Virtual hand construction model based on three-dimensional space scanning and rapid construction method

Abstract

The invention belongs to the technical field of virtual reality and simulation, and relates to a virtual hand construction model based on three-dimensional space scanning and a rapid construction method.The model comprises a real hand data extraction module, a 3D collector is used for conducting accurate scanning on the hand of the human body, the collected information generates hand point, line and surface in software, and the hand point, line and surface is obtained; grid editing and material generation are carried out through the point cloud, and acquisition and generation of a real hand model are realized; the virtual hand skeleton definition module is used for building a skeleton for the model according to a real skeleton structure, and sequentially carrying out weight setting on each joint, so that the virtual hand skeleton is associated with the real hand model, and the real hand model is driven by the skeleton to carry out action definition; and the virtual hand rapid packaging integration module is used for carrying out motion relation constraint binding on virtual hand bones, so that application of a data glove and a real hand model in a VR cabin design control simulation scene is realized, and the bound real hand model needs to be synchronously operated by an operator wearing the data glove. The data glove controls the real hand model to execute hand opening and fist clenching actions, the actions are completely smooth, and packaging of the virtual hand model is completed; according to the interaction application module, in a VR cabin design control simulation scene, the virtual hand model can perform grabbing, pushing, pulling, stirring and rotating actions on an accelerator table, an operation rod, a stirring button and a knob model in a cabin.

Description

Technical Field

[0001] The invention belongs to the technical field of virtual reality and simulation, and relates to a virtual hand construction model based on three-dimensional space scanning and a rapid construction method. Background Art

[0002] In aircraft design, the cockpit is an important component of the aircraft. During the design phase, it is necessary to conduct a human-machine operation accessibility assessment on the cockpit operations in the design software. Therefore, designers need to repeatedly test and verify the rationality of the cockpit design in order to carry out cockpit design.

[0003] Currently, designers mainly use human models to conduct preliminary assessments of cockpit accessibility in the early design stage, and rely on physical simulators and real pilots to verify operational accessibility in the later stages. However, there is a problem that the accessibility of pilot hand operations in the cockpit cannot be assessed in the design stage, and the later stages take a long time. As a result, designers cannot intuitively judge the rationality of the design solution and need to repeatedly verify and modify the design data.

[0004] With the development of technologies such as digital prototypes and virtual reality (VR), a virtual reality verification environment with good immersion and more intuitive interactive means is provided for the above situation. The three-dimensional digital prototype technology is used to build a three-dimensional digital prototype model that matches the real aircraft in the virtual scene, and the cockpit design verification simulation is carried out using data gloves, which provides technical support for designers to verify the cockpit design and supports designers to operate the panel in the virtual cockpit. Therefore, it is of great significance to use a real high-precision model of the human body to verify the accessibility of operations.

[0005] At present, in the virtual cockpit design verification simulation, the model equipped with data gloves is single, and it is impossible to perform interactive simulation according to the actual hand size of the designer. The interactive experience is poor, and the verification data is not rich, resulting in inaccurate simulation data and difficulty in subsequent verification. Summary of the invention

[0006] The purpose of the present invention is to solve the problems of single verification model type, poor universality and little simulation data in traditional interactive verification methods in view of the fact that there are many types of hand models in cockpit simulation and real hand models need to be quickly constructed and applied. The present invention proposes a virtual hand construction model and a rapid construction method based on three-dimensional space scanning. The technology of extracting real hand data, defining virtual hand skeletons and rapidly packaging and integrating virtual hands is adopted to realize the rapid packaging and construction of hand models, improve the model construction efficiency, and propose a rapid construction method of virtual hand models based on three-dimensional space scanning.

[0007] Technical Solution

[0008] A virtual hand model based on three-dimensional space scanning, comprising:

[0009] Real hand data extraction module: Use a 3D collector to accurately scan the human hand, and use the collected information to generate hand points, lines and surfaces in the software. Then, mesh editing and material generation are performed based on the point cloud to realize the collection and generation of the real hand model.

