six-degree-of-freedom parallel platform, the distance between an acquisition object and an acquisition device is measured through a depth camera 502 and a visible light camera in the feature acquisition camera module 50, the facial pose of the acquisition object is accurately estimated, the zoom, zoom and angle parameters of the high-resolution near-infrared camera 504 and the intensity and angle of a light source module of the light supplement module are calculated, the pose of the parallel platform is adjusted to enable the feature acquisition camera module 50 to face the face, the light supplement lamp module is adjusted to enable the light supplement range to be aligned with the face for light supplement, and then the facial biological feature acquisition of the acquisition object is completed.

The whole collection process is completed through multi-degree-of-freedom adjustment of the parallel platform, automatic collection is achieved, and the problem that collection cannot be effectively conducted under the condition that the states of collected objects are changeable in the existing fixed type, single-shaft rotating type and two-shaft serial collection device can be effectively solved.

In a specific embodiment according to the present disclosure, the height of the biometric acquisition camera module 50 is adjusted by the lifting module, so as to effectively adapt to the facial information acquisition under the conditions of height and facial pitching posture of the acquisition object in a large range.

The gesture of the facial biological feature acquisition camera module is adjusted through the multi-degree-of-freedom parallel platform, so that the gesture of the camera is finely adjusted within a certain range, and the integrity of acquired facial image information of an acquisition object is ensured.

In the illustrative example shown in the drawing, the collecting sub-platform is an end platform of a six-degree-of-freedom parallel platform, the six-degree-of-freedom flexible adjustment of the biological characteristic collecting camera module 50 is mainly embodied by the motion of the platform, the adjustment of the position and the posture of the whole camera module is driven by the motion of the platform, the collecting sub-platform is connected with the mounting plate of the biological characteristic collecting camera module 50 by screws, and the collecting sub-platform is connected with the oscillating connecting rod. The oscillating connecting rod is a connecting rod which is used for connecting the acquisition sub-platform and the steering engine oscillating arm and is connected with the acquisition sub-platform and the steering engine oscillating arm through screws. The servo steering engine is connected with the head shaking connecting rod through the servo steering engine swing arm, the servo steering engine is connected with the servo steering engine in a concentric fit mode, and the servo steering engine swing arm is connected with the head shaking connecting rod through screws.

The parallel base is a frame of a six-degree-of-freedom parallel platform; which is fixedly connected with the lifting module.

In the invention, the oscillating connecting rod, the steering engine oscillating arm and the servo steering engine are matched together to form a driving mechanism of the acquisition sub-platform. The servo steering engine rotates to drive the steering engine swing arm to swing, and the angle relation between the swing connecting rod and the steering engine swing arm and the angle relation between the swing connecting rod and the angle relation between the swing connecting sub-collecting sub-platform. The six-degree-of-freedom motion of the parallel platform is realized through the mutual motion coordination of 6 groups of acquisition sub-platform driving mechanisms. The six-degree-of-freedom parallel platform in the form is introduced into the design of image acquisition, and the problem that the existing acquisition device cannot acquire the face in a complete manner in multiple postures can be effectively solved.

The bracket of the acquisition device can be fixedly connected with the ground through foundation screws. The six-degree-of-freedom parallel platform is connected with the lifting module, a sliding table is arranged on the lifting module, and a parallel base on the six-degree-of-freedom parallel platform is fixedly connected with the sliding table through a screw.

And controlling the lifting module to lift according to the information detected by the scene camera, and adjusting the six-degree-of-freedom parallel platform to a proper height.

The facial biological feature acquisition camera module further comprises a lifting motor used for providing power for the lifting module.

The binocular depth camera is used for detecting the distance between the target collection object and the collection device and accurately estimating the facial posture of the collection object, distance information of the target collection object and the collection device and a biological characteristic image of a visible light face are provided, and the binocular depth camera is located on the upper side of the characteristic collection camera module mounting plate and is fixedly connected with the characteristic collection camera module mounting plate through screws.

When the target collection object is over against the collection device, the right light supplement lamp module provides light supplement for the left side face of the target collection object; the right light supplement lamp module is located on the right side of the feature collection camera module mounting plate and is fixedly connected with the feature collection camera module mounting plate through screws.

