A method and device for digitizing and applying human posture in a truck stepping test

Abstract

The present application relates to a method and device for digitizing and applying human posture in a truck stepping test, and relates to the field of truck testing. The method for digitizing and applying human posture in a truck stepping test first collects the coordinates of the stepping point corresponding to each step when getting on and off the vehicle in the real stepping scene, and then calculates the coordinates of the center of gravity of the human body when stepping on each step, and calculates the stepping angle when stepping on each step according to the stepping point coordinates and the center of gravity coordinates of the human body, and finally controls the mechanical arm to perform the truck stepping test according to the theoretical stepping point coordinates on each step and the corresponding stepping angle. The method provided in the present application ensures that the stepping situation in the real scene is restored as much as possible under the test conditions, provides a reliable basis for the loading of human posture in the stepping test, and greatly improves the restoration degree and the accuracy of the test.

Description

Technical Field

[0001] The present application relates to the field of truck testing, and in particular to a method and device for digitizing and applying human posture in a truck stepping test. Background Art

[0002] At present, the truck step test is a test that must be carried out before the product is put into production. Its purpose is to test the state changes of the car step after being subjected to force on the actual vehicle. In related technologies, the truck step test scenario is mainly simulated by using a robotic arm and a foot clamp to simulate the driver's action when stepping in a real scenario.

[0003] However, there are some problems with the current step test, which makes the current truck step test scenario very different from the actual application scenario. The main problems of the current step test are as follows: 1. The direction of the loading force in the current step test does not match the direction of the actual loading force. In the real scenario, the direction of the driver's stepping force changes dynamically with the human body posture, while in the current step test, the loading force is generally only applied in a fixed direction, and the direction of the loading force is fixed and unchanged, which fails to reflect the dynamic change process of the force; 2. The current step test lacks a data quantification method for human posture in real scenarios, so it is difficult to reproduce the real scenario with test equipment, and lacks test accuracy. Summary of the invention

[0004] The embodiment of the present application provides a method and device for digitizing and applying human posture in a truck step test, so as to solve the problem in the related art that the direction of the loading force in the step test does not match the direction of the actual loading force, resulting in low real scene restoration and poor test accuracy.

[0005] In a first aspect, a method for digitizing and applying human posture in a truck stepping test is provided, the steps of which include:

[0006] Collect the coordinates of the stepping points corresponding to each step when getting on and off the vehicle in the real stepping scene;

[0007] Calculate the coordinates of the center of gravity of the human body when stepping on each step respectively, and calculate the stepping angle when stepping on each step respectively according to the coordinates of the stepping point and the coordinates of the center of gravity of the human body;

[0008] The mechanical arm is controlled to perform a truck step test according to the theoretical stepping point coordinates on each step and the corresponding stepping angle.

[0009] In some embodiments, the stepping point coordinates corresponding to each step of getting on and off the vehicle in the real stepping scene are collected, including:

[0010] Collect the coordinates of all human body joints when getting on and off the vehicle in the real stepping scene;

[0011] The human body posture joint point coordinates are screened and filtered to obtain the human body posture joint point coordinates that have the same height as the currently stepped step when stepping on each step, and define the human body posture joint point coordinates as the step stepping point coordinates.

[0012] In some embodiments, respectively calculating the coordinates of the center of gravity of a human body when stepping on each step comprises:

[0013] Screening and filtering the coordinates of the human body posture joint points;

[0014] So as to respectively obtain the coordinates of all the joint points of the human body posture when stepping on each step;

[0015] Dividing the human body into a plurality of parts according to all human body posture joints, and calculating the coordinates of the center of gravity of each part when stepping on the corresponding step according to the coordinates of the human body posture joints;

[0016] The coordinates of the center of gravity of the human body when stepping on the corresponding step are calculated based on the coordinates of the center of gravity of each part.

