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Numéro de publicationCN102129706 A
Type de publicationDemande
Numéro de demandeCN 201110058121
Date de publication20 juil. 2011
Date de dépôt10 mars 2011
Date de priorité10 mars 2011
Numéro de publication201110058121.8, CN 102129706 A, CN 102129706A, CN 201110058121, CN-A-102129706, CN102129706 A, CN102129706A, CN201110058121, CN201110058121.8
Inventeurs吕国云, 樊养余, 王毅, 贾蒙, 黄琪, 齐敏
Déposant西北工业大学
Exporter la citationBiBTeX, EndNote, RefMan
Liens externes:  SIPO, Espacenet
Virtual human eye emotion expression simulation method
CN 102129706 A
Résumé
The invention discloses a virtual human eye emotion expression simulation method, which comprises the following steps of: firstly, acquiring a three-dimensional human eye mesh model, namely, three-dimensional mesh data; secondly, selecting mesh points at eye areas of the model according to the motion characteristics of eyes as motion control points; and finally, driving the motion of boundary control points by adopting a crank and rocker mechanism model to simulate real eye motion. In the method, the same mathematic model is adopted to realize the repeated motion process of opening and closing the eyes under the condition of continuous time and produce richer eye closing motion reflecting different emotions by regulating parameters such as position relationships among different rods, initial mounting position of a crank and the like. In the method, the mathematic model is simple; and the method is explicit in physical significant, simple to control, easy to implement and high in reality.
Revendications(1)  Langue du texte original : Chinois
1. 一种虚拟人眼部情感表现模拟方法,其特征在于包括下述步骤:首先,获取三维人眼网格模型,即三维网格数据;其次,根据眼部的运动特性在模型的眼部区域选择网格点作为运动控制点:选取上眼皮边缘处的所有网格点作为运动控制点,在网格模型中选出上眼皮边缘的最高点及两个眼角点,以两个眼角点的连线作为一条边,以平行于该边并经过最高点的直线作为另一条边,进而划分出一个矩形区域,并在此区域中进行边缘控制点的选取;设定XOY 坐标系,X轴平行于两眼角点的连线,基于矩形区域边界条件的约束,统计出落在该区域内的全部网格点,共Q个,将矩形区域沿X轴方向均分为Q个子区间,在落入每个子区间的所有网格点中求出Y坐标值最小的网格点,即该子区域内的最低点,作为候选边界点;从左端眼角点开始随着X坐标值的增大,边缘控制点的Y坐标值也先逐渐增至最高点而后又逐渐减小到右端眼角点,从而根据这一条件从候选点中筛选出边界点作为运动控制点,排除非边界点;再次,采用曲柄摇杆机构模型驱动边界控制点的运动,模拟真实的眼部运动:曲柄摇杆机构包括曲柄、连杆、摇杆和机架,曲柄与机架,曲柄与连杆,连杆与摇杆,摇杆与与机架分别构成转动副,其中,曲柄与机架构成周转副;当曲柄为原动件,摇杆为从动件时,曲柄能够绕机架的固定铰链做整周转动,并可将曲柄的连续转动,通过不直接与机架相联的连杆转变成摇杆的往复摆动,假设眼皮边界点位于摇杆机构中摇杆上的任意一点, 根据需求设定曲柄的旋转角速度为控制参数,根据机架、曲柄、摇杆之间的位置关系和曲柄的初始安装位置,以及输入的曲柄转动角速度参数,计算出眼皮边界点在任意时刻的空间位置或转过的角度,并以此驱动三维网格点运动,从而模拟出眼皮的闭合运动,生成具有真实感的三维人眼动画;其中,在设定机架、曲柄、摇杆之间的位置关系和曲柄的初始安装位置需要遵守以下原则:1)曲柄、连杆、摇杆、机架中最短杆和最长杆的长度和必须小于或者等于其他两杆的长度和,并且组成周转副的两杆中必须有一杆是四杆中的最短杆;2)曲柄、连杆、摇杆、机架的初始位置不能重叠于机架方向的水平线上,摇杆与机架连线的初始夹角须为钝角。 A virtual human emotional expression eye simulation method comprising the following steps: First, to obtain a three-dimensional mesh model of the human eye, that is three-dimensional grid data; Secondly, according to the motion characteristics of the eye of the eye in the model region selection grid point as a motion control point: Select all grid points on the edge of the eyelid as a motion control point, select the highest point on the edge of the eyelid and the two corner points in the grid model, with two corner points Connection as an edge parallel to the edge and as a straight line passing through the highest point of the other side, and then carved out a rectangular area, and select the control point edge in this area; set XOY coordinates, X axis parallel to connect the two corners point, constraint-based rectangular area boundary conditions, the statistics fall within the area of all grid points, a total of Q, the rectangular area along the X-axis direction are divided into Q subintervals, in fall all grid points in each sub-section of the minimum value determined Y coordinate grid points, the lowest point of the sub-region, as a candidate boundary points; starting from the left corner point with increasing X coordinate value, margin control Esen Y coordinate value of the point and then gradually increased to the highest point and gradually decreases to the right corner point, which filter based on the criteria from the candidate points out border control point as the movement point, excluding non-boundary points; again, using the crank movement of the lever mechanism model-driven boundary control points, to simulate real eye movements: crank rocker mechanism includes a crank, connecting rods, rocker and frame, crank and frame, crank and connecting rod, rocker, shake rod rack respectively constitute rotating pair, which constitutes a crank and rack turnover vice; when the crank of the original moving parts, for the follower rocker, crank rotatable about the fixed frame hinge do the whole week rotation, and The continuous rotation of the crank and connecting rod through the frame does not change directly linked to reciprocating joystick, assuming eyelid boundary point located anywhere on the rocker rocker mechanism that demand is set according to the rotation angular velocity of the crank control parameters, according to the initial installation position of the positional relationship between the rack, crank, between the rocker and crank, and crank angular velocity input parameters to calculate the position of the eyelid border point in space at any given time or angle turned, and This drive three-dimensional grid point motion, simulating the closing movement of the eyelid, to generate a realistic three-dimensional animation of the human eye; wherein, in setting the positional relationship between the rack, crank, and crank rocker between the initial installation position needs observe the following principles: 1) crank, connecting rod, rocker, rack rod and longest shortest length of the rod and must be less than or equal to the length and the other two, and the composition of the turnover of two deputy must have a four shortest rod rod; initial angle 2) The initial position of the crank, connecting rods, rocker, the rack can not overlap in the direction of the horizontal frame line rocker and the frame connection must be obtuse.
Description  Langue du texte original : Chinois

