Method and device for constructing virtual three-dimensional human body model and central processing unit

Abstract

The invention provides a method and device for constructing a virtual three-dimensional human body model and a central processing unit. The method comprises the steps that a skeleton model is constructed according to the structural features of a real target human body, the skeleton model comprises a plurality of virtual joint points, and each virtual joint point corresponds to a posture function used for representing the motion features of the corresponding real joint point in the target human body; adjusting the attitude function according to the three-dimensional surface morphology data of the target human body to obtain an initial three-dimensional model; and splitting the surface morphology data of the initial three-dimensional model according to a preset splitting strategy, and establishing association between the split surface morphology data of each part and the virtual joint points to obtain a target three-dimensional model, the target three-dimensional model being used for following the target human body to act under the driving of the target human body. According to the method and the device, the target three-dimensional model capable of accurately representing the real human body can be constructed, and the target three-dimensional model can accurately follow the real human body to act in real time under the driving of the real human body.

Description

Technical Field

[0001] The present application relates to the field of data processing technology, and in particular to a method, device and central processing unit for constructing a virtual three-dimensional human body model. Background Art

[0002] Automobile development is designed with the driver and passengers as the center, and must meet the driver and passengers' convenience of operation, driving vision, riding space, and convenience of getting on and off the car. At present, the human body models in automobile design and development are mainly 2D human body models, which cannot truly reflect the activities and operating boundaries of the driver and passengers. There are several major defects in the current application of human body models: first, the standards are mainly based on 2D human body models, while the real users are 3D human body models; second, the current 3D human body models are only used as auxiliary means and are not widely used. The main reason is that the placement of 3D human body models is obtained by software simulation or manual setting, which does not conform to the real form of the driver and passengers, and the accuracy is poor. Therefore, it cannot accurately follow the actions of the driver and passengers in real time and cannot be well used in automobile design and development. Summary of the invention

[0003] The present application provides a method, device and central processing unit for constructing a virtual three-dimensional human body model, which can construct a target three-dimensional model that can accurately represent the real human body. The target three-dimensional model can follow the real human body's real-time movements when driven by the real human body (that is, it always remains consistent with the real human body's movements), and can be well applied to automobile design and development scenarios.

[0004] In a first aspect, the present application provides a method for constructing a virtual three-dimensional human body model, comprising:

[0005] Acquiring three-dimensional surface morphology data of a target human body, wherein the target human body is a real human body;

[0006] According to the structural features of the target human body, a skeleton model corresponding to the target human body is constructed, wherein the skeleton model includes a plurality of virtual joints, each of the virtual joints uniquely corresponds to a real joint in the target human body, and each of the virtual joints has a posture function for characterizing the motion features of the corresponding real joint;

[0007] According to the three-dimensional surface morphology data, the posture function in the skeleton model is adjusted to obtain an initial three-dimensional model corresponding to the target human body;

[0008] According to a preset splitting strategy, the surface morphology data of the initial three-dimensional model is split, and an association is established between the surface morphology data of each part after the split and the virtual joint points, so as to obtain a target three-dimensional model corresponding to the target human body. The target three-dimensional model is used to follow the movements of the target human body under the drive of the target human body.

[0009] Optionally, adjusting the posture function in the skeleton model according to the three-dimensional surface morphology data to obtain an initial three-dimensional model corresponding to the target human body includes:

[0010] According to the three-dimensional surface morphology data, the posture function in the skeleton model is adjusted to obtain an adjusted skeleton model;

[0011] Acquire a first spatial motion trajectory of each of the real joint points;

[0012] Determining a second spatial motion trajectory of each of the virtual joint points according to the first spatial motion trajectory;

[0013] According to the second spatial motion trajectory, the posture function in the adjusted skeleton model is corrected to obtain the initial three-dimensional model.

[0014] Optionally, obtaining the first spatial motion trajectory of each of the real joint points includes:

[0015] Acquire the spatial motion trajectory of the sensor worn at each of the real joint points on the target human body;

[0016] According to the spatial motion trajectory of the sensor, the first spatial motion trajectory of each of the real joint points is determined.

[0017] Optionally, the acquiring of the spatial motion trajectory of the sensor worn at each of the real joint points on the target human body includes:

[0018] Acquire image data of each sensor worn on the target human body when the target human body is in various postures;

[0019] The spatial motion trajectory of each of the sensors is determined according to the image data.

[0020] Optionally, constructing a skeleton model corresponding to the target human body according to the structural features of the target human body includes:

[0021] Determine a starting joint point among the multiple virtual joint points and a posture function corresponding to the starting joint point;

[0022] The posture function corresponding to each virtual joint point is determined according to the structural features of the target human body, the posture function corresponding to the starting joint point, and the relationship between each virtual joint point except the starting joint point and the starting joint point.

[0023] Optionally, after obtaining the target three-dimensional model corresponding to the target human body, the method further includes:

[0024] When the target human body and the target three-dimensional model are in an associated state, obtaining a third space motion trajectory of each of the real joint points;

[0025] Determining a fourth spatial motion trajectory of each of the virtual joint points according to the third spatial motion trajectory;

[0026] According to the fourth spatial motion trajectory, the posture of the target three-dimensional model is controlled to be consistent with the posture of the target human body.

[0027] In a second aspect, the present application provides a device for constructing a virtual three-dimensional human body model, comprising:

[0028] A scanning module, used to collect three-dimensional surface morphology data of a target human body, wherein the target human body is a real human body;

[0029] A central processing unit is used to obtain the three-dimensional surface morphology data from the scanning module; construct a skeleton model corresponding to the target human body according to the structural characteristics of the target human body, wherein the skeleton model includes multiple virtual joints, one of the virtual joints uniquely corresponds to a real joint in the target human body, and each of the virtual joints has a posture function for characterizing the motion characteristics of the corresponding real joint; according to the three-dimensional surface morphology data, the posture function in the skeleton model is adjusted to obtain an initial three-dimensional model corresponding to the target human body; according to a preset splitting strategy, the surface morphology data of the initial three-dimensional model is split, and an association is established between the split surface morphology data of each part and the virtual joints to obtain a target three-dimensional model corresponding to the target human body, wherein the target three-dimensional model is used to follow the movement of the target human body under the drive of the target human body.

[0030] Optionally, the device further comprises:

[0031] A motion capture module, used for acquiring the spatial motion trajectory of the real joint points corresponding to each of the virtual joint points;

[0032] The central processing unit is also used to adjust the posture function in the skeleton model according to the three-dimensional surface morphology data to obtain the adjusted skeleton model; obtain the spatial motion trajectory of the real joint point from the motion capture module; and correct the posture function in the adjusted skeleton model according to the spatial motion trajectory to obtain the initial three-dimensional model.