The high-resolution near-infrared iris camera is used for shooting iris biological characteristic information of a target acquisition object, calculating parameters such as zoom, zoom and angle of the high-resolution near-infrared iris camera according to the distance of the acquisition object provided by the binocular depth camera from the acquisition device and accurate estimation of facial attitude information of the acquisition object, and shooting a clear iris image; the high-resolution near-infrared iris camera is positioned in the center of the feature acquisition camera module mounting plate and is fixedly connected with the feature acquisition camera module mounting plate through screws.

When the target collection object is over against the collection device, the right lower light supplement lamp module is matched with the left lower light supplement lamp module to provide light supplement on the front side of the target collection object; the light filling lamp module is arranged at the lower right side of the feature collection camera module mounting plate and is fixedly connected with the feature collection camera module mounting plate through screws.

When the target collection object is over against the collection device, the left lower light supplementing lamp module and the right lower light supplementing lamp module are matched to provide light supplement on the front side of the target collection object; the lower left light supplement lamp module is located on the lower left side of the feature collection camera module mounting plate and is fixedly connected with the feature collection camera module mounting plate through screws.

When the target collection object is over against the collection device, the left light supplement lamp module provides light supplement for the right side face of the target collection object; left light filling lamp module is located whole characteristic collection camera module mounting panel left side, through screw fixed connection.

The facial biological feature acquisition camera module is connected with the acquisition sub-platform of the six-degree-of-freedom parallel platform, the distance between an acquisition object and an acquisition device and the accurate estimation of the facial posture of the acquisition object are measured through a binocular depth camera in the facial biological feature acquisition camera module, the zooming, zooming and angle parameters of the high-resolution near-infrared iris camera and the intensity and angle of the intelligent light source module are calculated, the posture of the six-degree-of-freedom parallel platform is adjusted to enable the facial biological feature acquisition camera module to face the face, the light supplementing lamp module is adjusted to enable the light supplementing range to be aligned to the face for supplementing light, and then the facial biological feature acquisition of the acquisition object is completed.

Compared with the existing image acquisition device, the facial biological feature acquisition camera module has the advantages that the acquisition information is richer, the layout is more compact, the layout of the light supplement lamp is more reasonable, the face light supplement for the image of the acquired object is more flexible and sufficient, the acquired image is clearer, and the identification authentication of the acquired object can be effectively carried out.

The invention provides a method for acquiring images by adopting the multi-degree-of-freedom facial biological characteristic image acquisition device, which realizes cooperative perception of middle-distance and long-distance facial multi-mode image acquisition by adopting the thought of multi-camera cooperation and the multi-degree-of-freedom image acquisition device and finally realizes a mode that a robot moves along with a person.

In the characteristic acquisition process of the example shown in the attached drawing, a scene camera is started, an acquisition object appearing in a scene is detected, basic information such as the position, the motion state, the height, the facial posture and the like of the acquisition object is roughly estimated, and the information is fed back to a lifting module and a six-degree-of-freedom parallel platform.

All of the above disclosure is not intended to limit other forms of practicing the new products and/or methods. Those skilled in the art will take advantage of this important information, and the foregoing will be modified to achieve similar performance. However, all modifications or alterations are based on the new products of the invention and belong to the reserved rights.

The foregoing is directed to preferred embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow. However, any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the protection scope of the technical solution of the present invention.

Claims

1. A facial biometric acquisition method, the acquisition method comprising:

acquiring a scene image of a predetermined area by using a scene camera, analyzing the acquired scene image, and judging whether an acquisition object appears in the predetermined area;

if the acquisition object appears in the preset area, acquiring rough information related to the position, the motion state, the height and the face posture of the acquisition object from a scene image acquired by a scene camera;

adjusting the vertical position of the parallel platform provided with the characteristic acquisition camera module in place according to the rough information;

dynamically tracking the facial pose of the acquisition object by using a feature acquisition camera module, and synchronously adjusting the parallel platform and the feature acquisition camera module arranged on the parallel platform so as to enable the feature acquisition camera module to be in the pose and position suitable for acquiring facial biological features;

the feature acquisition camera module acquires facial biological features of an acquisition object.