一种虚拟人眼部情感表现模拟方法 A kind of virtual human emotional expression eye Simulation

技术领域 Technical Field

[0001] 本发明涉及计算机视觉领域,尤其涉及三维人脸动画研究领域。 [0001] The present invention relates to the field of computer vision, in particular, to three-dimensional facial animation research. 背景技术 Background

[0002] 人脸是每个人的重要特征之一,通过它我们可以识别他人身份、观察他人心情、领悟其健康状态等。 [0002] The human face is one of the important characteristics of each person, through which we can identify another person's identity, observing others feel, and understand their health status. 近年来,随着计算能力的飞速提高和网络应用的蓬勃发展,人脸动画研究再次成为计算机视觉以及人机交互中非常活跃的领域。 In recent years, with the rapid development of the rapid increase in computing power and network applications, facial animation and computer vision research has once again become very active in human-computer interaction field. 而眼睛作为面部重要的感觉器官和关键的情感载体,在传递信息和情感表达等方面都起着不可替代的作用,但同时眼睛生理结构十分复杂,眼部运动非常丰富,故如何在计算机世界里再现具有真实感的眼部运动一直是人脸动画研究中的一个有着重要意义同时又极具挑战性的课题。 The eye as a face important sensory organ and critical emotional support, the transmission of information and other aspects of emotional expression plays an irreplaceable role, but the physical structure of the eye is very complex, eye movement is very rich, so how in the computer world reproduction eye movements have been realistic facial animation study is significant while a challenging task.

[0003] 一直以来,人们对人脸动画的研究已经很多,专门针对眼睛的研究则相对较少。 [0003] have been studied people have a lot of facial animation, specifically for eye research is relatively small. 但鉴于眼睛在表现情感方面的重要作用,近年来对眼睛动画的研究也越来越多。 But in view of the important role of the eye in the performance of emotional, recent studies on the eyes more and more animated. 主要可以分为以下几个方面: It can be divided into the following areas:

[0004] 1.物理运动模拟 [0004] 1. The physical motion simulation

[0005] 作为人脸动画的一部分,从运动的角度对眼睛进行动画建模。 [0005] As part of the facial animation, from the perspective of the eye movement animation modeling. 其中主要有参数模型、肌肉模型、抽象肌肉动作模型和物理模型等。 The major ones are the parameters model, muscle model, abstract muscle action model and the physical model. 而在此基础上,主要的动画方法有基于MPEG-4参数的人脸表情动画和基于Waters肌肉模型的人脸表情动画。 And on this basis, the main facial expression animation methods animation based on MPEG-4 and Waters muscle model parameters based on facial expression animation.

[0006] MPEG-4的动画方法主要基于MPEG-4标准中对三维人脸格式的定义。 Animation Method [0006] MPEG-4 is mainly based on MPEG-4 standard definition of the three-dimensional human face format. 该标准中定义了FDP(Facial Definition Parameter,人脸定义参数)和FAP(Facial Animation Parameter,人脸动画参数)两套参数,其中FDP定义人脸的形状、纹理等特征,而FAP则描述人脸的运动。 This standard defines the FDP (Facial Definition Parameter, face to define parameters) and FAP (Facial Animation Parameter, facial animation parameter) sets the parameters, which define the FDP face shape, texture and other characteristics, and FAP describes Face movement. FDP共包括了84个特征点的位置信息来定义人脸模型,这些点不仅包括外表看得见的人脸特征点,还包括了舌头、牙齿等口腔内器官的特征点。 FDP including a total of 84 feature point location information to define the face model, these points include the appearance of visible facial feature points only, but also includes a feature point in the mouth organ tongue, teeth and the like. FDP参数包括特征点坐标、纹理坐标、网格的标度、纹理面部、动画定义表等脸部的特征参数。 FDP parameters include parameters of the feature point coordinates, texture coordinates, scale grid texture of facial animation and other facial definition table. FAP是MPEG-4标准中定义的一组人脸动画参数,可以再现绝大多数自然的人脸表情和唇动。 FAP is a set of facial animation parameters defined in the MPEG-4 standard, and can reproduce the vast majority of natural facial expressions and lip. MPEG-4共有68 个FAP,其中FAPI和FAPZ被称作高级FAP,可以预先定义好一些基本的、不同的唇形,其他的唇形可以由这些基本的唇形线性组合而成;同样,表情FAP也可用几种基本的表情线性组合出各种丰富的表情。 MPEG-4 A total of 68 FAP, which is called FAPI and FAPZ advanced FAP, you can pre-define some basic, different lip, the other can be a combination of these basic lip lip linear from; Similarly, expression FAP also be a linear combination of a few basic expressions various facial expressions. 除高级FAP外,其他的普通FAP分别定义了人脸某一小区域的运动。 In addition to advanced FAP, the other general FAP define the movement of a small area of the face. 除高级FAP外,其他的普通FAP分别定义了人脸一些小区域的运动和头部的转动,其中左眼和右眼上眼皮的上下运动则分别通过FAP19和FAP20描述。 In addition to advanced FAP, the other general FAP define a small area of the face and head turning movement, which moves up and down on the left and right respectively through FAP19 eyelids and FAP20 description. 这些运动描述了人脸表情很细致的变化,譬如眉毛的上翘和嘴角的撅起,并且这些FAP都和FDP中定义的组有密切的关系。 These movements are described very detailed facial expression changes, such as from the upturned eyebrows and pursed mouth, and these groups FDP and FAP are defined in a close relationship.