[0033] Optionally, the device further comprises:

[0034] A driving test bench, used for the target human body to perform simulated driving behavior;

[0035] The motion capture module is also used to obtain the spatial motion trajectory of each real joint point of the target human body when the target human body performs the simulated driving behavior;

[0036] The central processing unit is also used to control the posture of the target three-dimensional model to be consistent with the posture of the target human body according to the spatial motion trajectory of the real joint point when the target human body and the target three-dimensional model are in an associated state.

[0037] In a third aspect, the present application provides a central processing unit, comprising:

[0038] A first acquisition module is used to acquire three-dimensional surface morphological data of a target human body, where the target human body is a real human body;

[0039] A construction module, for constructing a skeleton model corresponding to the target human body according to the structural characteristics of the target human body, wherein the skeleton model includes a plurality of virtual joint points, each of the virtual joint points uniquely corresponds to a real joint point in the target human body, and each of the virtual joint points has a posture function for characterizing the motion characteristics of the corresponding real joint point;

[0040] An adjustment module, used for adjusting the posture function in the skeleton model according to the three-dimensional surface morphology data to obtain an initial three-dimensional model corresponding to the target human body;

[0041] The splitting module is used to split the surface morphology data of the initial three-dimensional model according to a preset splitting strategy, and establish an association between the surface morphology data of each part after the split and the virtual joint points, so as to obtain a target three-dimensional model corresponding to the target human body, and the target three-dimensional model is used to follow the movement of the target human body under the drive of the target human body.

[0042] Optionally, the adjustment module includes:

[0043] An adjustment submodule, used for adjusting the posture function in the skeleton model according to the three-dimensional surface morphology data to obtain an adjusted skeleton model;

[0044] A first acquisition submodule, used for acquiring a first spatial motion trajectory of each of the real joint points;

[0045] A first determining submodule, configured to determine a second spatial motion trajectory of each of the virtual joint points according to the first spatial motion trajectory;

[0046] A correction submodule is used to correct the posture function in the adjusted skeleton model according to the second spatial motion trajectory to obtain the initial three-dimensional model.

[0047] Optionally, the first acquisition submodule includes:

[0048] The second acquisition submodule is used to acquire the spatial motion trajectory of the sensor worn at each of the real joint points on the target human body;

[0049] The second determination submodule is used to determine the first spatial motion trajectory of each of the real joint points according to the spatial motion trajectory of the sensor.

[0050] Optionally, the second acquisition submodule includes:

[0051] A third acquisition submodule is used to acquire image data of each sensor worn on the target human body when the target human body is in various postures;

[0052] The third determination submodule is used to determine the spatial motion trajectory of each of the sensors according to the image data.

[0053] Optionally, the building blocks include:

[0054] A fourth determination submodule, used to determine a starting joint point among the multiple virtual joint points and a posture function corresponding to the starting joint point;

[0055] The fifth determination submodule is used to determine the posture function corresponding to each virtual joint point according to the structural characteristics of the target human body, the posture function corresponding to the starting joint point, and the relationship between each virtual joint point other than the starting joint point and the starting joint point.

[0056] Optionally, the device further comprises:

[0057] A second acquisition module, used for acquiring a third space motion trajectory of each of the real joint points when the target human body and the target three-dimensional model are in an associated state;

[0058] A determination module, used for determining a fourth spatial motion trajectory of each of the virtual joint points according to the third spatial motion trajectory;

[0059] A control module is used to control the posture of the target three-dimensional model to be consistent with the posture of the target human body according to the fourth spatial motion trajectory.

[0060] In a fourth aspect, the present application provides an electronic device, including:

[0061] processor;

[0062] a memory for storing instructions executable by the processor;

[0063] The processor is configured to execute to implement a method for constructing a virtual three-dimensional human body model as described in the first aspect of the present application.

[0064] In a fifth aspect, the present application provides a non-temporary computer-readable storage medium. When the instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute a method for constructing a virtual three-dimensional human body model as described in the first aspect of the present application.

[0065] The present application provides a method for constructing a virtual three-dimensional human body model, firstly obtaining the three-dimensional surface morphology data of a real target human body; then, according to the structural characteristics of the target human body, constructing a skeleton model corresponding to the target human body, the skeleton model includes a plurality of virtual joints, and one virtual joint corresponds to a posture function for characterizing the motion characteristics of the corresponding real joint in the target human body; then, according to the three-dimensional surface morphology data, adjusting the posture function in the skeleton model, obtaining an initial three-dimensional model corresponding to the target human body; finally, according to a preset splitting strategy, splitting the surface morphology data of the initial three-dimensional model, and establishing the association between the surface morphology data of each part after splitting and the virtual joints, obtaining a target three-dimensional model corresponding to the target human body, and the target three-dimensional model is used to follow the target human body movement under the drive of the target human body. Through the present application, a target three-dimensional model that can accurately represent the real target human body can be constructed, and the target three-dimensional model can accurately follow the target human body movement in real time under the drive of the real target human body, and can be well used in the automotive design and development scene, overcoming the defects of the human body model in the related technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0067] Figure 1 is a flow chart of a method for constructing a virtual three-dimensional human body model shown in one embodiment of the present application;

[0068] Figure 2 It is a structural schematic diagram of a device for constructing a virtual three-dimensional human body model shown in an embodiment of the present application;

[0069] Figure 3 It is a partial structural schematic diagram of a retractable scanning device shown in an embodiment of the present application;

[0070] Figure 4 is a schematic diagram of a human body wearable sensor shown in an embodiment of the present application;

[0071] Figure 5 is a schematic diagram of a real person riding on a driving platform according to an embodiment of the present application;

[0072] Figure 6 is a schematic diagram of three-dimensional surface morphology data shown in an embodiment of the present application;

[0073] Figure 7 This is a schematic diagram of dividing human joint points shown in an embodiment of the present application;

[0074] Figure 8 is a schematic diagram of a three-dimensional model of a target driven by a real person according to an embodiment of the present application;

[0075] Fig. 9 is a structural block diagram of a central processing unit shown in an embodiment of the present application;

[0076] Among them, 1-frame structure, 2-vertical track with slide groove, 3-horizontal rod, 4-retractable scanning device, 5-rotatable foot pad, 6-central processing unit, 10-target human body, 20-camera, 21-real seat, 22-matrix installation point, 23-real steering wheel, 24-real pedal, 100-electric telescopic mechanism, 101-scanning lens, 102-distance detector, 200-head sensor, 201-upper arm sensor, 202-forearm sensor, 203-thigh sensor, 2 04- calf sensor, 205- foot sensor, 206- trunk sensor, 207- hand sensor, 300- neck joint, 301- shoulder joint, 302- spine joint, 303- elbow joint, 304- mid-hip joint, 305- hand joint, 306- side-hip joint, 307- knee joint, 308- ankle joint, 309- sole joint, 400- virtual 3D human body, 401- data seat, 402- data steering wheel, 403- data screen. DETAILED DESCRIPTION

[0077] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are part of the embodiments of the present application, rather than all 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.