[0017] In some embodiments, the calculating of the center of gravity coordinates of the human body when stepping on the corresponding step according to the center of gravity coordinates of each of the parts includes:

[0018] determining the proportion of body weight contributed by each of said parts respectively;

[0019] The center of gravity coordinates of each part are multiplied by the ratio of the center of gravity coordinates to the body weight, and the results of multiplying each part by the ratio of the center of gravity coordinates to the body weight are added together to obtain the center of gravity coordinates of the human body when stepping on the corresponding step.

[0020] In some embodiments, the stepping angle when each step is stepped on is calculated according to the stepping point coordinates and the human body center of gravity coordinates, including:

[0021] Calculating the direction vector of the stepping force when stepping on the corresponding step according to the difference between the stepping point coordinates and the corresponding coordinates of the center of gravity of the human body;

[0022] The stepping angle corresponding to the step is calculated according to the direction vector.

[0023] In some embodiments, the step of controlling the mechanical arm to perform the truck step test according to the theoretical stepping point coordinates on each step and the corresponding stepping angle includes:

[0024] Calculating the coordinates of the actuating point of the robot arm when stepping on the step according to the theoretical stepping point coordinates on each step and the corresponding stepping angle;

[0025] Obtain an array of the relationship between the coordinates of the actuating points and time according to all the coordinates of the actuating points, and obtain an array of the relationship between the stepping angle and time according to all the stepping angles;

[0026] The actuation point coordinate-time relationship array and the stepping angle-time relationship array are respectively written into the loading program path of the mechanical arm to control the mechanical arm to perform a truck stepping test.

[0027] In some embodiments, before getting on the vehicle in a real stepping scene, multiple sets of coordinate values ​​of the driver's left foot joint and right foot joint along the height direction when the driver is stationary relative to the stepping are collected within a preset time;

[0028] Calculate the average value of all the coordinate values ​​and use the average value as a height direction reference value.

[0029] In some embodiments, the preset time value is not less than 5s.

[0030] In some embodiments, a real stepping scene is built indoors;

[0031] The installation position of the depth camera is determined so that the distance between the depth camera and the truck is 1.8-2.2 m.

[0032] In a second aspect, a device for digitizing and applying human body posture in a truck stepping test is provided, which is used for implementing the above-mentioned method for digitizing and applying human body posture in a truck stepping test, and includes:

[0033] A data acquisition unit, which is used to collect the coordinates of the stepping points corresponding to each step taken by the vehicle getting on and off in the real stepping scene;

[0034] A data calculation unit, which is used to calculate the coordinates of the center of gravity of the human body when stepping on each step, and to calculate the stepping angle when stepping on each step according to the coordinates of the stepping point and the coordinates of the center of gravity of the human body;

[0035] A control drive unit is used to control the mechanical arm to perform a truck step test according to the theoretical stepping point coordinates on each step and the corresponding stepping angle.

[0036] The beneficial effects of the technical solution provided by this application include:

[0037] The embodiment of the present application provides a method for digitizing and applying human posture in a truck stepping test. The coordinates of the stepping point corresponding to each step when getting on and off the vehicle in the real stepping scene are first collected, and then the coordinates of the center of gravity of the human body when stepping on each step are calculated respectively. The stepping angle when stepping on each step is calculated respectively according to the stepping point coordinates and the center of gravity coordinates of the human body. Finally, the mechanical arm is controlled to perform the truck stepping test according to the theoretical stepping point coordinates on each step and the corresponding stepping angle. Therefore, the method for digitizing and applying human posture in the truck stepping test collects the posture of the user getting on the vehicle in the real scene, and obtains the stepping angle when stepping on each step after analyzing the stepping force characteristics of the whole process. Finally, the data is converted into data that can be loaded by the mechanical arm, which ensures that the stepping situation in the real scene is restored as much as possible under the test conditions, provides a reliable basis for loading the human posture in the stepping test, and greatly improves the restoration degree and the accuracy of the test. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0039] Figure 1 A flow chart of a method for digitizing and applying human posture in a truck stepping test provided in an embodiment of the present application;