[0010] Virtual hand skeleton definition module: build a skeleton for the model according to the real bone structure, set the weight of each bone joint in turn, associate the virtual hand skeleton with the real hand model, and realize the action definition of the real hand model driven by the skeleton;

[0011] Virtual hand quick packaging integration module: The virtual hand skeleton is bound with motion constraints to realize the application of data gloves and real hand models in VR cockpit design control simulation scenarios. The bound real hand model requires the operator to wear data gloves for synchronous operation. The data gloves control the real hand model to perform hand opening and fisting movements. The movements are completely smooth and the virtual hand model is packaged.

[0012] Interactive application module: In the VR cockpit design control simulation scene, the virtual hand model can grasp, push, pull, dial, and rotate the throttle platform, operating lever, dial, and knob models inside the cockpit.

[0013] Furthermore, the extraction of the real hand data includes a hand shape model and a hand texture material.

[0014] Furthermore, the virtual hand skeleton definition includes the establishment of a skeleton, the binding of a real hand model to the skeleton, and the weight definition of the skeleton and the real hand model.

[0015] Furthermore, the rapid subassembly and integration of the virtual hand includes the addition of skeleton packaging and real hand model control scripts, and the binding of motion constraint relationships.

[0016] A method for quickly constructing a virtual hand model based on three-dimensional space scanning includes the following steps:

[0017] Step 1: Scan and extract the real hand model data in three dimensions through the real hand data extraction module;

[0018] Step 2: The virtual hand skeleton definition module performs parameterized definition on the virtual hand skeleton;

[0019] Step 3: Rapid packaging and integration of the virtual hand model;

[0020] Step 4: Virtual hand model simulation application.

[0021] Further, step 1 is specifically:

[0022] Use a 3D scanning device to scan a real person's hand and obtain complete data of the hand. The 3D scanning device uses its own camera to continuously shoot the real person's hand at high speed, and the picked-up data point cloud is edited to complete the shape construction;

[0023] include:

[0024] Data acquisition: The 3D sensor in the 3D scanning device acquires the black and white light band image of the real hand model. Through the camera calibration result, the 2D spatial coordinates of the real hand model are identified. The 3D scanning device determines the vertical position of the real hand model and transmits the collected data to the point cloud editor.

[0025] Real hand model generation: The black and white light band image is processed through point cloud to calculate the 3D point cloud hand shape contour, and the edge of the real hand model is stitched to obtain a complete 3D mesh shape;

[0026] Generation of three-dimensional color real hand model: Collect the color and texture information of the real hand model, generate UV mapping, and encapsulate the point cloud in the software to generate a three-dimensional color model through the collected color, texture and UV mapping information.

[0027] Furthermore, in step 2, the virtual hand skeleton includes a real hand model and a skeleton. The movement of the real hand model needs to be controlled by the skeleton, specifically including:

[0028] Skeleton construction: Construct the hand skeleton according to the real bone distribution, and establish the bone skeleton according to the direction of each finger joint of the hand; each hand joint is composed of joints and bones; the bone chain is composed of bone joints, and the palm has a total of five bone chains; the movement axis of each joint is the Z axis downward; the parent object of the joint is the bone, each finger has only one parent object, and the bones at the end of the finger are a separate group;

[0029] Bone binding: Add a skin modifier to let the model simulate real skin, attach it to the skeleton, and establish a link relationship with the skeleton; each bone joint has a parent object skeleton, and the entire hand skeleton is a parent object; add a skin modifier to the hand skeleton to establish a linkage relationship between the skeleton and the real hand model;

[0030] Skeleton motion control binding: The skeleton realizes hand movement by controlling muscles. The real hand model requires the skeleton to send signals. The weights are defined by numerical values ​​to achieve precise control of points on the real hand model. The points on the real hand model are adjusted and the motion is defined with precise numerical values ​​to make smooth movements. The bound real hand model makes initial movements and adjusts the direction and position of each finger joint to make the real hand model in the state of five fingers open.