[0007] 而基于肌肉模型的动画方法主要基于Waters的肌肉模型。 [0007] The method of animation based on muscle model muscle model based primarily on Waters. 该肌肉模型将肌肉分为两个类型:起拉伸作用的线性/平行肌和起收缩作用的括约肌。 The muscular muscle model will be divided into two types: from the stretching action of linear / parallel from the contraction of muscles and sphincter. 线性肌肉的一端依附在骨头上,因而是静态的,另一端深入皮肤的软组织。 One end of the linear muscles attached to the bones, which is static, the other end of the depth of the skin and soft tissue. 通过肌肉直接移动在其影响域内的质点变形网格,来模拟脸部表情。 Moving through the muscle directly affect particle deformed mesh their domain to simulate facial expressions. 在Waters的方法中,一个肌肉的定义包括:向量域(影响域) 方向、初始点和插入点坐标以及位移大小等。 In the Waters approach, a muscle is defined to include: vector field (field effect) direction, the initial point and the insertion point coordinates and displacement size. 由于此模型的简洁性和脸部网格的独立性,它被广泛的使用。 Because of the simplicity of this model and the face of the grid independence, it has been widely used. 上述两种人脸动画方法的基本思想都是先按照一定的原则在三维人脸网格模型上选择控制点,再由控制点的运动位移和它对非控制点的影响因子,计算出非控制点的运动位移,最后根据计算结果移动非控制点,进而驱动三维网格模型运动。 The basic idea of the two approaches is facial animation according to certain principles of the selection control points on the three-dimensional mesh model face, and then by the factor motion displacement control points and its non-control points, calculated uncontrolled motion displacement point, according to the results finally moving the non-control points, which in turn drives the three-dimensional mesh model motion. 这两种方法中都没有专门针对人眼闭合运动给出具体的网格点运动控制方法。 Both of these methods are not specific to the human eye closing movement give a specific grid point motion control methods. 同时,由于受到所选取的控制点位置和数目的限制,许多对眼部运动效果起到重要作用但没有被选作控制点的其他网格点则只能通过某种控制算法在控制点的驱动下进行运动位移,其运动规律不清晰,无法逼真的模拟人眼闭合运动,仿真结果的真实性较差。 At the same time, due to the position of the selected control points and number restrictions, many of the effects of eye movements play an important role but the other grid points have not been selected as the control point only through some kind of control algorithm in the control point in the drive motion displacement under its law of motion is not clear, realistic simulation of the human eye can not closing movement, authenticity poor simulation results.

[0008] 2.眼睛运动模拟 [0008] 2. eye movement simulation

[0009] 除了对眼外部区域的运动模拟以外,对眼部动画的模拟还集中在对眼睛(眼球) 运动的模拟。 [0009] In addition to the outer region of the eye motion simulation, animated simulation of the eye is also focused on the eyes (eye) motion simulation. 人们基于Kendon和Argyle对gaze在社会交往中的作用的研究分析各种眼睛运动对情感变化和信息交流所起到的具体作用并根据自己的研究对眼睛运动进行多样的行为建模。 Based on Kendon and Argyle people gaze in social interaction effect on the analysis of the specific role of various eye movements to emotional changes and exchange of information and played according to their own research on a variety of eye movement behavior modeling. 其中主要是对eye gaze行为的研究和行为建模。 Which is mainly on eye gaze behavior and behavioral modeling. 例如,Colburn等提出了一种分层状态机的方法。 For example, Colburn and put forward a hierarchical state machine approach. Pelachaud等基于眼睛跟踪数据利用Bayesian Belief Net产生多样的gaze行为。 Pelachaud and other eye-tracking data based on the use of Bayesian Belief Net produces a variety of gaze behavior. 同时,也人对眨眼频率与情感的关系进行研究并提出一系列不同情绪下对应的眨眼频率。 At the same time, people also blink frequency and emotional relationship to study and make a series of different emotions corresponding blink frequency. 例如,高频率(36blinkS/min)能传递消极情绪。 For example, high-frequency (36blinkS / min) can pass negative emotions. 而较低频率的眨眼(9blink/ min)能给人睿智的印象。 The blink lower frequency (9blink / min) to give people the impression of wisdom. 这些研究提高了眼部运动模拟的真实感,但都没有涉及对人眼闭合运动的研究,因此存在一定的局限性。 These studies raise the eye movements simulate realistic, but are not involved in research on the human eye closing movement, so there are some limitations.

[0010] 3.对人眼闭合运动的模拟 [0010] 3. eye closure simulation exercise

[0011] 根据专利检索,申请号为200910021321. 9,名称为“一种虚拟人眼部运动控制方法”的发明专利申请中提出一种基于摆动导杆机构模型的人眼闭合运动模拟方法。 [0011] According to the patent search, application No. 200910021321.9, entitled "A virtual human eye movement control method" patents for invention proposes a model based on swing guide rod mechanism of the human eye closure motion simulation. 此方法能较好的模拟正常状态下人眼的闭合运动,但由于受到摆动导杆机构模型的限制,运动控制参数数量有限,运动规律单一,无法模拟出不同情感下丰富的人眼闭合运动,无法进一步实现细腻的眼睛运动。 This method can better simulate normal closing movement of the human eye, but due to the restrictions of the swinging guide bar mechanism model, motion control limited number of parameters, the movement of a single, can not simulate the different emotionally rich human eye closing movement, Unable to further realize the delicate eye movements.

发明内容 DISCLOSURE

[0012] 为了克服现有技术在模拟人眼闭合运动时对网格点控制性不强,仿真结果真实感不强这一缺点,本发明提出了一种虚拟人眼部情感表现模拟方法,以弥补上述方法在网格点程度控制方面的不足,提高人眼动动画的真实感。 [0012] In order to overcome the prior art in the simulation of the human eye controlling the closing movement of the grid points is not strong, realistic simulation results is not strong this drawback, the present invention provides a virtual human emotional expression eye simulation methods to to make up for deficiencies in the method described above point control grid extent to improve the realism of the animation human eye movements.

[0013] 本发明解决其技术问题所采用的技术方案包括以下步骤: [0013] The aspect of the present invention for solving the technical problems include using the following steps:

[0014] 首先获取三维人眼网格模型,即三维网格数据。 [0014] First, obtain a three-dimensional mesh model of the human eye, that is three-dimensional grid data. 生理结构上人的眼部是基于面部存在的,故欲获得人眼的网格数据即需要获得首先获取三维人脸网格模型。 Master of the physical structure of the eye is based on the existence of the face, Gu Yu obtain human eye mesh data that is required to obtain first obtain a three-dimensional mesh face. 获取三维人脸网格模型的方法主要有采用三维激光扫描仪扫描真实人头生成人脸的三维网格模型或是通过MAYA等三维建模软件手工建立人脸三维模型。 Get 3D face mesh methods include three-dimensional laser scanner true three-dimensional mesh generation of human face or head to establish three-dimensional model of the face by MAYA and other 3D modeling software manual. 此外,通过Poser等专业人体建模软件, 从其模型库中直接导出所需的人头模型及相应的纹理信息。 In addition, Poser and other specialized human modeling software, derived directly from the model library head required for the model and corresponding texture information. 本发明采用的三维人脸网格模型是直接从Poser7.0中直接导出的。 3D face mesh used in the present invention is directly derived directly from Poser7.0 in.