[0078] The objective of the present application is to provide a method for constructing a 3D model of a real human body. After the 3D human body model constructed based on the method is associated with the real human body, when the real human body wears sensors to perform simulated operations in a virtual reality environment, the 3D human body model can follow the movements of the real human body, that is, keep consistent with the movements of the real human body at all times, thereby realizing real-time driving of the 3D human body model by the real human body.

[0079] The 3D human body model of the present application is mainly used in automobile design and development, and can also be applied to other fields and can be set according to actual needs. In order to better illustrate the method of the present application, the subsequent embodiments all take the application of the 3D human body model in the field of automobile development as an example.

[0080] Figure 1 1 is a flow chart of a method for constructing a virtual three-dimensional human body model according to an embodiment of the present application. Figure 1 The method for constructing a virtual three-dimensional human body model of the present application may include the following steps:

[0081] Step S11: Acquire three-dimensional surface morphology data of a target human body, where the target human body is a real human body.

[0082] The execution device of the method of the present application is Figure 2 The central processing unit 6 in the device for constructing a virtual three-dimensional human body model is shown. Figure 2 It is a structural schematic diagram of a device for constructing a virtual three-dimensional human body model shown in one embodiment of the present application.

[0083] Before introducing the method of the present application in detail, the following first Figure 2 The device shown is described in detail.

[0084] Reference Figure 2 The device mainly includes: a frame structure 1, an adaptive scanning module, a motion capture module, a driving platform and a central processing unit 6.

[0085] The adaptive scanning module mainly includes a vertical track with a slide groove 2, a transverse rod 3, a retractable scanning device 4 and a rotatable foot pad 5. The transverse rod 3, the retractable scanning device 4 and the rotatable foot pad 5 can establish a communication connection with the central processing unit 6 through wireless or wired communication.

[0086] The specific structure of the retractable scanning device 4 is as follows: Figure 3 As shown, it includes an electric telescopic mechanism 100 , a scanning lens 101 and a distance detector 102 . Figure 3 It is a schematic diagram of the partial structure of a retractable scanning device shown in one embodiment of the present application.

[0087] The motion capture module mainly includes various sensors worn by the target human body 10 (real human body) and a camera 20 arranged on the frame structure 1 . Both the sensor and the camera 20 are communicatively connected to the central processing unit 6 .

[0088] The sensor is composed of an elastic band and a sensing unit, and a plurality of sensing units are distributed on the elastic band, which can be worn by different human bodies to form an annular feature that fits the surface morphology of the human body. The camera 20 is used to capture the motion trajectory of the annular feature in real time, and transmit it to the central processing unit 6 for analysis and calculation in real time, so as to further simulate and generate the spatial position data of each joint point in the human body. Each joint point corresponds to an annular feature generated by a sensor.

[0089] Figure 4 is a schematic diagram of a human body wearable sensor shown in an embodiment of the present application. Figure 4 The sensors in the present application include a head sensor 200, an upper arm sensor 201, a forearm sensor 202, a hand sensor 207, a thigh sensor 203, a calf sensor 204, a foot sensor 205, and a torso sensor 206. The number of each sensor can be set to multiple according to the symmetrical structure of the human body. For example, the upper arm sensor 201 can include a left upper arm sensor and a right upper arm sensor, and the forearm sensor 202 can include a left forearm sensor and a right forearm sensor.

[0090] The driving platform of the present application at least includes a central control screen, a physical seat 21, a matrix mounting point 22, a physical steering wheel 23, and a physical pedal 24. Figure 2 and Figure 5 shown. Figure 5 It is a schematic diagram of a real person riding on a driving platform according to an embodiment of the present application. Figure 5 The driving state of the central control screen of the vehicle simulated by real people is shown. The driving platform can also include other modules such as dashboards, door panels, etc. according to actual needs, and this application does not limit this.

[0091] Before executing step S11, the adaptive scanning module has scanned the target human body 10 and obtained the 3D surface morphology data of the target human body 10. Therefore, when executing step S11, the central processing unit 6 can directly obtain the 3D surface morphology data of the target human body from the adaptive scanning module.

[0092] In the present application, the target human body may be any real human object, for example, the target human body may be driver and passenger 1 or driver and passenger 2, and this embodiment does not impose any limitation on this.

[0093] The process of the adaptive scanning module scanning the target human body 10 and obtaining three-dimensional surface morphology data includes:

[0094] Step 1: The target person 10 wears the sensor and stands on the rotatable foot pad 5, and the central processing unit 6 starts the scanning procedure;

[0095] Step 2: The central processing unit 6 drives the transverse rod 3 to move downward from the top at a constant speed along the vertical track 2 with the slide groove, starts the scanning lens 101 to scan, and at the same time, drives the rotatable foot pad 5 to rotate at a constant speed to achieve a 360° scan of the surface morphology of the target human body 10;

[0096] Step 3: The central processing unit 6 drives the retractable scanning device 4 to monitor the distance between the scanning lens 101 and the target human body 10 in real time. min When the distance between the scanning lens 101 and the target human body 10 exceeds S max When the central processing unit 6 drives the electric telescopic mechanism 100 to move towards the direction close to the target human body 10, that is, the central processing unit 6 always keeps the distance between the scanning lens 101 and the target human body 10 within a safe distance range to ensure fast and safe scanning, and obtain the three-dimensional surface morphology data of the target human body 10 in a complete free standing state, mainly including the surface morphology data of the limbs, torso and head.

[0097] The distance detector 102 at the front end of the retractable scanning device 4 is provided with a safety distance range: greater than S min and less than or equal to S max To ensure that the lens does not touch the target human body 10 during the rotation process, the distance between the scanning lens 101 and the target human body 10 needs to be greater than S min However, the scanning lens 101 cannot be too far away from the target human body 10, otherwise the accuracy of the scanned data will not meet the actual needs. Therefore, the distance between the scanning lens 101 and the target human body 10 needs to be less than or equal to S max The maximum value S can be set according to the scanning accuracy. max .

[0098] Figure 6 is a schematic diagram of a three-dimensional surface morphology data shown in an embodiment of the present application. Figure 6 In the figure, the left side is the target human body 10, and the right side is the three-dimensional surface morphology data obtained by scanning.

[0099] Step S12: construct a skeleton model corresponding to the target human body according to the structural characteristics of the target human body, wherein the skeleton model includes multiple virtual joint points, each of the virtual joint points uniquely corresponds to a real joint point in the target human body, and each virtual joint point has a posture function for characterizing the motion characteristics of the corresponding real joint point in the target human body.