[0031] Furthermore, in step 2, each bone needs to be named in a standardized manner. The naming convention is shown in the following table;

[0032] name First joint Second joint fingertip End joint Thumbs up thumb_01_x thumb_02_x thumb_03_x thumb_tip_x index finger index_01_x index_02_x index_03_x index_tip_x Middle finger middle_01_x middle_02_x middle_03_x middle_tip_x Ring finger ring_01_x ring_02_x ring_03_x ring_tip_x Pinky pinky_01_x pinky_02_x pinky_03_x pinky_tip_x

[0033] Further, step 3 specifically includes: using the real hand model in conjunction with the data glove, the data glove controlling the real hand model, binding the virtual skeleton of the data glove to obtain the virtual hand model, and the virtual hand fast packaging integration module integrating and packaging the virtual hand model and motion control;

[0034] in,

[0035] Virtual hand motion control package: add a data glove skeleton control script to the real hand model, start the script, calculate the coordinates and range of motion of the joints; preview the axis of each joint to confirm that the movement direction of each bone is correct; define the movement axis and range of the joints through parameters, that is, the constraint relationship, which conforms to the real motion characteristics of the hand;

[0036] Virtual hand model encapsulation, that is, virtual hand action binding: start the data glove, perform the virtual model hand opening and fisting actions, the actions are completely smooth, and the virtual hand model is encapsulated.

[0037] Further, step 4: the virtual hand model simulation application includes the application of the interactive application module, that is, the VR cockpit design control simulation uses the VR device and the data gloves for operation application;

[0038] Specifically: start the data glove and synchronize the virtual hand model in the VR cockpit design control simulation scene to perform operations; in the VR cockpit design control simulation scene, the virtual hand is raised, and the operator's hand and virtual hand movements are synchronized. At the same time, in the VR cockpit design control simulation scene, clicking and toggling the button screen inside the cockpit can be executed, and the virtual hand model based on three-dimensional space scanning is quickly constructed.

[0039] Beneficial Effects

[0040] Traditional modeling is to use geometric shapes in 3D software to model according to hand photos. It takes a lot of time to shape and adjust the model. The whole process requires the professional experience of the modeler. The whole process requires high professionalism and takes a long time. The model making process requires manual weight distribution. After distribution, the hand movement needs to be adjusted. The weight is verified according to the completeness of the skin to see if it is reasonable. This also requires the help of professional modelers and takes a lot of time.

[0041] Compared with the traditional real hand modeling method, the present invention encapsulates the cumbersome process into a reusable rapid modeling method, which can quickly replace multiple real hand models at the same time. High-precision models are generated by handheld three-dimensional scanning equipment, without relying on professional modeling personnel. Designers can start operating after training, which greatly optimizes the modeling process. Virtual hand skeleton definition technology and virtual hand rapid packaging integration technology greatly shorten the real hand model action control packaging time, improve the accuracy of model action definition, and can be quickly applied to simulation interaction.

[0042] Taking the real hand model modeling in VR cockpit design control simulation as the application verification object, the advantages of this method compared with the existing technology are shown in Table 2.

[0043] Table 2 Comparison between this method and prior art

[0044] Compare Projects Current projects This method Modeling of a realistic hand model About 17 days About 1 day Real hand motion control package About 7 days About 1 day Virtual hand model update About 24 days About 2 days

[0045] When this method is used to make a real hand model, the modeling time is shortened from 17 days in the traditional way to 1 day; the real hand motion control packaging time is shortened from 7 days in the traditional way to 1 day; the virtual hand model update time is shortened from 24 days in the traditional way to 2 days. Therefore, the use of this method greatly improves the efficiency of building the real hand model, and also improves the efficiency of rapid replacement of the real hand model, making the model library used to verify the accessibility of hand operations in VR cockpit design control simulation richer, and providing rich data support for the evaluation and verification of the accessibility of hand operations in the cockpit. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 Rapidly model technical schematics for the virtual hand;