[0040] Figure 2 A flowchart of the dataization and application method of human posture in the truck stepping test provided in the embodiment of the present application, which collects the coordinates of the stepping points corresponding to each step when getting on and off the vehicle in the real stepping scene;

[0041] Figure 3 A flow chart of the human body posture digitization and application method for respectively calculating the coordinates of the human body's center of gravity when stepping on each step in the truck stepping test provided in the embodiment of the present application;

[0042] Figure 4 A flow chart of a control robot arm for performing a truck step test, which includes a method for digitizing human posture in a truck step test and applying the method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0044] The embodiment of the present application provides a method for digitizing and applying human body posture in a truck stepping test, which can solve the problem in the related technology that the direction of the loading force in the stepping test is inconsistent with the direction of the actual loading force, resulting in low real scene restoration and poor test accuracy.

[0045] See also Figure 1 As shown, the human body posture digitization and application method in the truck stepping test first collects the stepping point coordinates corresponding to each step when getting on and off the vehicle in the real stepping scene, and then calculates the coordinates of the human body's center of gravity when stepping on each step, and calculates the stepping angle when stepping on each step according to the stepping point coordinates and the human body's center of gravity coordinates, and finally controls the mechanical arm to perform the truck stepping test according to the theoretical stepping point coordinates on each step and the corresponding stepping angle.

[0046] This method collects the user's posture during the process of getting on the vehicle in a real scene, and obtains the pedaling angle when stepping on each step after analyzing the force characteristics of the whole process. Finally, the data is converted into data that can be loaded by the robotic arm, ensuring that the pedaling conditions in the real scene are restored as much as possible under the test conditions. It provides a reliable basis for the loading of human posture in the stepping test, and greatly improves the degree of restoration and the accuracy of the test.

[0047] For further information, see Figure 2 As shown, the steps of collecting the coordinates of the stepping points corresponding to each step when getting on and off the vehicle in the real stepping scene mainly include:

[0048] Collect the coordinates of all human body joints when getting on and off the vehicle in the real stepping scene;

[0049] The human body posture joint point coordinates are screened and filtered to obtain the human body posture joint point coordinates that have the same height as the currently stepped step when stepping on each step, and define the human body posture joint point coordinates as the step stepping point coordinates.

[0050] Specifically, the highest number of steps in a truck is generally three, and the three-step step is used as the object for explanation here. In the real-life stepping process, when getting on the vehicle, the driver first walks on the ground, then steps on the first step with his left foot, and then steps on the second and third steps with his right and left feet respectively to enter the cab; when getting off the vehicle, first extend the left foot from the cab to step on the third step, and then step on the second and first steps with the right and left feet respectively to reach the ground. In this process, only the process of the foot contacting the step is the part that needs to be paid attention to in the test, so there are six sections including getting on and off the vehicle with the first, second, and third steps. In addition, it should be noted that in the real-life scenario, you can also take the right foot first, which has little impact on the test. Therefore, although all the coordinates of the human body posture joint points when getting on and off the vehicle in the real stepping scene are collected, it is necessary to use an algorithm to identify, extract and filter these six segments of data from the entire data collected by the depth camera, among which all the human body posture joint point coordinates here refer to the human body posture joint point coordinates collected and obtained at preset time intervals, and the determination of the preset time size can ensure that the coordinates of the human body posture joint points when stepping on each step can be collected.

[0051] Specifically, the first-order stepping process is identified as follows: the height of the person standing on the ground before the step is z0, and the height of the first-order step relative to the ground is △z1, and during the first-order stepping process, when the left foot contacts the first-order step and remains motionless, the height value of the left foot along the Z axis at this time is z 左1 The Z-axis coordinate z of the left foot joint (LEFT_FOOT) is the sum of z0 and △z1. 左1 All human body posture joint point coordinates D1 that meet this condition complete the screening and filtering.