[0100] Among them, structural characteristics include height, body shape, etc., which can be set according to actual needs.

[0101] In the present application, the skeleton model is a parametrically editable human skeleton model, which includes a plurality of virtual joints, each of which uniquely corresponds to a real joint in the target human body 10.

[0102] In the present application, each virtual joint point corresponds to a posture function representing the motion characteristics of the virtual joint point, and the posture function includes multiple parameters. For a certain virtual joint point, when the multiple parameters in the corresponding posture function are determined, the posture of the virtual joint point can be determined. In other words, according to the posture function corresponding to a certain virtual joint point, the motion law of the virtual joint point can be determined. Since the virtual joint points correspond to the real joint points in the real human body, the posture functions corresponding to each virtual joint point can also be used to characterize the motion characteristics of the corresponding real joint points in the target human body.

[0103] Figure 7 Schematic diagram of the division of human joint points shown in one embodiment of the present application. Figure 7 In the present application, according to the physiological characteristics of the human body, the upper limbs, lower limbs and head can be simplified as rigid connections, that is, single-joint connections, and the trunk needs to be processed as flexible connections, that is, multi-joint connections. Specifically, the upper limbs can be divided into shoulder joints 301 (including left shoulder joints and right shoulder joints), elbow joints 303 (including left elbow joints and right elbow joints) and hand joints 305 (including left hand joints and right hand joints); the lower limbs can be divided into mid-hip joints 304, side hip joints 306 (including left hip joints and right hip joints), knee joints 307 (including left knee joints and right knee joints), ankle joints 308 (including left ankle joints and right ankle joints) and sole joints 309 (including left sole joints and sole joints); the head corresponds to the neck joints 300; the trunk corresponds to the spine joints 302, and the spine joints 302 are connected by multiple joints ( Figure 7 4 are shown).

[0104] In the skeleton model, each virtual joint has a corresponding unique posture function. For example, the left sole joint has a unique corresponding posture function, and the right sole joint has a unique corresponding posture function. For another example, the left shoulder joint has a unique corresponding posture function, and the right shoulder joint also has a unique corresponding posture function.

[0105] In specific implementation, step S13 may include:

[0106] Determine a starting joint point among multiple virtual joint points and a posture function corresponding to the starting joint point;

[0107] According to the structural characteristics of the target human body, the posture function corresponding to the starting joint point, and the relationship between each virtual joint point except the starting joint point and the starting joint point, the posture function corresponding to each virtual joint point is determined.

[0108] In this application, the process of constructing a parametrically editable skeleton model includes:

[0109] Step 1: Preset the skeleton model in the free standing state and construct the left, middle and right hip joints. Then, take the middle hip joint 304 as the reference point (starting point), vertically and upwardly set a plurality of spine joints 302 (to simulate the flexible trunk of the target human body 10) and the neck joint 300. Then, take the neck joint 300 as the reference point to set the shoulder joint 301, specifically, set the left shoulder joint to the left, and set the right shoulder joint to the right. Then, take the shoulder joint 301 as the reference point to set the elbow joint 303 downwards, specifically, take the left shoulder joint as the reference point to set the left elbow joint downwards, and take the right shoulder joint as the reference point to set the right elbow joint downwards. Then, take the elbow joint 303 as the reference point to set the hand joint 305 downwards, specifically, take the left elbow joint as the reference point to set the left hand joint downwards, and take the right elbow joint as the reference point to set the right hand joint downwards. Next, the knee joint 307 is set downwardly with the middle hip joint 304 as the reference point, specifically, the left knee joint is set to the left, and the right knee joint is set to the right. Next, the ankle joint 308 is set downwardly with the knee joint 307 as the reference point, specifically, the left ankle joint is set downwardly with the left knee joint as the reference, and the right ankle joint is set downwardly with the right knee joint as the reference. Next, the sole joint 309 is set downwardly with the ankle joint 308 as the reference point, specifically, the left sole joint is set downwardly with the left ankle joint as the reference, and the right sole joint is set downwardly with the right ankle joint as the reference.

[0110] Step 2: Taking the middle hip joint point 304 as the starting point, establish the multi-level functional relationship (posture function) of each virtual joint point in sequence. The process of establishing the multi-level functional relationship of each virtual joint point includes:

[0111] With the middle hip joint point 304 as the first starting joint point (posture function is F(X0, Y0, Z0)), the posture function F1(X1, Y1, Z1) of the left knee joint point and the function F2(X1, Y1, Z1) of the right knee joint point are established downwards. Next, with the left knee joint point as the second starting joint point, the function F1(X2, Y2, Z2) of the left ankle joint point is established downwards, and with the right knee joint point as the second starting joint point, the function F2(X2, Y2, Z2) of the right ankle joint point is established downwards. Next, with the left ankle joint point as the third starting joint point, the function F1(X3, Y3, Z3) of the left sole joint point is established downwards, and with the right ankle joint point as the third starting joint point, the function F2(X3, Y3, Z3) of the right sole joint point is established downwards. Next, the middle hip joint point 304 is used as the first starting joint point, and the posture functions of each spinal joint point are established upward, namely F1(X4, Y4, Z4), ... FN(X4, Y4, Z4), where N is the number of spinal joint points ( Figure 7 4 in the figure). It should be noted that, in order to fit the flexibility characteristics of the spinal joints, the number of spinal joints 302 is set to multiple in the present application, and the posture function of each spinal joint is set in sequence. Then, taking the spinal joint 302 as the second starting joint, the posture function F (X5, Y5, Z5) of the neck joint 300 is established upward. Then, taking the neck joint 300 as the third starting joint, the posture function F1 (X6, Y6, Z6) of the left shoulder joint is established to the left, and the posture function F2 (X6, Y6, Z6) of the right shoulder joint is established to the right. Then, taking the left shoulder joint as the fourth starting joint, the posture function F1 (X7, Y7, Z7) of the left elbow joint is established downward, and taking the right shoulder joint as the fourth starting joint, the posture function F2 (X7, Y7, Z7) of the right elbow joint is established downward. Next, taking the left elbow joint point as the fifth starting joint point, the posture function F1 (X8, Y8, Z8) of the left hand joint point is established downward, and taking the right elbow joint point as the sixth starting joint point, the posture function F2 (X8, Y8, Z8) of the right hand joint point is established downward.

[0112] According to the first step to the second step, a human skeleton model with a multi-level functional relationship taking the middle hip joint point 304 as a reference point is constructed in sequence.

[0113] Step S13: adjusting the posture function in the skeleton model according to the three-dimensional surface morphology data to obtain an initial three-dimensional model corresponding to the target human body.