[0047] Figure 2 Extract schematics for real hand data;

[0048] Figure 3 Define schematics for the virtual hand skeleton;

[0049] Figure 4 Quickly package an integrated schematic for a virtual hand. DETAILED DESCRIPTION

[0050] The features and illustrative embodiments of various aspects of the present invention will be described in detail below. In the detailed description below, many specific details are proposed to provide a comprehensive understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present invention by illustrating examples of the present invention. The present invention is by no means limited to any specific settings and methods proposed below, but covers any improvements, replacements and modifications of structures, methods, devices without departing from the spirit of the present invention. In the accompanying drawings and the following description, known structures and technologies are not shown to avoid unnecessary ambiguity in the present invention.

[0051] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other, and the embodiments can refer to and quote each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0052] Embodiment 1:

[0053] The present invention proposes a virtual hand model based on three-dimensional space scanning, comprising:

[0054] Real hand data extraction module: Use a 3D collector to accurately scan the human hand, and the collected information generates hand points, lines and surfaces in the software. The point cloud is then used for mesh editing and material generation to achieve the collection and generation of a real hand model.

[0055] Virtual hand skeleton definition module: Build a skeleton for the model according to the real bone structure, set the weight of each bone joint in turn, associate the virtual hand skeleton with the real hand model, and realize the action definition of the real hand model driven by the skeleton.

[0056] Virtual hand quick packaging integration module: The virtual hand skeleton is bound with motion constraints to realize the application of data gloves and real hand models in VR cockpit design control simulation scenarios. The bound real hand model requires the operator to wear data gloves for synchronous operation. The data gloves control the real hand model to perform hand opening and fisting movements. The movements are completely smooth and the virtual hand model is packaged.

[0057] Interactive application module: In the VR cockpit design control simulation scene, the virtual hand model can grasp, push, pull, dial, rotate and other actions on the throttle platform, operating lever, dial, knob and other models inside the cockpit.

[0058] The extraction of the real hand data includes a hand shape model and a hand texture material.

[0059] The virtual hand skeleton definition includes the establishment of a skeleton, the binding of a real hand model to the skeleton, and the weight definition of the skeleton and the real hand model.

[0060] The rapid assembly and integration of the virtual hand includes the addition of skeleton packaging and real hand model control scripts, and the binding of motion constraint relationships.

[0061] Embodiment 2: The present invention proposes a method for quickly constructing a virtual hand model based on three-dimensional space scanning, proposes solutions from the aspects of data extraction, binding, packaging, interactive application, etc., designs a method for quickly packaging the model, and realizes the rapid construction and update of real hand data; designs a parameterized virtual hand skeleton definition technology, and realizes the rapid binding of skeleton and real hand data; designs a virtual hand rapid packaging and integration technology, and realizes the rapid replacement of virtual hand models in VR applications.

[0062] The following steps are involved:

[0063] Step 1: Scan and extract the real hand model data in three dimensions through the real hand data extraction module

[0064] Use a 3D scanning device to scan a real person's hand and obtain complete data of the hand. The 3D scanning device uses its own camera to continuously shoot the real person's hand at high speed, and the picked-up data point cloud is edited to complete the shape construction;

[0065] in,

[0066] Data pickup: The 3D sensor in the 3D scanning device picks up the black and white light band image of the real hand model. Through the camera calibration results, the 2D spatial coordinates of the real hand model are identified. The 3D scanning device determines the vertical position of the real hand model and collects data to transmit it to the point cloud editor.

[0067] Generation of real hand model: The black and white light band image is processed through point cloud to calculate the three-dimensional point cloud hand shape contour, and the edge of the real hand model is stitched to obtain a complete three-dimensional mesh shape.