[0052] Similarly, the second-order stepping process is identified as follows: the known conditions are z0 and the height of the second-order step relative to the ground △z1+△z2, and during the second-order stepping process, when the right foot contacts the second-order step and remains motionless, the height value of the right foot along the Z axis at this time is z 右1 The Z-axis coordinate z of the right foot joint point (RIGHT_FOOT) is the sum of z0, △z1 and △z2. 右1 All human body posture joint point coordinates D2 that meet this condition complete the screening and filtering.

[0053] Similarly, the three-step stepping process is identified as follows: the known conditions are z0 and the height of the three-step step relative to the ground △z1+△z2+△z3, and during the three-step stepping process, when the left foot contacts the three-step step and remains motionless, the height value of the left foot along the Z axis at this time is z 左2 The Z-axis coordinate z of the left foot joint (LEFT_FOOT) is the sum of z0, △z1, △z2 and △z3. 左2 All human body posture joint point coordinates D3 that meet this condition complete the screening and filtering.

[0054] For further information, see Figure 3 As shown, the steps of respectively calculating the coordinates of the center of gravity of the human body when stepping on each step specifically include:

[0055] Screening and filtering the coordinates of the human body posture joint points;

[0056] So as to respectively obtain the coordinates of all the joint points of the human body posture when stepping on each step;

[0057] Dividing the human body into a plurality of parts according to all human body posture joints, and calculating the coordinates of the center of gravity of each part when stepping on the corresponding step according to the coordinates of the human body posture joints;

[0058] The coordinates of the center of gravity of the human body when stepping on the corresponding step are calculated based on the coordinates of the center of gravity of each part.

[0059] Specifically, the human body is divided into 14 parts according to the collected joint points, namely, head, trunk, left upper arm, right upper arm, left forearm, right forearm, left hand, right hand, left thigh, right thigh, left calf, right calf, left foot, and right foot. The spatial coordinates D (x, y, z) of the 14 parts are calculated respectively. First, each part is represented by i. For each part i of the body, the joint points a at both ends of each part measured by the depth camera are i , b i The spatial coordinates of the human body posture joint coordinates are then a i , b i The midpoint coordinates of the connecting line are taken as the centroid position of the part, and then the centroid coordinates of each part are obtained. Therefore, the calculation formula of the centroid coordinates of each part is:

[0060] D i (x i ,y i , z i )=(D ai +D bi ) / twenty one)

[0061] Furthermore, the steps of calculating the coordinates of the center of gravity of the human body when stepping on the corresponding step according to the coordinates of the center of gravity of each part specifically include:

[0062] determining the proportion of body weight contributed by each of said parts respectively;

[0063] The center of gravity coordinates of each part are multiplied by the ratio of the center of gravity coordinates to the body weight, and the results of multiplying each part by the ratio of the center of gravity coordinates to the body weight are added together to obtain the center of gravity coordinates D of the human body when stepping on the corresponding step. 重 .

[0064] Specifically, in order to more accurately obtain the coordinates of the center of gravity of the human body when stepping on the corresponding step according to the coordinates of the center of gravity of each part, the ratio of each part to the total body weight is roughly calculated. The table of the ratios of the body weight of each part of an adult male is as follows:

[0065] Table 1 Ratio of each part of body weight in adult males

[0066] Location Proportion head 0.0706 trunk 0.427 Upper arm 0.0336 forearm 0.0228 hand 0.0084 thigh 0.1158 Calf 0.0527 foot 0.0179

[0067] Furthermore, the stepping angle when each step is stepped on is calculated according to the stepping point coordinates and the human body gravity center coordinates, and the steps specifically include:

[0068] Calculating the direction vector of the stepping force when stepping on the corresponding step according to the difference between the stepping point coordinates and the corresponding coordinates of the center of gravity of the human body;

[0069] The stepping angle corresponding to the step is calculated according to the direction vector.

