Product Info

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A 2-DOF camera gimbal control project with automatic color, face, and QR code tracking.

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📋 Features

• 🎮 Manual gimbal control with the keyboard
• 🎯 Automatic tracking of colored objects
• 👤 Automatic face tracking
• 📱 Automatic QR code tracking
• 🔒 Target lock mechanism
• 🚀 Fast startup (using the DSHOW backend)

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🛠 Hardware Configuration

• Servo model: SCS009
• Servo assignment:
  • Servo #1: pan (left/right) control
  • Servo #2: tilt (up/down) control
• Communication: serial bus driver board
• Driver board chip: CH343
• Baud rate: 1Mbps by default

Servo Parameters

Parameter	Servo #1 (pan)	Servo #2 (tilt)
Range	220-802	220-511
Center position	511	511
Notes	220=left, 802=right	220=up, 511=center

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📁 Project Structure

2-DOF-Camera-Gimbal/
├── docs/            # Documentation and tutorials
│   └── tutorials/  # Tutorial files
├── examples/        # Example programs
│   ├── auto_tracking_demo.py  # Full tracking demo
│   ├── basic_usage.py        # Basic usage example
│   ├── keyboard_control.py    # Keyboard control example
│   └── diagnostic.py         # Diagnostic tool
├── src/            # Source code
│   ├── detectors/  # Target detectors
│   │   ├── color_detector.py
│   │   ├── face_detector.py
│   │   └── qr_detector.py
│   ├── trackers/  # Tracking controller
│   │   └── tracking_controller.py
│   └── sc_servo.py  # Servo communication library
├── .gitignore
├── requirements.txt
└── README.md

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🚀 Quick Start

Install Dependencies

pip install -r requirements.txt

Find Available Devices

Find an available camera

python examples/list_cameras.py

Find an available serial port

python examples/list_ports.py

Run the Demo

Configure it with command-line arguments:

python examples/auto_tracking_demo.py --camera 0 --port COM3 --color red

Parameter description

• --camera or -c: camera index (default 0)
• --port or -p: serial port device (default COM3)
• --color or -C: default color (default red)

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🎮 Usage Instructions

Keyboard Shortcuts

Key	Function
1	Switch to face tracking mode
2	Switch to color tracking mode
C	Connect the gimbal
R	Return the gimbal to center
T	Lock / start tracking the target
S	Stop tracking
X	Color mode: red
Y	Color mode: green
Z	Color mode: blue
Q	Quit the program

Automatic Tracking Workflow

1. Press C to connect the gimbal
2. Select a mode (press 1 or 2)
3. Move the target object to the center of the frame
4. Press T to lock the target
5. Move the target; the gimbal follows automatically

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📚 Documentation and Tutorials

For detailed tutorials, see the docs/tutorials/ directory:

• 01-快速开始指南.md - Get started quickly
• 02-硬件与环境准备.md - Hardware checklist and environment setup
• 03-基础使用.md - Keyboard control and basic usage
• 04-高级功能与追踪.md - Advanced features and tracking in detail
• 05-故障排除.md - Common problems and solutions

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🔧 Technical Notes

Tracking Control Parameters

These can be adjusted in src/trackers/tracking_controller.py:

Parameter	Default	Description
kp_pan	0.08	Proportional gain for pan tracking
kp_tilt	0.12	Proportional gain for tilt tracking
dead_zone	30	Dead zone (pixels); no movement within this range
min_move_interval	0.15	Minimum move interval (seconds)

Target Lock Mechanism

After locking, the system selects the target based on the following criteria:

• Closest to the lock point (weight 70%)
• Most similar in size to the locked target (weight 30%)

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📖 Servo Specifications

• Model: SCS009
• Operating voltage: 4V-7.4V (6V typical)
• Stall torque: 2.3kg·cm at 6V
• Protocol: half-duplex asynchronous serial (TTL)