[0068] Generation of three-dimensional color real hand model: Collect the color and texture information of the real hand model, generate UV mapping, and encapsulate the point cloud in the software to generate a three-dimensional color model through the collected color, texture and UV mapping information.

[0069] Step 2: The virtual hand skeleton definition module parametrically defines the virtual hand skeleton

[0070] The virtual hand skeleton includes a real hand model and a skeleton. The movement of the real hand model needs to be controlled by the skeleton.

[0071] Skeleton construction: Build the hand skeleton according to the real bone distribution, and establish the bone skeleton according to the direction of each finger joint. Each hand joint is composed of joints and bones; the bone chain is composed of bone joints, and the palm has five bone chains; the movement axis of each joint is the Z axis downward; the parent object of the joint is the bone, each finger has only one parent object, and the bones at the end of the finger are a separate group.

[0072] Each bone needs to be named in a standardized manner. The naming convention is shown in Table 1.

[0073] Table 1. Bone naming conventions

[0074]

[0075] Bone binding: The real hand model and the skeleton are two separate modules. In order to link the two modules, a skin modifier needs to be added to allow the model to simulate real skin, attach to the skeleton, and link with the skeleton. Each bone joint has a parent object skeleton, and the entire hand skeleton is a parent object. Add a skin modifier to the hand skeleton to link the skeleton and the real hand model.

[0076] Skeleton motion control binding: The skeleton controls the muscles to achieve hand movement. The real hand model, like muscles, needs the skeleton to send signals. The weight is to define the points on the real hand model through numerical values ​​to achieve precise control. Adjust the points on the real hand model and use precise numerical values ​​to define the movement to make smooth movements. Make the initial movement of the bound real hand model, adjust the direction and position of each finger joint, and make the real hand model in the state of five fingers open.

[0077] Step 3: Virtual hand model quick packaging and integration

[0078] The real hand model is used in conjunction with the data glove. The data glove controls the real hand model. The virtual skeleton of the data glove is bound to obtain a virtual hand model. The virtual hand fast packaging integration module integrates and packages the virtual hand model and motion control.

[0079] in,

[0080] Virtual hand motion control package: add a data glove skeleton control script to the real hand model, start the script, calculate the coordinates and range of motion of the joints. Preview the axis of each joint to confirm that the movement direction of each bone is correct. Define the movement axis and range of the joint through parameters, that is, the constraint relationship, which conforms to the real motion characteristics of the hand.

[0081] Virtual hand model encapsulation, that is, virtual hand action binding: start the data glove, perform the virtual model hand opening and fisting actions, the actions are completely smooth, and the virtual hand model is encapsulated.

[0082] Step 4: Virtual Hand Model Simulation Application

[0083] In the interactive application module, namely VR cockpit design control simulation, VR devices and data gloves are used for operation.

[0084] Specifically, the data glove is activated and the virtual hand model in the VR cockpit design control simulation scene is synchronized for operation. In the VR cockpit design control simulation scene, the virtual hand is raised, and the operator's hand and virtual hand movements are synchronized. At the same time, the buttons and screens inside the cockpit can be clicked and dialed in the VR cockpit design control simulation scene. The virtual hand model based on three-dimensional space scanning is quickly constructed.

[0085] Embodiment 3:

[0086] A method for quickly constructing a virtual hand model based on three-dimensional space scanning Figure 1 As shown in the figure, solutions are proposed from the aspects of data extraction, binding, packaging, interactive application, etc.

[0087] Extraction of real hand data: Use a 3D collector to accurately scan the human hand. The collected information is used to generate hand points, lines and surfaces in the software. The point cloud is then used for mesh editing and material generation to complete the collection and generation of the real hand model, realizing the rapid construction and update of the real hand model.

[0088] Virtual hand skeleton definition: Build a skeleton for the model according to the real bone structure, set the weight of each bone joint in turn, associate the skeleton with the model, complete the fast binding of the skeleton and the skin, and realize the action definition driven by the skeleton.