[0114] In the present application, the posture function in the skeleton model can be adjusted directly according to the three-dimensional surface morphology data, and the adjusted skeleton model is used as the initial three-dimensional model corresponding to the target human body 10.

[0115] Of course, in order to make the final target three-dimensional model accurately represent the appearance characteristics of the target human body 10, the skeleton model can be initially fitted using the three-dimensional surface morphology data, and then the spatial motion trajectory of each real joint point can be used to correct the skeleton model obtained after the initial fitting, and finally the corrected skeleton model can be used as the initial three-dimensional model.

[0116] If the second method is adopted, step S13 may specifically include:

[0117] Step S131: adjusting the posture function in the skeleton model according to the three-dimensional surface morphology data to obtain an adjusted skeleton model.

[0118] In step S131, the central processing unit 6 performs an initial fit between the three-dimensional surface morphology data and the parameterizable editable skeleton model, and adjusts the parameterizable editable skeleton model in sequence, starts positioning from the middle hip joint 304, and adjusts the posture functions of each virtual joint point in the skeleton model in sequence, so that the skeleton model and the three-dimensional surface morphology data of the target human body 10 are basically matched. The effect after the initial fitting can be as follows: Figure 7 shown.

[0119] Step S132: Obtain the first spatial motion trajectory of each real joint point.

[0120] Step S133: Determine the second spatial motion trajectory of each virtual joint point according to the first spatial motion trajectory. Specifically, step S132 may include:

[0121] Obtain the spatial motion trajectory of the sensor worn at each real joint point on the target human body;

[0122] According to the spatial motion trajectory of the sensor, the spatial motion trajectory of each real joint point is determined.

[0123] Wherein, obtaining the spatial motion trajectory of the sensor worn at each real joint point on the target human body may include:

[0124] Through binocular cameras or multiple monocular cameras, image data of each sensor worn on the target human body in various postures of the target human body is collected, and one sensor corresponds to one real joint point;

[0125] Based on the image data, the spatial motion trajectory of each sensor is determined.

[0126] In the present application, the spatial motion trajectory of each sensor can be obtained through the motion capture module. Specifically, the camera 20 continuously takes pictures of each sensor and analyzes the collected image data to obtain the spatial position coordinates and spatial motion trajectory of each sensor.

[0127] The type of the camera 20 is a binocular camera or a monocular camera. If it is a monocular camera, the number of the cameras 20 must be multiple.

[0128] A binocular camera is a visual device composed of two cameras. It captures images in the scene through two cameras and uses the image information to simulate the stereoscopic vision function of the human eye. The working principle of the binocular camera is based on the principle of triangulation. By calculating the distance and angle information between the two cameras, the depth information of the objects in the scene is obtained, thereby reconstructing the surrounding three-dimensional shape and position. The specific process is as follows: 1) Image acquisition: The two cameras capture images of two different angles in the scene respectively; 2) Image processing: Match and process the images collected by the two cameras to calculate the disparity between the two images; 3) Depth calculation: Using the disparity information and the baseline distance between the cameras, the depth information of the objects in the scene is calculated through the principle of triangulation; 4) Three-dimensional reconstruction: Based on the depth information and the two-dimensional image, the three-dimensional shape and position of the scene can be reconstructed.

[0129] A monocular camera captures images through a single lens. Therefore, if you want to obtain the spatial position coordinates and spatial motion trajectory of each sensor through the image data collected by the monocular camera, you need to combine multiple monocular cameras, set different reference points, and shoot from multiple angles to determine the spatial position coordinates and spatial motion trajectory of the sensor.

[0130] In the present application, in the process of collecting image data of each sensor through the camera 20, the target human body 10 can adjust various postures and fully move multiple joints such as the neck joint, elbow joint, shoulder joint, hip joint, knee joint, ankle joint, etc. In other words, the target human body 10 can move with the maximum degree of freedom in accordance with physiological habits, such as the head and feet can move forward, backward, left, right and reset, the forearm, upper arm, thigh and calf can stretch and reset, the waist can be bent and reset, etc.

[0131] In specific implementation, the central processing unit 6 analyzes the image data collected by the camera 20, and can determine the spatial position coordinates of the sensor based on a single picture, and then determine the spatial motion trajectory of the sensor based on the spatial position coordinates in multiple pictures taken continuously by the sensor in chronological order. For example, for sensor A, when the target human body 10 wears sensor A to perform various postures, the camera 20 will continuously shoot sensor A to obtain multiple pictures, and the central processing unit 6 can determine the spatial position coordinates of sensor A based on one of the pictures. After determining the spatial position coordinates of sensor A in each picture, the spatial position coordinates of sensor A corresponding to each picture are connected according to the chronological order of the shooting of each picture, and the spatial motion trajectory of sensor A can be obtained. Therefore, in this way, the spatial motion trajectory of each sensor can be obtained.

[0132] After obtaining the spatial motion trajectory of each sensor, since one sensor uniquely corresponds to one real joint point, and one real joint point uniquely corresponds to one virtual joint point, the central processing unit 6 can determine the spatial motion trajectory corresponding to each real joint point according to the spatial motion trajectory of each sensor, and then determine the spatial motion trajectory corresponding to each virtual joint point in the skeleton model. The spatial motion trajectory corresponding to a virtual joint point can be represented by the spatial motion trajectory of the real joint point corresponding to the virtual joint point.

[0133] Specifically, the spatial motion trajectory of the neck joint 300 can be obtained from the spatial motion trajectory of the head sensor 200, the spatial motion trajectory of the shoulder joint 301 (including the left shoulder joint and the right shoulder joint) can be obtained from the spatial motion trajectory of the upper arm sensor 201 (including the left upper arm sensor and the right upper arm sensor), the spatial motion trajectory of the elbow joint 303 (the left elbow joint and the right elbow joint) can be obtained from the spatial motion trajectory of the forearm sensor 202 (the left forearm sensor and the right forearm sensor), and the spatial motion trajectory of the hand joint 305 (including the left hand sensor and the right hand sensor) can be obtained from the spatial motion trajectory of the hand sensor 207 (including the left hand sensor and the right hand sensor). The spatial motion trajectory of the thigh sensor 203 (including the left thigh sensor and the right thigh sensor) can be used to obtain the spatial motion trajectory of the knee joint 307 (including the left knee joint and the right knee joint); the spatial motion trajectory of the calf sensor 204 (including the left calf sensor and the right calf sensor) can be used to obtain the spatial motion trajectory of the ankle joint 308 (including the left ankle joint and the right ankle joint); the spatial motion trajectory of the foot joint 309 (including the left sole joint and the right sole joint) can be obtained from the spatial motion trajectory of the foot sensor 205 (including the left foot sensor and the right foot sensor). The torso sensor 206 includes multiple sensors corresponding to the spinal joints 302, the middle hip joints 304 and the side hip joints 306. There are four spinal joints 302 and two side hip joints 306 (including the side hip joints and the right hip joints). Therefore, there are seven torso sensors 206 in total. The spatial motion trajectories of each spinal joint, each side hip joint and the middle hip joint can be obtained based on the spatial motion trajectories of each of the seven sensors.