[0015] 其次,根据眼部的运动特性设计运动控制点。 [0015] Secondly, according to the motion characteristics of the design of eye movement control points. 按照以下方法在模型的眼部区域选择网格点作为运动控制点:通过对人眼闭合动作的特点进行分析,可将眼皮的闭合运动当作是在上眼睑边缘点的带动下所做的弹性弧形拉伸,因此,参照MPEG-4中对眼部FDP控制点的定义,选取上眼皮边缘处的所有网格点作为运动控制点。 The following method to select the eye region model grid points as a motion control point: Through the analysis of the characteristics of the human eye closing motion, the closing movement of the eyelids may be deemed to be resilient in the lead on the eyelid edge points made curved stretch, therefore, referring to MPEG-4 in the definition of the eye control points FDP, select all grid points at the edge of the eyelid as a motion control point. 在网格模型中选出上眼皮边缘的最高点及两个眼角点,以两个眼角点的连线作为一条边,以平行于该边并经过最高点的直线作为另一条边,进而划分出一个矩形区域,并在此区域中进行边缘控制点的选取;设定XOY坐标系,X轴平行于两眼角点的连线,基于矩形区域边界条件的约束,统计出落在该区域内的全部网格点,共Q个,将矩形区域沿X轴方向均分为Q个子区间,在落入每个子区间的所有网格点中求出Y坐标值最小的网格点,即该子区域内的最低点,作为候选边界点; 从左端眼角点开始随着X坐标值的增大,边缘控制点的Y坐标值也先逐渐增至最高点而后又逐渐减小到右端眼角点,从而根据这一条件从候选点中筛选出边界点作为运动控制点, 排除非边界点。 Elected at the highest point on the grid model eyelid edge and two corner points to the connection point of the two corner as an edge parallel to the edge and as a straight line passing through the highest point of the other side, and then divided a rectangular area, and select the control point edge in this area; set XOY coordinates, X-axis is parallel to the connection point of the two corners, a rectangular area constraint-based boundary conditions, the statistics of the entire region falls grid points, a total of Q, the rectangular area in the X axis direction are divided into subintervals Q, Y coordinates of the determined value of the minimum of grid points in each sub-interval falls all grid points, i.e., within the sub-region The lowest point, as a candidate boundary points; starting from the left corner point coordinate values with increasing X, Y coordinate values of the edge control points Esen gradually increased to the highest point and then gradually decreases to the right corner point, so according to this a condition selected from the candidate point boundary points as a motion control point, excluding non-boundary points.

[0016] 再次,采用曲柄摇杆机构模型驱动边界控制点的运动,模拟真实的眼部运动。 [0016] Once again, the use of model-driven crank rocker mechanism movement boundary control points, to simulate real eye movements.

[0017] 曲柄摇杆机构由四个构件组成,分别是曲柄、连杆、摇杆和机架。 [0017] The crank-rocker mechanism is composed of four members, namely the crank, connecting rods, rocker and rack. 所述的机架就是机构中固定不动的构件,曲柄是能够作整周回转运动的连架杆,连架杆是与机架相连的构件,连杆是两个连架杆各自不与机架相连的一端相互连接构成的构件,摇杆是只能在一定范围内摆动的连架杆。 The rack is the mechanism stationary member, is able to make the whole week crank rotary movement even frame bar, even the frame bar is attached to the frame member, the link connecting the two respective frame bar not with machine interconnected at one end is connected to frame member constituted rocker is only within a certain range even swing frame bar. 曲柄与机架,曲柄与连杆,连杆与摇杆,摇杆与与机架分别构成转动副,即组成运动副的两构件只能绕某一轴线作相对转动的运动副;其中,曲柄与机架构成周转副,即组成转动副的能相对整周转动的两个转动副。 Crank and frame, crank and connecting rod, rocker, rocker and rotating rack respectively constitute deputy, deputy campaign that is composed of only two members for relative rotation about the axis of a deputy campaign; wherein crank Vice turnover and racks form, that is composed of two rotating pairs can rotate relative to the rotation of the whole week, deputy. 根据曲柄摇杆机构的运动原理,当曲柄为原动件,即机构中按给定的已知运动规律独立运动的构件称为原动件,摇杆为从动件, 即机构中其余的活动构件称为从动件时,曲柄能够绕机架的固定铰链做整周转动,并可将曲柄的连续转动,通过不直接与机架相联的连杆转变成摇杆的往复摆动。 According to the principle of movement of the crank rocker mechanism, the crank of the original moving parts, namely body movement of the press to a known member of the independence movement known as the original mover given, for the follower rocker, that the rest of the activities of agencies When the member is called follower crank rotatable about the fixed frame hinge do the whole week rotation, and continuous rotation of the crank, by not directly associated with the rack rod into the rocker swing back and forth. 同样,利用人的眼球近似为球体这一特性,将人眼眼皮边界点的运动轨迹看作是一段圆弧,假设眼皮边界点位于摇杆机构中摇杆上的任意一点,根据需求设定曲柄的旋转角速度为控制参数,根据机架、曲柄、摇杆之间的位置关系和曲柄的初始安装位置,以及输入的曲柄转动角速度参数, 计算出眼皮边界点在任意时刻的空间位置或转过的角度,并以此驱动三维网格点运动,从而模拟出眼皮的闭合运动,生成具有真实感的三维人眼动画。 Similarly, the use of the human eye is approximately a sphere of this feature, the trajectory of the human eye eyelid boundary points seen as a circular arc, assuming eyelid boundary point located anywhere on the rocker little rocker mechanism, the crank set according to demand The rotational angular velocity of the control parameters, the rotation angular velocity parameters based on the positional relationship between the initial installation position rack, crank, between the rocker and crank, and crank input to calculate the position of the eyelid border point in space at any given time or turn the angle, and thereby drive the three-dimensional grid point motion, simulating the closing movement of the eyelids, and generate three-dimensional animation with a realistic eye. 其中,在设定机架、曲柄、摇杆之间的位置关系和曲柄的初始安装位置需要遵守以下原则: Among them, the positional relationship between the initial installation position set rack, crank, and crank rocker between the need to comply with the following principles:

[0018] 1.曲柄、连杆、摇杆、机架中最短杆和最长杆的长度和必须小于或者等于其他两杆的长度和,并且组成周转副的两杆中必须有一杆是四杆中的最短杆。 [0018] 1. crank, connecting rods, rocker, rack shortest and longest rod rod length and must be less than or equal to the length and the other two, and the composition of the turnover of two deputy must have one is four shortest rod.