[0070] Specifically, during the pedaling process, the change in human posture affects the force of the step mainly in the change of the pedaling angle, which refers to the angle between the force direction and the stepping plane. Therefore, during the pedaling process, the depth camera collects and converts the coordinates of the human body's joint points. The known conditions for getting on the vehicle are the coordinates D1 of the left foot joint point (LEFT_FOOT) when stepping on the first step, the coordinates D2 of the right foot (RIGHT_FOOT) when stepping on the second step, the coordinates D3 of the left foot joint point (LEFT_FOOT) when stepping on the third step, and the coordinates D 重 , the above known coordinates are all points that change dynamically, and the conditions for getting off the vehicle are also known. During the stepping process, the human body at each moment of the stepping process can be simplified as a rod that moves around the axis of the foot joint (RIGHT_FOOT, LEFT_FOOT) as the axis of rotation, and the force direction is the center of gravity pointing to the foot joint. Therefore, according to the characteristics of the stepping force, the left foot stepping angle and the right foot stepping angle θ2 are calculated as follows:

[0071] It is known that the Z-axis direction of the depth camera is vertically downward and positive, and the normal vector of the horizontal plane is taken:

[0072] When getting on the bike, the direction vector corresponding to the pedal force F1 applied by the left foot to the first step is:

[0073] When getting on the bike, the direction vector corresponding to the pedal force F2 applied by the right foot to the secondary step is:

[0074] Therefore, the calculation formula for the stepping angle θ1 of the left foot on the first step when getting on the vehicle is:

[0075]

[0076] The calculation formula for the stepping angle θ2 of the right foot on the secondary step when getting on the vehicle is:

[0077]

[0078] Among them, X 左1 , Y 左1 and Z 左1 are the coordinate values ​​of the left foot along the X, Y, and Z directions when the left foot is stationary on the first step when getting on the car. Similarly, X 右1 , Y 右1 and Z 右1 are the coordinate values ​​of the right foot along the X, Y, and Z directions when it is stationary on the second step when getting on the car. 重 , Y 重 and Z 重 They represent the coordinate values ​​of the center of gravity of the human body when stepping to rest at each step.

[0079] For further information, see Figure 4 As shown, the steps of controlling the mechanical arm to perform a truck stepping test according to the theoretical stepping point coordinates on each step and the corresponding stepping angle include:

[0080] Calculating the coordinates of the actuating point of the robot arm when stepping on the step according to the theoretical stepping point coordinates on each step and the corresponding stepping angle;

[0081] Obtain an array of the relationship between the coordinates of the actuating points and time according to all the coordinates of the actuating points, and obtain an array of the relationship between the stepping angle and time according to all the stepping angles;

[0082] The actuation point coordinate-time relationship array and the stepping angle-time relationship array are respectively written into the loading program path of the mechanical arm to control the mechanical arm to perform a truck stepping test.

[0083] Specifically, the robot arm used for the simulation test mainly includes a robot arm body and a foot fixture at the bottom, which is equivalent to a foot. Before the simulation test, a theoretical stepping point will be determined in advance on each step, which is used as the footing point of the foot fixture during the simulation test. After the stepping angle when stepping on each step is determined, the stepping angle of the foot fixture when stepping on each step is also determined. To control the movement of the robot arm body, it is necessary to determine the robot arm actuation point when stepping on each step.

[0084] Specifically, since the theoretical stepping point is known in advance, its coordinate in the robot coordinate system is D 静 (x 静 ,y 静 , z 静 ), and the coordinates can be converted into known conditions through the characteristics of the robot coordinate system. Since the displacement of the human body in the X-axis direction is small during the pedaling process, only the motion trajectories in the Y and Z planes are concerned during the pedaling process. The coordinates of the robot arm's actuation point are marked as D(x, y, z), so according to the coordinates D 静 The formula for calculating the coordinates of the robot's actuation point is:

[0085] x=x 静 (4)

[0086] y=y 静 -L·sinθ (5)

[0087] z=z 静 -L·cosθ (6)

[0088] Among them, θ is the stepping angle of the corresponding step, and L is the straight-line distance between the theoretical stepping point of the corresponding step and the actuation point of the robot arm.