[0134] In the present application, each joint point is simplified to a hinged connection form in advance, and the middle hip joint point 304 can be used as a reference point to be movably connected with the spine joint point, neck joint point, shoulder joint point, elbow joint point and hand joint point upward, and to be movably connected with the knee joint point, ankle joint point and sole joint point downward. Therefore, the corresponding sensors worn at each real joint point of the target human body 10 will also move with the movement of the joint point.

[0135] In the present application, the types of joints are divided into two categories, one is the limbs, which can be simplified as rigid connections, and the other is the trunk, which can be set as flexible connections (which can be achieved by setting multiple spinal joints). For the rigid joints of the limbs, they can be moved forward and backward or left and right on a plane, which is simplified to a method of determining the center of a circle by an arc, or they can be reciprocated on multiple planes, which is simplified to a method of determining the center of a sphere by a spherical surface. For the flexible connection of the trunk, it can be further subdivided into rigid connections of multiple joints, for example, from the middle hip joint point 304 up to the 4 spinal joints, which are 12345 in sequence, then 2 relative to 1 is a circular motion, and so on, 5 joints of the trunk can be obtained. Step S134: According to the second spatial motion trajectory, the posture function in the adjusted skeleton model is corrected to obtain an initial three-dimensional model.

[0136] In the present application, the posture function includes multiple parameters. When the three-dimensional surface morphology data is used for initial fitting, the accuracy of the parameters in each posture function is limited. Therefore, it is necessary to use the spatial motion trajectory of each real joint point to correct the multiple parameters in the posture function, so that the final target three-dimensional model can accurately reflect the real target human body 10, so that when the target human body 10 wears sensors and performs simulated operations in a virtual reality environment, the target three-dimensional model can better follow the movements of the target human body 10.

[0137] In the present application, the central processing unit 6 performs secondary fitting correction on the skeleton model of the initial fitting. The specific process is: based on the virtual joints of each articulated connection and the spatial motion trajectory corresponding to each virtual joint, the posture function of each virtual joint is adjusted. The adjustment order is still: hip joints, spine joints, neck joints, shoulder joints, elbow joints, hand joints, hip joints, knee joints, ankle joints, and sole joints. After the correction, the skeleton model and the three-dimensional surface morphology data of the target human body 10 are completely matched. For example, the sensor position determined according to the image data collected by the motion capture module is completely overlapped with the sensor position in the three-dimensional surface morphology data scanned by the adaptive scanning module.

[0138] Step S14: According to the preset splitting strategy, the surface morphology data of the initial three-dimensional model is split, and the association between the surface morphology data of each part after the split and the virtual joint points is established to obtain the target three-dimensional model corresponding to the target human body. The target three-dimensional model is used to follow the target human body's movements under the drive of the target human body.

[0139] By executing step S14, the surface morphology data of the initial three-dimensional model can be split into multiple parts, wherein the preset splitting strategy records which virtual joint points the surface morphology data of each part is split according to, which virtual joint points the surface morphology data of each part after splitting needs to be associated with, and how to establish associations with the corresponding virtual joint points.

[0140] In the present application, the surface morphology data of the initial three-dimensional model is disassembled with the virtual joint points as the segmentation points. For example, the upper arm and the lower arm of the surface morphology data can be segmented according to the elbow joint points, and the lower arm is set to move and rotate with the elbow joint point as the axis. According to the above principle, the segmentation of the surface morphology data of the initial three-dimensional model and the active connection based on the virtual joint points can be realized according to the virtual joint points.

[0141] After splitting and associating according to the preset splitting strategy, a target three-dimensional model with movable and adjustable joints can be obtained. In the present application, the target three-dimensional model is a virtual 3D digital human model with freely movable joints and completely consistent with the size and surface morphology of the target human body 10, that is, a 3D human body model that can accurately represent the real human body, and the 3D human body model is associated with the target human body 10 in real time through sensors and virtual joints.

[0142] In combination with the above embodiments, in one implementation manner, after obtaining the target three-dimensional model corresponding to the target human body, the method of the present application may further include:

[0143] When the target human body and the target three-dimensional model are in an associated state, the third space motion trajectory of each real joint point is obtained;

[0144] Determine the fourth spatial motion trajectory of each virtual joint point according to the third spatial motion trajectory;

[0145] According to the fourth spatial motion trajectory, the posture of the target three-dimensional model is controlled to be consistent with the posture of the target human body.

[0146] In the present application, after obtaining the target three-dimensional model, the real target human body 10 can be associated with the target three-dimensional model to drive the target three-dimensional model in real time so that the target three-dimensional model follows the movement of the target human body 10 .

[0147] Combination Figure 5 When the target human body 10 wears the sensor and performs simulated operations in the virtual reality environment, the camera 20 captures the spatial motion trajectory of the sensor in real time. The central processing unit 6 determines the spatial motion trajectory of each real joint point in the target human body 10 according to the spatial motion trajectory of each sensor, and then determines the spatial motion trajectory of each virtual joint point in the target three-dimensional model, thereby driving the target three-dimensional model to make it completely consistent with the movement of the target human body 10. The driving effect of the target three-dimensional model is as follows: Figure 8 shown. Figure 8 FIG. 1 is a schematic diagram of a three-dimensional model of a real person driving a target according to an embodiment of the present application. Figure 8 In the figure, the virtual 3D environment includes a virtual 3D human body 400 , a data seat 401 , a data steering wheel 402 , and a data screen 403 .

[0148] This application provides a multifunctional expansion platform that integrates scanning, motion capture, driving platform and other devices, that is, Figure 2 The device for constructing a virtual three-dimensional human body model shown. Based on this platform, the method of the present application as a whole includes: the first step, the scanning module moves from top to bottom, and the surface morphology data of the target human body 10 is quickly and automatically scanned through a retractable scanning device and a self-rotating foot pad. The second step is to start the motion capture module, and the motion capture of the target human body 10 under free movement is performed through a camera to obtain the spatial motion trajectory of each sensor, and further to fit the spatial motion trajectory of each joint point in the target human body 10. The third step is to simplify the upper limbs, lower limbs and head into rigid connections, that is, single-joint connection, and process the trunk into a flexible connection, that is, multi-joint connection, according to the physiological characteristics of the human body, to obtain the skeleton model of the target human body. The fourth step is to fit the surface morphology data of the target human body 10 obtained in the first step with the skeleton model, and use the spatial motion trajectory obtained in the second step to correct the fitted skeleton model to obtain a 3D digital human body that is completely equivalent to the real target human body 10 and can be driven with it.