[0089] Rapid packaging and integration of virtual hands: Constrain the motion relationship of the model skeleton to realize the simulation application of data gloves and real hand models in VR interaction.

[0090] The method for quickly constructing a virtual hand model by three-dimensional space scanning includes the following steps:

[0091] Step 1: Scan and extract the real hand model data in three dimensions through the real hand data extraction module: Use a three-dimensional scanning device to scan the real hand and obtain complete hand data. The three-dimensional scanning device uses its own camera to continuously shoot the real hand at high speed, and the picked data point cloud is edited to complete the shape construction. The principle is as follows Figure 2 As shown;

[0092] Data pickup: The 3D sensor in the 3D scanning device picks up the black and white light band image of the real hand model. Through the camera calibration results, the 2D spatial coordinates of the real hand model are identified. The 3D scanning device determines the vertical position of the real hand model and collects data to transmit it to the point cloud editor.

[0093] Generation of real hand model: The black and white light band image is processed through point cloud to calculate the three-dimensional point cloud hand shape contour, and the edge of the real hand model is stitched to obtain a complete three-dimensional mesh shape.

[0094] Generation of three-dimensional color real hand model: Collect the color and texture information of the real hand model, generate UV mapping, and encapsulate the point cloud in the software to generate a three-dimensional color model through the collected color, texture and UV mapping information.

[0095] Step 2: The virtual hand skeleton definition module performs parameterized definition on the virtual hand skeleton;

[0096] The virtual hand skeleton includes the real hand model and the skeleton. The movement of the real hand model needs to be controlled by the skeleton. The principle is as follows Figure 3 shown.

[0097] Skeleton construction: Build the hand skeleton according to the real bone distribution, and establish the bone skeleton according to the direction of each finger joint. Each hand joint is composed of joints and bones; the bone chain is composed of bone joints, and the palm has five bone chains; the movement axis of each joint is the Z axis downward; the parent object of the joint is the bone, each finger has only one parent object, and the bones at the end of the finger are a separate group.

[0098] Skeleton naming: Rename the skeleton to hand_r, and name each bone according to the corresponding thumb joint in English, thumb thumb, index finger index, middle finger middle, ring finger ring, and pinky pinky, as shown in Table 3.

[0099] Table 3 Knuckle nomenclature

[0100]

[0101] Bone binding: The real hand model and the skeleton are two separate modules. In order to link the two modules, a skin modifier needs to be added to allow the model to simulate real skin, attach to the skeleton, and link with the skeleton. Each bone joint has a parent object skeleton, and the entire hand skeleton is a parent object. Add a skin modifier to the hand skeleton to link the skeleton and the real hand model.

[0102] Skeleton motion control binding: The skeleton controls the muscles to achieve hand movement. The real hand model, like muscles, needs the skeleton to send signals. The weight is to define the points on the real hand model by numerical values ​​to achieve precise control. Use the WeightPro tool to calculate the weight, adjust the points on the real hand model, and use precise numerical values ​​to define the movement to make smooth movements.

[0103] Parametric virtual hand model: A bound real hand model that makes hand movements by controlling the skeleton. The initial movement is to open the palm, and adjust the values ​​of the X, Y, and Z axes of each joint to make the real hand model appear to be in the state of five fingers open.

[0104] Step 3: Virtual hand model quick packaging and integration

[0105] The real hand model is used in conjunction with the data glove. The data glove controls the real hand model. The real hand model is bound to the data glove to obtain a virtual hand model. The virtual hand fast packaging integration module integrates and packages the virtual hand model and motion control. The principle is as follows Figure 4 shown.

[0106] in,

[0107] Virtual hand motion control package: add a data glove virtual skeleton control script to the real hand model, start the script, and calculate the coordinates and range of motion of the joints.