[0019] 2.曲柄、连杆、摇杆、机架的初始位置不能重叠于机架方向的水平线上,摇杆与机架连线的初始夹角须为钝角。 The initial angle [0019] 2. The initial position of the crank, connecting rods, rocker, the rack can not overlap in the direction of the horizontal frame line rocker and the frame connection must be obtuse.

[0020] 本发明的有益效果是:结合机构学原理进行运动控制,根据摇杆机构的运动特性, 摇杆可在曲柄的带动下在一定范围内做往复运动,因此采用同一个数学模型不仅可以实现连续时间情况下眼睛张开与闭合这样相反的运动过程,而且可以通过调整不同杆之间的位置关系和曲柄初始安装位置等参数来生成更丰富的反映不同情感的眼睛闭合运动,其数学模型简单,物理意义明确,控制简单,容易实现且逼真度高。 [0020] The beneficial effects of the present invention are: binding principles for motion control mechanism, according to the motion characteristics of rocker mechanism, rocker driven crank within a certain range to reciprocate, so using the same mathematical model can not only implement the eyes wide open and a closed opposite movement such continuous time situation, but also to generate richer reflect different emotions eye closure motion by adjusting the positional relationship between the crank and the different parameters such as initial installation position between the bars, the mathematical model Simple and clear physical significance, control is simple, easy to implement and high fidelity.

[0021] 下面结合附图和实施例对本发明进一步说明。 [0021] The accompanying drawings and the following examples further illustrate the present invention.

附图说明 Brief Description

[0022] 图1为MPEG-4中眼部FDP的定义; [0022] FIG. 1 is defined in the eyes of FDP MPEG-4;

[0023] 图2为MPEG-4中眼部FDP定义的左眼放大图; [0023] FIG. 2 is defined in the left eye FDP enlarged view MPEG-4;

[0024] 图3为本发明所述的人眼运动控制操作流程图;[0025] 图4为通过Poser7. 0导出的三维人脸网格模型示意图; [0024] FIG. 3 eye movements of the present invention controls the operation flowchart; 4. through Poser7 0 exporting 3D face mesh schematic [0025] FIG;

[0026] 图5为导出的三维人脸网格模型眼部区域的网格点分布情况示意图; Grid points [0026] FIG. 5 is derived 3D face mesh distribution schematic eye region;

[0027] 图6为本发明实施例的一种对图3人脸网格模型中人眼部分的控制点设计方式示例图; [0027] FIG. 6 an embodiment of the present invention, FIG. 3 mesh face human eye portion of the control points by way of example in FIG design implementation;

[0028] 图7为摇杆机构运动原理简图; [0028] FIG. 7 is a simplified schematic of the rocker movement mechanism;

[0029] 图8为最大旋转角度计算方法示意图。 [0029] FIG. 8 is a schematic view of the maximum rotation angle calculating method.

具体实施方式 DETAILED DESCRIPTION

[0030] 方法实施例:本实施例是根据附图2所示的操作流程,并基于附图5的一个简单实施方案。 [0030] The procedure of Example: This example is based on the operation flow shown in the drawings, and based on a simple embodiment 5 of the accompanying drawings.

[0031] 首先可以通过三维激光扫描仪扫描真实人脸得到原始的三维人脸网格点模型,或是通过3DS MAX或者MAYA等三维建模软件,由设计人员手工建立人脸三维模型,也可以是通过Poser等专业人体建模软件,从其模型库中直接导出所需的人头部模型,得到附图4。 [0031] The first may be obtained by a three-dimensional laser scanner true face of the original 3D face model grid points, or by 3DS MAX or MAYA and other 3D modeling software, set up a three-dimensional model of the face by hand designer, you can also by Poser and other specialized human modeling software, directly derived from the model base model of the human head required to obtain Figure 4.

[0032] 然后通过计算机输入设备对原始三维网格模型中的人眼部分进行控制点设计。 [0032] control point and then designed the original three-dimensional grid model of the human eye in part by computer input devices. 为了获得更精细的眼部运动模拟效果,根据人们对人眼闭合运动特征的视觉直观认识,并参照MPEG-4标准中对眼部FDP控制点的定义,增加上睑缘处控制点的个数,选取上眼睑边缘曲线上的全部网格点作为运动控制点,如附图6中上眼睑边缘处采用黑色实心圆点表示的网格点。 In order to obtain a finer eye movements simulate the effect, according to people close to the human eye movement characteristics of visual intuition, and with reference to MPEG-4 standard definition of eye FDP control points, increasing the number of control points of the eyelid chosen over all grid points on the curve as the edge of the eyelid motion control points, such as 6 on the edge of the eyelid drawings using grid points represented by black solid circles. 在该发明中,根据MEPG-4中对人眼FDP的定义,在网格模型中选出上眼皮边缘的最高点(FDP 3. 1)及两个眼角点(FDP 3. 7,3. 11),以两个眼角点(FDP 3. 7,3. 11)的连线为一条边,以平行于该边并经过最高点(FDP 3.1)的直线作为另一条边限定出一个矩形区域,如图2所示,并在此区域中进行边缘控制点的选取。 In this invention, MEPG-4 according to the definition of the human eye FDP to elect the highest point on the edge of the eyelid (FDP 3. 1) and two corner points (FDP 3. 7,3. 11 in a grid model ), with two corner points (7,3 3. 11) connection FDP as an edge parallel to the edge and through the highest point (FDP 3.1) in a straight line as the other side define a rectangular area, such as Figure 2, and select the control point edge in this area. 设定XOY坐标系,X轴平行于两个眼角点的连线,通过矩形区域边界条件的限制,统计出落在此区域中的全部网格点,共Q个, 将矩形区域沿X轴向平均划分为Q个子区间,在落入每个子区间的所有网格点中求出y坐标值最小的点,即该子区域中的最低点,作为候选边界点。 Setting XOY coordinates, X-axis is parallel to the connection point of the two eyes, a rectangular area by limiting boundary conditions, the statistics fall in this area all grid points, a total of Q, the rectangular area along the X axis Q is divided into sub-average range, determine the y-coordinate value of the minimum point in the fall of each sub-section of all grid points, that is, the lowest point in the sub-region, as a candidate boundary points. 从左端眼角点(FDP 3.11)开始随着χ坐标值的增大,边缘控制点的y坐标值也应先逐渐增至最高点(FDP 3.1)而后又逐渐减小到右端眼角点(FDP3. 7),即其y坐标值应满足关系:yFDP3.n < Y1 < y2 < . . . Yfdp3.! > yn > ... yFOT3.7,从而根据这一条件从候选点中确定出边界点,排除其他非边界点。 From the left corner point (FDP 3.11) starting with increasing χ coordinate value, y coordinate value of the edge control point should be gradually increased to the highest point (FDP 3.1) and then gradually decreases to the right corner point (FDP3. 7 ), that is, its y coordinate values satisfy the relationship:... yFDP3.n <Y1 <y2 <Yfdp3> yn> ... yFOT3.7, to determine the candidate point boundary points in accordance with this condition, excluded.! Other non-boundary points.

