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Pan-tilt cameras can be a lot of fun for being able to see in many different directions. Even better is when we add some programming into the mix to make the camera behave automatically. In this tutorial, we’ll show you how to make a face-tracking robot camera using OpenMV and a Pololu Micro Maestro Servo Controller board.

The written form of this guide can be found here: https://www.digikey.com/en/maker/proj...

Jayy has used this face tracking implementation in a few of his companion bots, like Helen!

We start with a 3D printed pan-tilt camera mount (the design was downloaded from Thingiverse). We attach the OpenMV Cam and Pololu Micro Maestro boards to the mount and make the necessary wiring connections. Note that we will use the Maestro board to control the servos, which saves us from having to calculate the positions manually to make the motions smooth.

The Pololu Maestro guide can be found here: https://www.pololu.com/docs/0J40

We use the serial servo commands as outlined in the Maestro guide to control the pan and tilt servos. In our OpenMV code, we construct bytearrays with the necessary data to move the servos as well as set the desired speed and acceleration limits.

We rely on the OpenMV HaarCascade class to create the necessary filters for us. These are used to locate faces in each frame and return a series of bounding boxes telling us the location and size of each face.

We loop through the bounding boxes to find the largest box (which is ideally the closest face), and we find the x and y difference between the center of that box and the center of the frame. We then move the servos in the directions needed to align the centers of the bounding box with the frame.

With multiple iterations, the camera should eventually face the largest face in the image. We limit the speed and acceleration of the servos to give the pan-tilt mount a more lifelike motion, which Jayy employed in his robots to make them seem alive (and more friendly).

Product Links:
OpenMV H7 R2: https://www.digikey.com/en/products/d...

Pololu Micro Maestro: https://www.digikey.com/en/products/d...

Related Videos:
Jayy’s Project Helen:   / 1437843591926202369  

Getting Started with the OpenMV Cam:    • Getting Started with the OpenMV Cam: Machi...  

Lego Brick Finder with OpenMV and Edge Impulse:    • Lego Brick Finder with OpenMV and Edge Imp...  

Related Project Links:
How to Build a Face Tracking Pan Tilt Camera with OpenMV: https://www.digikey.com/en/maker/proj...

Related Articles:
Getting Started with the OpenMV Cam: Machine Vision with MicroPython: https://www.digikey.com/en/maker/proj...

Lego Brick Finder with OpenMV and Edge Impulse: https://www.digikey.com/en/maker/proj...

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