2. The acquisition method according to claim 1, wherein the parallel platform comprises an acquisition sub-platform provided with the feature acquisition camera module and a servo sub-platform provided with a servo steering engine; the acquisition sub-platform is connected with the servo sub-platform through a steering engine swing arm and a swinging connecting rod, the servo steering engine adjusts the rotation angle of the steering engine swing arm based on the facial posture of the acquisition object, and the steering engine swing arm drives the swinging connecting rod to move, so that the characteristic acquisition camera module is adjusted in place.

3. The acquisition method according to claim 2, wherein the parallel platform is a six-degree-of-freedom parallel platform, the acquisition sub-platform and the servo sub-platform of the six-degree-of-freedom parallel platform are connected together through six sets of platform driving mechanisms, each set of platform driving mechanism comprises a swing connecting rod, a steering engine swing arm and a servo steering engine, and the servo steering engine adjusts the steering engine swing arm based on the facial posture of the acquisition object, so that the swing connecting rod is driven to adjust the posture of the acquisition sub-platform.

4. The capturing method according to one of claims 1 to 3, wherein in the capturing method, a depth camera and a visible light camera in the feature capturing camera module are used to measure a distance from the feature capturing camera module to the capturing object and to accurately acquire facial pose information of the capturing object.

5. The acquisition method according to claim 4, further comprising: after the vertical positions of the parallel platform in the vertical direction are adjusted in place, based on images acquired by the depth camera and the visible light camera, the depth information, the distance information and the position information of the current acquisition object are calculated, and then the zoom parameter, the zoom parameter and the angle parameter of the near-infrared iris camera in the feature set camera module and the intensity and the angle of a light source module of a fill-in light are calculated; and adjusting the near-infrared iris camera and the light source of the light supplement lamp in place, and acquiring the required facial biological characteristic information.

6. Acquisition device for implementing the acquisition method according to one or more of claims 1 to 5, characterized in that it comprises:

a vertically disposed stand with a base;

a scene camera mounted to the mount;

the lifting module can lift up and down along the bracket;

the parallel platform is arranged on the lifting module and is provided with a characteristic acquisition camera module;

wherein the scene camera is used for acquiring rough information related to the position, the motion state, the height and the face posture of a collecting object, then the heights of the parallel platform and the characteristic collecting camera module are adjusted through the lifting module,

the feature collection camera module is provided with a depth camera and a visible light camera for dynamically tracking the facial pose of the collection object, and the parallel platform is provided with a tracking mechanism for adjusting the pose of the feature collection camera module based on the collected facial pose.

7. The acquisition device according to claim 6, wherein the parallel platform comprises an acquisition sub-platform provided with the feature acquisition camera module and a servo sub-platform provided with a servo steering engine; the acquisition sub-platform is connected with the servo sub-platform through a steering engine swing arm and a swinging connecting rod, the servo steering engine adjusts the rotation angle of the steering engine swing arm based on the facial posture of the acquisition object, and the steering engine swing arm drives the swinging connecting rod to move, so that the characteristic acquisition camera module is adjusted in place.

8. The acquisition device according to claim 7, wherein the parallel platform is a six-degree-of-freedom parallel platform, the acquisition sub-platform and the servo sub-platform of the six-degree-of-freedom parallel platform are connected together through six sets of platform driving mechanisms, each set of platform driving mechanism comprises a swing connecting rod, a steering engine swing arm and a servo steering engine, and the servo steering engine adjusts the steering engine swing arm based on the facial posture of the acquisition object, so as to drive the swing connecting rod to adjust the posture of the acquisition sub-platform.

9. The acquisition device of claim 8, wherein the feature acquisition camera module comprises a feature acquisition camera module mounting plate and a fill light bank, and the depth camera is a binocular depth camera.

10. The collecting device as claimed in claim 9, wherein the light supplement lamp set comprises a right light supplement lamp module, a lower left light supplement lamp module and a left light supplement lamp module.