[0033] 再次,采用曲柄摇杆机构模型驱动边界控制点的运动,模拟真实的眼部运动。 [0033] Once again, the use of model-driven crank rocker mechanism movement boundary control points, to simulate real eye movements.

[0034] 在介绍具体模型的组建之前,首先解释一些与机构相关的基本概念。 [0034] Before describing the formation of a specific model, first explain some basic concepts related to the organization.

[0035] 构件:任何机器或机构都是由多个构件组合而成的,它是指机器或机构中的每一个独立的运动单元体。 [0035] member: any machine or mechanism is composed of multiple components together, which is a machine or agency in each independent unit body movement. 构件可以是单一的零件,也可以是多个零件的刚性联接体。 Member may be a single component, the coupling member may be a plurality of rigid parts. 组成同一构件的各零件之间不能有相对运动。 You can not have relative movement between the parts composed of the same member.

[0036] 运动链:两个以上的构件通过运动副的联接而构成的系统称为运动链。 [0036] The kinematic chain: the system by joining two or more members and deputy campaign is called a kinematic chain.

[0037] 机构:在运动链中将某一构件加以固定而成为机架,则此运动链便成为机构。 [0037] The mechanism: the movement will be fixed in the chain and become a member chassis, this movement has become a chain mechanism.

[0038] 运动副:两个构件通过直接接触所形成的可动联接称为运动副。 [0038] Joints: movable coupling two members formed by direct contact called deputy campaign. 而两构件上能够参加接触而构成运动副的表面称为运动副元素。 The last two members to participate in the contact surface constituting deputy campaign called deputy campaign elements.

[0039] 转动副:组成运动副的两构件只能绕某一轴线作相对转动的运动副。 [0039] rotating pair: deputy campaign consisting of only two members for relative rotation about the axis of a deputy campaign.

[0040] 周转副:组成转动副的能相对整周转动的两个转动副。 [0040] Turnover Deputy: Vice rotation can be composed of two rotating relative to the rotation of the whole week deputy. (不能作整周转动的,则称为摆动副)[0041] 原动件:机构中按给定的已知运动规律独立运动的构件称为原动件。 (Not for the whole week rotation, is called swing deputy) [0041] original moving parts: mechanism given by members of the independence movement known movement of the movable member called original.

[0042] 从动件:机构中其余的活动构件称为从动件。 [0042] follower: organization remaining active member called followers.

[0043] 机架:机构中固定不动的构件。 [0043] Rack: institutions stationary member.

[0044] 连架杆:与机架相连的构件。 [0044] Even Tube: member connected with the frame.

[0045] 连杆:两个连架杆各自不与机架相连的一端相互连接构成的构件。 [0045] link: two connecting rods each frame member having no connection to each other and connected to one end of the rack.

[0046] 曲柄:能够作整周回转运动的连架杆。 [0046] Crank: the ability to make the entire circumference of the rotary movement even frame bar.

[0047] 摇杆:只能在一定范围内摆动的连架杆。 [0047] Rocker: only within a certain range even swing frame bar.

[0048] 曲柄摇杆机构由四个构件组成,分别是曲柄、连杆、摇杆和机架。 [0048] crank rocker mechanism is composed of four members, namely the crank, connecting rods, rocker and rack. 曲柄与机架,曲柄与连杆,连杆与摇杆,摇杆与与机架分别构成转动副。 Crank and frame, crank and connecting rod, rocker, rocker and rotating rack respectively constitute deputy. 其中,曲柄与机架构成周转副。 Among them, the crank and the frame constitute turnover deputy. 根据曲柄摇杆机构的运动原理,当曲柄为原动件,摇杆为从动件时,曲柄能够绕机架的固定铰链做整周转动,并可将曲柄的连续转动,通过不直接与机架相联的连杆(中间构件)转变成摇杆的往复摆动。 According to the principle of movement of the crank rocker mechanism, the crank of the original moving parts, when the rocker is driven member, the crank can be fixed around the frame rotation hinge do the whole week, and the continuous rotation of the crank, by not directly related to machine frame associated link (intermediate member) into a reciprocating swing rocker. 同样,利用人的眼球近似为球体这一特性,将人眼眼皮边界点的运动轨迹看作是一段圆弧,假设眼皮边界点位于摇杆机构中摇杆上的任意一点,根据需求设定曲柄的旋转角速度为控制参数,根据机架、曲柄、摇杆之间的位置关系和曲柄的初始安装位置,以及输入的曲柄转动角速度参数,计算出眼皮边界点在任意时刻的空间位置或转过的角度,并以此驱动三维网格点运动,从而模拟出眼皮的闭合运动,生成具有真实感的三维人眼动画。 Similarly, the use of the human eye is approximately a sphere of this feature, the trajectory of the human eye eyelid boundary points seen as a circular arc, assuming eyelid boundary point located anywhere on the rocker little rocker mechanism, the crank set according to demand The rotational angular velocity of the control parameters, the rotation angular velocity parameters based on the positional relationship between the initial installation position rack, crank, between the rocker and crank, and crank input to calculate the position of the eyelid border point in space at any given time or turn the angle, and thereby drive the three-dimensional grid point motion, simulating the closing movement of the eyelids, and generate three-dimensional animation with a realistic eye. 其中,在设定机架、曲柄、摇杆之间的位置关系和曲柄的初始安装位置需要遵守以下原则: Among them, the positional relationship between the initial installation position set rack, crank, and crank rocker between the need to comply with the following principles:

[0049] 1.曲柄、连杆、摇杆、机架中最短杆和最长杆的长度和必须小于或者等于其他两杆的长度和并且组成周转副的两杆中必须有一杆是四杆中的最短杆。 [0049] 1. crank, connecting rods, rocker, rack shortest and longest rod rod length and must be less than or equal to the length of the rod and the other two and the composition of turnover pair must have two shots, one pole is four rod shortest rod.

[0050] 2.在实际运动中,由于人眼初始一般为自然张开状态。 [0050] 2. In the actual movement, because the human eye is naturally open initial general state. 因此,四构件的初始位置不能重叠于机架方向的水平线上,摇杆与机架连线的初始夹角须为钝角。 Therefore, the initial position of the four initial angle member can not overlap in the direction of the horizontal frame line, the rocker and the frame connection shall be obtuse.

[0051] 机构模型运动简图如图7所示。 [0051] mechanism model movement diagram shown in Figure 7. 为了对该机构进行运动分析,如图7先建立直角坐标系,并将各构件以矢量形式表示出来。 In order to analyze the movement of bodies, 7 to set up a Cartesian coordinate system, and each member is represented in vector form. (取轴Y与I4一致,并取轴Y为各构件方位角θ 的起始线,沿逆时针方向计量为正)。 (Whichever is consistent with the axis Y I4, and take as a starting line Y-axis azimuth θ of each member, in a counterclockwise direction of measurement is positive). 所采用的摇杆机构模型由4个构件组成,其中构件4 为机架,属于机构中的固定部分;构件1为原动件(曲柄),构件2为连杆,构件3为从动件(导杆)。 Rocker mechanism model used by the four members, of which the rack member 4, below the fixing mechanism portion; means a member of the prime mover (crank), the link member 2, the follower member 3 ( guide bar). 构件1与机架4和构件2分别在接合处0'点和M点分别构成转动副;构件2还与构件3在接合点N处构成转动副,构件3和机架4在接合处0点构成转动副。 Member 1 and the frame member 4 and 2, respectively, at the junction 0 'points and M points respectively, constitute turning pair; member 2 also with the member 3 at the junction N constitute rotation deputy, member 3 and the rack 4 at the junction 0:00 Deputy constitute rotation. 由四杆机构的构造理论,可知四杆机构有曲柄的条件是各杆的长度需满足杆长条件(最短杆与最长杆的长度和应小于或等于其他两杆的长度和)且组成周转副的两杆中必有一杆为四杆中的最短杆。 By the construction of the theory of four-bar mechanism, known four-bar mechanism has a crank on condition that the length of each rod rod length must meet the conditions (shortest and longest rod rod length and less than or equal to the length of the rod and the other two) and the composition turnover The two vice-there must be a minimum of four of the rod. 上述条件满足后,其最短杆参与构成的转动副都是周转副。 After these conditions are met, the shortest rods are involved in the rotation deputy vice turnover constituted. 因此,我们在构造摇杆模型时取杆1为最短杆,则杆1为周转副,杆2和杆3是摆转副。 Therefore, we take the rod in the construction of model 1 is the shortest rocker lever, then the lever 1 turnover deputy, lever 2 and lever 3 is swung deputy. 我们在模拟眼睑运动时取0点位眼球中心点,00'的长度r等于眼球半径;杆1的杆长为I1,杆1处于初始位置时与机架4的夹角为θ工;杆2与杆1通过接合处M点相连,杆2的杆长为12,与机架4的夹角为θ2;杆2与杆3通过接合点N相连,杆3的杆长为I3,与机架的夹角为θ3;杆3通过0点与机架4相连接。 We take the 0:00 position at the center of the eye the eyelid motion simulation, 00 'is equal to the length of the eyeball radius r; rod length rod 1 is I1, the lever 1 is in the initial position when the rack and the angle θ 4 is working; rod 2 and lever 1 through the junction point M is connected to the lever 2 rod length is 12, and the angle between the rack 4 is θ2; lever 2 and lever 3 is connected via the junction N, rod length rod 3 is I3, and the frame The angle of θ3; 3 through 0:00 lever 4 is connected to the frame. 杆1绕0'点以角速度ω做圆周运动,然后通过杆2的连接,带动杆3也将做绕0点旋转的圆周运动。 Lever 1 around 0 'point with angular velocity ω in a circular motion, then the connecting rod 2 through the drive rod 3 will be rotated in a circular motion to do around 0:00. 假设上眼睑边缘上的任一控制点K位于杆3上某固定点处,就可以通过上述机构模型模拟出边界控制点的运动轨迹。 Assume that any of the control point on the edge of the upper eyelid K located at a fixed point on the lever 3, via the agency model can simulate the trajectory boundary control points.