[0108] Motion constraint settings: preview the axis and range of motion of each joint through the data glove skeleton control script, and adjust each bone so that the Z axis is toward the palm and the Y axis is upward.

[0109] Action parameter setting: Define the range of motion of the joints by adjusting parameters. For example, the root joint activity angle of the thumb is 0° to 45° on the Y axis. The axial angle of each joint is parameterized to make the bending angle of the real hand model conform to the movement characteristics of a real hand.

[0110] Virtual hand model encapsulation, that is, virtual hand action binding: start the data glove, the sensor on the data glove reads the operator's hand action information, the sensor on the glove processes the data, extracts features from the model's trajectory coordinate data, triggers the real hand model to perform hand opening and fisting actions, the data glove and the real hand model have consistent actions, and the real hand model moves smoothly, and the virtual hand model is encapsulated.

[0111] Step 4: Virtual Hand Model Simulation Application

[0112] In the interactive application module, namely VR cockpit design control simulation, VR devices including data gloves are used for operation.

[0113] Specifically, the operator puts on the VR device and the data gloves on his hands. The data gloves are activated, and the virtual hand model in the VR cockpit design control simulation scene is operated synchronously. In the VR cockpit design control simulation scene, the virtual hand is raised, and the operator's hand and virtual hand movements are synchronized. At the same time, in the VR cockpit design control simulation scene, high-precision actions such as grasping, pushing, pulling, toggling, and rotating the throttle platform, operating lever, dial, and knob models inside the cockpit can be completed.

[0114] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the field can easily think of various equivalent modifications or substitutions within the technical scope disclosed by the present invention, and these modifications or substitutions should all be covered within the protection scope of the present invention.

Claims

1. A virtual hand model based on three-dimensional space scanning, characterized in that: include: Real hand data extraction module: Use a 3D collector to accurately scan the human hand, and use the collected information to generate hand points, lines and surfaces in the software. Then, mesh editing and material generation are performed based on the point cloud to realize the collection and generation of the real hand model. Virtual hand skeleton definition module: build a skeleton for the model according to the real bone structure, set the weight of each bone joint in turn, associate the virtual hand skeleton with the real hand model, and realize the action definition of the real hand model driven by the skeleton; Virtual hand quick packaging integration module: The virtual hand skeleton is bound with motion constraints to realize the application of data gloves and real hand models in VR cockpit design control simulation scenarios. The bound real hand model requires the operator to wear data gloves for synchronous operation. The data gloves control the real hand model to perform hand opening and fisting movements. The movements are completely smooth and the virtual hand model is packaged. Interactive application module: In the VR cockpit design control simulation scene, the virtual hand model can grasp, push, pull, dial, and rotate the throttle platform, operating lever, dial, and knob models inside the cockpit.

2. A virtual hand model based on three-dimensional space scanning according to claim 1, characterized in that: The extraction of the real hand data includes a hand shape model and a hand texture material.

3. The virtual hand model based on three-dimensional space scanning according to claim 2, characterized in that: The virtual hand skeleton definition includes the establishment of a skeleton, the binding of a real hand model to the skeleton, and the weight definition of the skeleton and the real hand model.

4. The virtual hand model based on three-dimensional space scanning according to claim 3, characterized in that: The virtual hand rapid subassembly and integration includes skeleton packaging, adding of real hand model control script, and binding of motion constraint relationship.

5. The method for quickly constructing a virtual hand model based on three-dimensional space scanning according to claim 4, characterized in that: The following steps are involved: Step 1: Scan and extract the real hand model data in three dimensions through the real hand data extraction module; Step 2: The virtual hand skeleton definition module performs parameterized definition on the virtual hand skeleton; Step 3: Rapid packaging and integration of the virtual hand model; Step 4: Virtual hand model simulation application.