[0149] Combination Figure 5 , the target human body 10 performs screen-related operations on the driving platform, and the corresponding target three-dimensional model is driven by the driving device to perform equivalent operations, such as Figure 8 As shown, the 3D process data of the target human body 10's movements are completely recorded and output, thereby accurately guiding the design and development of vehicle models.

[0150] The target three-dimensional model constructed in this application can follow the real human body's real-time movements under the drive of the real human body and is completely consistent with the movements of the real human body, which has at least the following advantages:

[0151] First, in the early stage of vehicle development and design, the vehicle can be evaluated completely according to the real target human body 10, and the human-machine engineering process data such as the space occupied by the target human body 10 on the vehicle, the operating boundaries of hands and feet, the trajectory of getting on and off the vehicle, and the visual field habits can be recorded, so as to realize the targeted design and optimization of the space boundaries, operating parts layout, getting on and off the vehicle convenience design, and the visual field of the development vehicle model, so as to fully identify the project risks in the early stage of the project and reach the optimal design plan.

[0152] Second, by using real human bodies to drive the target three-dimensional model to perform operations or evaluations in a virtual environment, the cost of trial production of prototype vehicles and prototypes can be greatly reduced, which can save project development costs.

[0153] Third, a 3D human body model database based on the Chinese human body can be quickly established to enable the design and development of vehicle models based on the Chinese target human body and improve product satisfaction.

[0154] It should be noted that, for the method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present application are not limited by the described order of actions, because according to the embodiments of the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present application.

[0155] Based on the same inventive concept, an embodiment of the present application provides a device for constructing a virtual three-dimensional human body model, comprising:

[0156] A scanning module, used to collect three-dimensional surface morphology data of a target human body, wherein the target human body is a real human body;

[0157] A central processing unit is used to obtain the three-dimensional surface morphology data from the scanning module; construct a skeleton model corresponding to the target human body according to the structural characteristics of the target human body, wherein the skeleton model includes multiple virtual joints, each of the virtual joints uniquely corresponds to a real joint in the target human body, and each of the virtual joints has a posture function for characterizing the motion characteristics of the corresponding real joint; according to the three-dimensional surface morphology data, the posture function in the skeleton model is adjusted to obtain an initial three-dimensional model corresponding to the target human body; according to a preset splitting strategy, the surface morphology data of the initial three-dimensional model is split, and an association is established between the split surface morphology data of each part and the virtual joints to obtain a target three-dimensional model corresponding to the target human body, wherein the target three-dimensional model is used to follow the movement of the target human body under the drive of the target human body.

[0158] The scanning module is Figure 2 The adaptive scanning module in the embodiment of the present invention. The specific description of the scanning module and the central processing unit can be referred to the above description.

[0159] Optionally, the device further comprises:

[0160] A motion capture module, used for acquiring the spatial motion trajectory of the real joint points corresponding to each of the virtual joint points;

[0161] The central processing unit is also used to adjust the posture function in the skeleton model according to the three-dimensional surface morphology data to obtain the adjusted skeleton model; obtain the spatial motion trajectory of the real joint point from the motion capture module; and correct the posture function in the adjusted skeleton model according to the spatial motion trajectory to obtain the initial three-dimensional model.

[0162] For a detailed description of the motion capture module, please refer to the above.

[0163] Optionally, the device further comprises:

[0164] A driving test bench, used for the target human body to perform simulated driving behavior;

[0165] The motion capture module is also used to obtain the spatial motion trajectory of each real joint point of the target human body when the target human body performs the simulated driving behavior;

[0166] The central processing unit is also used to control the posture of the target three-dimensional model to be consistent with the posture of the target human body according to the spatial motion trajectory of the real joint point when the target human body and the target three-dimensional model are in an associated state.

[0167] For the description of the driving platform, please refer to the above.

[0168] Based on the same inventive concept, an embodiment of the present application provides a central processing unit 900 . Fig. 9 1 is a block diagram of a central processing unit shown in an embodiment of the present application. Fig. 9 As shown, the central processing unit 900 includes:

[0169] A first acquisition module 901 is used to acquire three-dimensional surface morphological data of a target human body, where the target human body is a real human body;

[0170] A construction module 902 is used to construct a skeleton model corresponding to the target human body according to the structural characteristics of the target human body, wherein the skeleton model includes a plurality of virtual joints, each of which uniquely corresponds to a real joint in the target human body, and each of which has a posture function for characterizing the motion characteristics of the corresponding real joint;

[0171] An adjustment module 903 is used to adjust the posture function in the skeleton model according to the three-dimensional surface morphology data to obtain an initial three-dimensional model corresponding to the target human body;

[0172] The splitting module 904 is used to split the surface morphology data of the initial three-dimensional model according to a preset splitting strategy, and establish an association between the surface morphology data of each part after the split and the virtual joint points, so as to obtain a target three-dimensional model corresponding to the target human body, and the target three-dimensional model is used to follow the movement of the target human body under the drive of the target human body.

[0173] Optionally, the adjustment module 903 includes:

[0174] An adjustment submodule, used for adjusting the posture function in the skeleton model according to the three-dimensional surface morphology data to obtain an adjusted skeleton model;

[0175] A first acquisition submodule, used for acquiring a first spatial motion trajectory of each of the real joint points;

[0176] A first determining submodule, configured to determine a second spatial motion trajectory of each of the virtual joint points according to the first spatial motion trajectory;

[0177] A correction submodule is used to correct the posture function in the adjusted skeleton model according to the second spatial motion trajectory to obtain the initial three-dimensional model.

[0178] Optionally, the first acquisition submodule includes:

[0179] The second acquisition submodule is used to acquire the spatial motion trajectory of the sensor worn at each of the real joint points on the target human body;

[0180] The second determination submodule is used to determine the first spatial motion trajectory of each of the real joint points according to the spatial motion trajectory of the sensor.

[0181] Optionally, the second acquisition submodule includes:

[0182] A third acquisition submodule is used to acquire image data of each sensor worn on the target human body when the target human body is in various postures;

[0183] The third determination submodule is used to determine the spatial motion trajectory of each of the sensors according to the image data.

[0184] Optionally, the construction module 902 includes:

[0185] A fourth determination submodule, used to determine a starting joint point among the multiple virtual joint points and a posture function corresponding to the starting joint point;

[0186] The fifth determination submodule is used to determine the posture function corresponding to each virtual joint point according to the structural characteristics of the target human body, the posture function corresponding to the starting joint point, and the relationship between each virtual joint point other than the starting joint point and the starting joint point.