[0052] 取θ 3max为眼睑由正常睁眼状态至完全闭合状态边界控制点绕以左右眼球中心连线为旋转轴所转过的角度,具体计算方法为:[0053] 参照MPEG-4中眼部FDP的定义,取上眼睑边缘的最高网格点(FDP 3. 1/3. 2),下眼睑边缘的最低网格点(FDP 3.3/3.4)及眼球中心点0作为三角形的三个顶点,如附图8,根据网格点在三维空间的位置坐标计算出三角形的三边长度,再应用余弦定理即可求出眼睛由正常状态至完全闭合时网格点转过的角度Qanax; [0052] θ 3max eyelid taken from normal eyes open to the fully closed state border control points around the line connecting the center to the left and right eye turned to the axis of rotation angle, the specific calculation method: [0053] Referring to MPEG-4 in the eye defining portion FDP, whichever is the highest point of the eyelid edge of the grid (FDP 3. 1/3. 2), the minimum mesh points lower lid edge (FDP 3.3 / 3.4) and the center of attention as the three vertices of the triangle 0 , as Figure 8, according to a triangular grid points calculated trilateral length position coordinates in three-dimensional space, and then apply the law of cosines to find the eye from normal state to a fully closed grid point angle turned Qanax;

[0054] 参见附图8,由机构运动原理可知,当原动杆1与轴Y夹角为0或180°时,从动杆3与轴X之间的夹角(I)最大,通过改变外部控制参数Θ3的初始值(0< θ3< θ 3max), [0054] Referring to Figure 8, seen from kinematic principle, when the primary lever 1 and the axis Y an angle of 0 or 180 °, the angle between the rod 3 and the follower axis X between (I) the maximum, by changing the The initial value of the parameter Θ3 external control of (0 <θ3 <θ 3max),

可以有效地控制眼睛的闭合程度,实现各种位置的闭合,模拟各种不同的闭眼动作状态。 It can effectively control the degree of closure of the eye, to achieve the closed position of the various, different simulated operating state with eyes closed.

[0055] 下面结合附图7,通过数学模型具体阐述闭合过程的运动控制原理: [0055] 7 below in conjunction with the accompanying drawings, specifically addressed during closing movement of the control principle mathematical models:

[0056] (1)位置分析,由图7可写出机构各杆所构成的矢量封闭方程: [0056] (1) Location analysis, can be written by the vector 7 constituted bodies of the bars closed equation:

[0057] Ii+I2 = Is+I4(I) [0057] Ii + I2 = Is + I4 (I)

[0058]并且有 θ 4 = θ 3+31/2(2) [0058] and has θ 4 = θ 3 + 31/2 (2)

[0059] 以复数形式表示为 [0059] In the plural form as

[0060] Ιλβίθ' + l2eid2 = I^ew" +/4 (3) [0060] Ιλβίθ '+ l2eid2 = I ^ ew "+ / 4 (3)

[0061] 展开后,得 After the [0061] expanded, too

[0062] I1COS θ Jl2COS θ 2 = l4+l3cos θ 4 ⑷ [0062] I1COS θ Jl2COS θ 2 = l4 + l3cos θ 4 ⑷

[0063] I1Sin θ ^l2Sin θ 2 = l3sin θ 4(5) [0063] I1Sin θ ^ l2Sin θ 2 = l3sin θ 4 (5)

[0064] 令 [0064] Order

[0065] [0065]

[0066] [0066]

[0067] [0067]

Figure CN102129706AD00081

[0068] [0068]

Figure CN102129706AD00082

[0069] 解之可得 [0069] The available solutions

[0070] [0070]

Figure CN102129706AD00083

(10) (10)

[0071] 但考虑到实际运动过程中,I3与X轴的夹角93不可能为钝角,故取解 [0071] However, considering the actual course of the campaign, I3 and X axis 93 is unlikely to be an obtuse angle, so they chose the solution

[0072] [0072]

Figure CN102129706AD00084

(11) (11)

[0073] [0073]

Figure CN102129706AD00085

- (12) - (12)

[0074] (2)速度分析 [0074] (2) speed analysis

[0075] 将+ l2ei02 = /3e购+ /4对时间t取导数,利用式(6)得 [0075] The + l2ei02 = / 3e purchase + / 4 t take time derivative, using equation (6) to give

[0076] [0076]

Figure CN102129706AD00086

(13) (13)

[0077] 将式(13)两边都除以,得[0078] [0077] The formula (13) and dividing it, too [0078]

Figure CN102129706AD00091

[0079] 式(⑶两边都除以e*,得 (⑶ sides [0079] formula divided by e *, too

[0080] [0080]

Figure CN102129706AD00092

[0081] 式(14)和式(15)都取实部,得 [0081] (14) and (15) have taken the real part, too

Figure CN102129706AD00093

[0084] (3)加速度分析 [0084] (3) Acceleration Analysis

[0085] 将式(13)对时间t取导数,得 [0085] The formula (13) taking the derivative of the time t, too

[0086] [0086]

Figure CN102129706AD00094

[0087] 式(18)两边都除以,得 [0087] (18) and dividing it, too

[0088] [0088]

Figure CN102129706AD00095

[0089] 式(IS)两边都除以e购,得 [0089] formula (IS) and dividing it by e purchase, too

[0090] [0090]

Figure CN102129706AD00096

[0091] 式(19)和式00)都取实部,得出 [0091] (19) and 00) will take the real part, draw

Figure CN102129706AD00097

[0094] 说明:ε 2和ε 3分别代表杆2和杆3的加速度。 [0094] Description: ε 2 and ε 3 representing the acceleration lever 2 and lever 3.

[0095] 由上述分析可知,改变角速度参数Q1可以控制眼皮的闭合速度,改变角度参数Θ3(0< θ3< Qanax),可以控制眼睛闭合的程度,实现半闭、全闭等不同程度的闭眼动作, 从而模拟出真实的人眼闭合动作动画。 [0095] From the above analysis, the angular velocity change parameter Q1 eyelids closing speed can be controlled, changing the angle parameter Θ3 (0 <θ3 <Qanax), you can control the degree of eye closure, to achieve half-closed, completely closed, such as different levels with eyes closed action to simulate a real eye closing animations. 同时,通过预先改变摇杆的结构(Iplylyl4, O1) 可更灵活的控制ω3的大小和变化速度。 Meanwhile, pre-changing rocker structure (Iplylyl4, O1) can be more flexible control of the size and speed of change ω3.

[0096] 本发明实施例最终获得的人眼运动控制效果与现有技术相比,引入摇杆机构模型,丰富了人眼闭合运动的细节,有效地增强了虚拟人眼部运动的仿真效果,能够更细腻和准确的模拟出不同的人眼闭合动作过程,运动控制的数学模型简单,物理意义明确,易于实现,效果逼真。 Eye movements to control the effect of the prior art [0096] embodiment of the invention as compared ultimately introduced rocker mechanism model, enrich the human eye closing movement of details, effectively enhancing the simulation results virtual human eye movement, It can be more delicate and accurate simulation of different human eyes closing action process, mathematical model of motion control simple and clear physical significance, easy to implement, realistic effect.

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