[0089] Through the above conversion process, all the pedaling angles of the 6 sections of the first, second and third step getting on and off the vehicle are calculated and corresponded to time, forming 6 sets of pedaling angle-time relationship arrays as the loading input of the robot arm; similarly, the calculated 6 sets of actuation point coordinates are corresponded to time, converted into 6 sets of actuation point coordinate-time relationship arrays, and written into the robot arm loading program path together to simulate the human body's pedaling posture.

[0090] Furthermore, the method further comprises:

[0091] Before getting on the bus in a real-life stepping scenario, multiple sets of coordinate values ​​of the driver's left foot joint and right foot joint along the height direction when the driver is stationary relative to the stepping are collected within a preset time;

[0092] Calculate the average value of all the coordinate values ​​and use the average value as a height direction reference value.

[0093] Specifically, the reference value of the ground in the Z-axis direction in the depth camera coordinate system is set to z0, and the specific calculation process is: before acquisition, the driver stands still on the ground for a preset time, and all n groups of left and right foot joint points (LEFT_FOOT, RIGHT_FOOT) collected by the depth camera within the preset time are averaged by the n groups of data collected, that is, z0 is converted.

[0094] Furthermore, the value of the preset time is not less than 5s.

[0095] Furthermore, the method further comprises:

[0096] Build a real stepping scene indoors;

[0097] The installation position of the depth camera is determined so that the distance between the depth camera and the truck is 1.8-2.2 m.

[0098] Specifically, in order to avoid interference of outdoor electromagnetic waves on the depth camera during outdoor tests, thereby affecting the sampling accuracy, a real stepping scene is built indoors, and in order to capture the entire stepping test framing process completely and clearly, the installation position of the depth camera is determined so that the distance between the depth camera and the truck is 1.8 to 2.2 meters. Among them, the depth camera uses the principle of amplitude modulated continuous wave time difference ranging to project modulated light in the near-infrared spectrum into the scene, and then records the indirect time measurement value taken for the light to propagate from the camera to the scene and then return from the scene to the camera. Processing these measurements can generate a depth map, which is a set of coordinate values ​​for each pixel of the image, generally in millimeters. Through its built-in algorithm, the human body in each frame of the depth map can be detected and the position of each joint point of the human body can be calculated, and the data processing can be visualized and output to realize the tracking function of the human body.

[0099] The present application also provides a device for digitizing and applying human body posture in a truck stepping test, which is used for implementing the above-mentioned method for digitizing and applying human body posture in a truck stepping test, and mainly includes a data acquisition unit, a data calculation unit and a control drive unit, wherein the data acquisition unit is used to collect the corresponding stepping point coordinates when getting on and off the vehicle in a real stepping scene, the data calculation unit is used to calculate the coordinates of the human body's center of gravity when stepping on each step, and is used to calculate the stepping angle when stepping on each step according to the stepping point coordinates and the human body's center of gravity coordinates, and the control drive unit is used to control the robotic arm to perform the truck stepping test according to the theoretical stepping point coordinates on each step and the corresponding stepping angle.

[0100] Among them, the functional implementation of each unit in the above-mentioned device corresponds to each step in the above-mentioned method, and its functions and implementation processes are no longer described one by one here.

[0101] In the description of the present application, it should be noted that the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0102] It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0103] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A method for digitizing and applying human posture in a truck stepping test, characterized in that: The steps include: Collect the coordinates of the stepping points corresponding to each step when getting on and off the vehicle in the real stepping scene; Calculate the coordinates of the center of gravity of the human body when stepping on each step respectively, and calculate the stepping angle when stepping on each step respectively according to the coordinates of the stepping point and the coordinates of the center of gravity of the human body; The mechanical arm is controlled to perform a truck step test according to the theoretical stepping point coordinates on each step and the corresponding stepping angle.

2. The method for digitizing and applying human posture in a truck stepping test according to claim 1, characterized in that: The stepping point coordinates corresponding to each step when getting on or off the vehicle in the real stepping scene are collected, including: Collect the coordinates of all human body joints when getting on and off the vehicle in the real stepping scene; The human body posture joint point coordinates are screened and filtered to obtain the human body posture joint point coordinates that have the same height as the currently stepped step when stepping on each step, and define the human body posture joint point coordinates as the step stepping point coordinates.