6. The method for quickly constructing a virtual hand model based on three-dimensional space scanning according to claim 5, characterized in that: Step 1 specifically is: Use a 3D scanning device to scan a real person's hand and obtain complete data of the hand. The 3D scanning device uses its own camera to continuously shoot the real person's hand at high speed, and the picked-up data point cloud is edited to complete the shape construction; include: Data acquisition: The 3D sensor in the 3D scanning device acquires the black and white light band image of the real hand model. Through the camera calibration result, the 2D spatial coordinates of the real hand model are identified. The 3D scanning device determines the vertical position of the real hand model and transmits the collected data to the point cloud editor. Real hand model generation: The black and white light band image is processed through point cloud to calculate the 3D point cloud hand shape contour, and the edge of the real hand model is stitched to obtain a complete 3D mesh shape; Generation of three-dimensional color real hand model: Collect the color and texture information of the real hand model, generate UV mapping, and encapsulate the point cloud in the software to generate a three-dimensional color model through the collected color, texture and UV mapping information.

7. The method for quickly constructing a virtual hand model based on three-dimensional space scanning according to claim 6, characterized in that: In step 2, the virtual hand skeleton includes the real hand model and the skeleton. The movement of the real hand model needs to be controlled by the skeleton, including: Skeleton construction: Construct the hand skeleton according to the real bone distribution, and establish the bone skeleton according to the direction of each finger joint of the hand; each hand joint is composed of joints and bones; the bone chain is composed of bone joints, and the palm has a total of five bone chains; the movement axis of each joint is the Z axis downward; the parent object of the joint is the bone, each finger has only one parent object, and the bones at the end of the finger are a separate group; Bone binding: Add a skin modifier to let the model simulate real skin, attach it to the skeleton, and establish a link relationship with the skeleton; each bone joint has a parent object skeleton, and the entire hand skeleton is a parent object; add a skin modifier to the hand skeleton to establish a linkage relationship between the skeleton and the real hand model; Skeleton motion control binding: The skeleton realizes hand movement by controlling muscles. The real hand model requires the skeleton to send signals. The weights are defined by numerical values ​​to achieve precise control of points on the real hand model. The points on the real hand model are adjusted and the motion is defined with precise numerical values ​​to make smooth movements. The bound real hand model makes initial movements and adjusts the direction and position of each finger joint to make the real hand model in the state of five fingers open.

8. The method for quickly constructing a virtual hand model based on three-dimensional space scanning according to claim 7, characterized in that: In step 2, each bone needs to be named in a standardized manner. The naming conventions are shown in the following table; 9. The method for quickly constructing a virtual hand model based on three-dimensional space scanning according to claim 8, characterized in that: Step 3 specifically includes: using the real hand model in conjunction with the data glove, the data glove controlling the real hand model, binding the virtual skeleton of the data glove to obtain the virtual hand model, and integrating and packaging the virtual hand model and motion control using a virtual hand rapid packaging integration module; in, Virtual hand motion control package: add a data glove skeleton control script to the real hand model, start the script, calculate the coordinates and range of motion of the joints; preview the axis of each joint to confirm that the movement direction of each bone is correct; define the movement axis and range of the joints through parameters, that is, the constraint relationship, which conforms to the real motion characteristics of the hand; Virtual hand model encapsulation, that is, virtual hand action binding: start the data glove, perform the virtual model hand opening and fisting actions, the actions are completely smooth, and the virtual hand model is encapsulated.

10. The method for quickly constructing a virtual hand model based on three-dimensional space scanning according to claim 9, characterized in that: Step 4: The virtual hand model simulation application includes the application of the interactive application module, that is, the VR cockpit design control simulation uses VR equipment and data gloves for operation application; Specifically: start the data glove and synchronize the virtual hand model in the VR cockpit design control simulation scene to perform operations; in the VR cockpit design control simulation scene, the virtual hand is raised, and the operator's hand and virtual hand movements are synchronized. At the same time, in the VR cockpit design control simulation scene, clicking and toggling the button screen inside the cockpit can be executed, and the virtual hand model based on three-dimensional space scanning is quickly constructed.

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