[0187] Optionally, the device 900 further includes:

[0188] A second acquisition module, used for acquiring a third space motion trajectory of each of the real joint points when the target human body and the target three-dimensional model are in an associated state;

[0189] A determination module, used for determining a fourth spatial motion trajectory of each of the virtual joint points according to the third spatial motion trajectory;

[0190] A control module is used to control the posture of the target three-dimensional model to be consistent with the posture of the target human body according to the fourth spatial motion trajectory.

[0191] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0192] The present application also provides an electronic device, which includes:

[0193] processor;

[0194] a memory for storing instructions executable by the processor;

[0195] The processor is configured to execute a method for constructing a virtual three-dimensional human body model as described in an embodiment of the present application.

[0196] An embodiment of the present application also provides a non-temporary computer-readable storage medium. When the instructions in the storage medium are executed by a processor of an electronic device, the electronic device can execute a method for constructing a virtual three-dimensional human body model described in an embodiment of the present application.

[0197] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0198] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0199] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0200] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0201] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0202] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A method for constructing a virtual three-dimensional human body model, characterized in that: include: Acquiring three-dimensional surface morphology data of a target human body, wherein the target human body is a real human body; According to the structural features of the target human body, a skeleton model corresponding to the target human body is constructed, wherein the skeleton model includes a plurality of virtual joints, each of the virtual joints uniquely corresponds to a real joint in the target human body, and each of the virtual joints has a posture function for characterizing the motion features of the corresponding real joint; According to the three-dimensional surface morphology data, the posture function in the skeleton model is adjusted to obtain an initial three-dimensional model corresponding to the target human body; According to a preset splitting strategy, the surface morphology data of the initial three-dimensional model is split, and an association is established between the surface morphology data of each part after the split and the virtual joint points, so as to obtain a target three-dimensional model corresponding to the target human body. The target three-dimensional model is used to follow the movements of the target human body under the drive of the target human body.

2. The method according to claim 1, characterized in that The step of adjusting the posture function in the skeleton model according to the three-dimensional surface morphology data to obtain an initial three-dimensional model corresponding to the target human body includes: According to the three-dimensional surface morphology data, the posture function in the skeleton model is adjusted to obtain an adjusted skeleton model; Acquire a first spatial motion trajectory of each of the real joint points; Determining a second spatial motion trajectory of each of the virtual joint points according to the first spatial motion trajectory; According to the second spatial motion trajectory, the posture function in the adjusted skeleton model is corrected to obtain the initial three-dimensional model.

3. The method according to claim 2, characterized in that The obtaining of the first spatial motion trajectory of each of the real joint points comprises: Acquire the spatial motion trajectory of the sensor worn at each of the real joint points on the target human body; According to the spatial motion trajectory of the sensor, the first spatial motion trajectory of each of the real joint points is determined.

4. The method according to claim 3, characterized in that The obtaining of the spatial motion trajectory of the sensor worn at each of the real joint points on the target human body includes: Acquire image data of each sensor worn on the target human body when the target human body is in various postures; The spatial motion trajectory of each of the sensors is determined according to the image data.

5. The method according to claim 1, characterized in that The step of constructing a skeleton model corresponding to the target human body according to the structural features of the target human body includes: Determine a starting joint point among the multiple virtual joint points and a posture function corresponding to the starting joint point; The posture function corresponding to each virtual joint point is determined according to the structural features of the target human body, the posture function corresponding to the starting joint point, and the relationship between each virtual joint point except the starting joint point and the starting joint point.

6. The method according to claim 2, characterized in that After obtaining the target three-dimensional model corresponding to the target human body, the method further includes: When the target human body and the target three-dimensional model are in an associated state, obtaining a third space motion trajectory of each of the real joint points; Determining a fourth spatial motion trajectory of each of the virtual joint points according to the third spatial motion trajectory; According to the fourth spatial motion trajectory, the posture of the target three-dimensional model is controlled to be consistent with the posture of the target human body.

7. A device for constructing a virtual three-dimensional human body model, characterized in that: include: A scanning module, used to collect three-dimensional surface morphology data of a target human body, wherein the target human body is a real human body; A central processing unit is used to obtain the three-dimensional surface morphology data from the scanning module; construct a skeleton model corresponding to the target human body according to the structural characteristics of the target human body, wherein the skeleton model includes a plurality of virtual joints, each of the virtual joints uniquely corresponds to a real joint in the target human body, and each of the virtual joints has a posture function for characterizing the motion characteristics of the corresponding real joint; and adjust the posture function in the skeleton model according to the three-dimensional surface morphology data to obtain an initial three-dimensional model corresponding to the target human body; According to a preset splitting strategy, the surface morphology data of the initial three-dimensional model is split, and an association is established between the surface morphology data of each part after the split and the virtual joint points, so as to obtain a target three-dimensional model corresponding to the target human body. The target three-dimensional model is used to follow the movements of the target human body under the drive of the target human body.

8. The device according to claim 7, characterized in that The device also includes: A motion capture module, used for acquiring the spatial motion trajectory of the real joint points corresponding to each of the virtual joint points; The central processing unit is also used to adjust the posture function in the skeleton model according to the three-dimensional surface morphology data to obtain the adjusted skeleton model; obtain the spatial motion trajectory of the real joint point from the motion capture module; and correct the posture function in the adjusted skeleton model according to the spatial motion trajectory to obtain the initial three-dimensional model.

9. The device according to claim 8, characterized in that The device also includes: A driving test bench, used for the target human body to perform simulated driving behavior; The motion capture module is also used to obtain the spatial motion trajectory of each real joint point of the target human body when the target human body performs the simulated driving behavior; The central processing unit is also used to control the posture of the target three-dimensional model to be consistent with the posture of the target human body according to the spatial motion trajectory of the real joint point when the target human body and the target three-dimensional model are in an associated state.

10. A central processing unit, characterized in that: include: A first acquisition module is used to acquire three-dimensional surface morphology data of a target human body, where the target human body is a real human body; A construction module, for constructing a skeleton model corresponding to the target human body according to the structural characteristics of the target human body, wherein the skeleton model includes a plurality of virtual joints, each of which uniquely corresponds to a real joint in the target human body, and each of which has a posture function for characterizing the motion characteristics of the corresponding real joint; An adjustment module, used for adjusting the posture function in the skeleton model according to the three-dimensional surface morphology data to obtain an initial three-dimensional model corresponding to the target human body; The splitting module is used to split the surface morphology data of the initial three-dimensional model according to a preset splitting strategy, and establish an association between the surface morphology data of each part after the split and the virtual joint points, so as to obtain a target three-dimensional model corresponding to the target human body, and the target three-dimensional model is used to follow the movement of the target human body under the drive of the target human body.

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