3. The method for digitizing and applying human posture in a truck stepping test as claimed in claim 2, characterized in that: The method of respectively calculating the coordinates of the center of gravity of the human body when stepping on each step comprises: Screening and filtering the coordinates of the human body posture joint points; So as to respectively obtain the coordinates of all the joint points of the human body posture when stepping on each step; Dividing the human body into a plurality of parts according to all human body posture joints, and calculating the coordinates of the center of gravity of each part when stepping on the corresponding step according to the coordinates of the human body posture joints; The coordinates of the center of gravity of the human body when stepping on the corresponding step are calculated based on the coordinates of the center of gravity of each part.

4. The method for digitizing and applying human posture in a truck stepping test as claimed in claim 3, characterized in that: The method of calculating the coordinates of the center of gravity of the human body when stepping on the corresponding step according to the coordinates of the center of gravity of each part includes: determining the proportion of body weight contributed by each of said parts respectively; The center of gravity coordinates of each part are multiplied by the ratio of the center of gravity coordinates to the body weight, and the results of multiplying each part by the ratio of the center of gravity coordinates to the body weight are added together to obtain the center of gravity coordinates of the human body when stepping on the corresponding step.

5. The method for digitizing and applying human posture in a truck stepping test according to claim 1, characterized in that: The stepping angle when each step is stepped on is calculated according to the stepping point coordinates and the human body center of gravity coordinates, including: Calculating the direction vector of the stepping force when stepping on the corresponding step according to the difference between the stepping point coordinates and the corresponding coordinates of the center of gravity of the human body; The stepping angle corresponding to the step is calculated according to the direction vector.

6. The method for digitizing and applying human posture in a truck stepping test as claimed in claim 5, characterized in that: The step of controlling the mechanical arm to perform the truck step test according to the theoretical stepping point coordinates on each step and the corresponding stepping angle comprises: Calculating the coordinates of the actuating point of the robot arm when stepping on the step according to the theoretical stepping point coordinates on each step and the corresponding stepping angle; Obtain an array of the relationship between the coordinates of the actuating points and time according to all the coordinates of the actuating points, and obtain an array of the relationship between the stepping angle and time according to all the stepping angles; The actuation point coordinate-time relationship array and the stepping angle-time relationship array are respectively written into the loading program path of the mechanical arm to control the mechanical arm to perform a truck stepping test.

7. The method for digitizing and applying human posture in a truck stepping test according to claim 1, characterized in that: Before getting on the bus in a real-life stepping scenario, multiple sets of coordinate values ​​of the driver's left foot joint and right foot joint along the height direction when the driver is stationary relative to the stepping are collected within a preset time; Calculate the average value of all the coordinate values ​​and use the average value as a height direction reference value.

8. The method for digitizing and applying human posture in a truck stepping test according to claim 7, characterized in that: The value of the preset time is not less than 5s.

9. The method for digitizing and applying human posture in a truck stepping test according to claim 1, characterized in that: Build a real stepping scene indoors; The installation position of the depth camera is determined so that the distance between the depth camera and the truck is 1.8-2.2 m.

10. A device for digitizing and applying human posture in a truck step test, which is used for implementing the method for digitizing and applying human posture in a truck step test as claimed in claim 1, characterized in that: It includes: A data acquisition unit, which is used to collect the coordinates of the stepping points corresponding to each step taken by the vehicle getting on and off in the real stepping scene; A data calculation unit, which is used to calculate the coordinates of the center of gravity of the human body when stepping on each step, and to calculate the stepping angle when stepping on each step according to the coordinates of the stepping point and the coordinates of the center of gravity of the human body; A control drive unit is used to control the mechanical arm to perform a truck step test according to the theoretical stepping point coordinates on each step and the corresponding stepping angle.

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