CN102129706A - Virtual human eye emotion expression simulation method - Google Patents

Abstract

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.

Description

A kind of simulating human eye emotion performance analogy method

Technical field

The present invention relates to computer vision field, relate in particular to the 3 D human face animation research field.

Background technology

People's face is one of everyone key character, and we can discern other people identity, observe other people mood, comprehend its health status etc. by it.In recent years, flourish along with the raising at full speed of computing power and network application, human face animation research becomes field very active in computer vision and the man-machine interaction once more.And eyes are as face important sense organ and crucial emotion carrier, all play irreplaceable effect at aspects such as transmission information and emotional expressions, but the eyes physiological structure is very complicated simultaneously, eye motion is very abundant, is that in the human face animation research one has the significance while to have challenging problem again so how to reproduce realistic eye motion in PC World always.

All the time, people are a lot of to the research of human face animation, and are special then less relatively at the research of eyes.But in view of eyes in the vital role of performance aspect the emotion, also more and more to the research of eyes animation in recent years.Mainly can be divided into the following aspects:

1. physical motion simulation

As the part of human face animation, eyes are carried out the animation modeling from motion angle.Wherein mainly contain parameter model, muscle model, abstract muscle action model and physical model etc.And on this basis, main animation method has based on the facial expression animation of MPEG-4 parameter with based on the facial expression animation of Waters muscle model.

The animation method of MPEG-4 mainly based in the MPEG-4 standard to the definition of three-dimensional face form.Defined FDP (Facial Definition Parameter in this standard, people's face defined parameters) and FAP (Facial Animation Parameter, the human face animation parameter) two cover parameters, features such as the shape of FDP definition people face, texture wherein, FAP then describes the motion of people's face.FDP has comprised that altogether the positional information of 84 unique points defines the faceform, and these points not only comprise the observable human face characteristic point of appearance, have also comprised the unique point of organ in the oral cavities such as tongue, tooth.The FDP parameter comprises the characteristic parameter of faces such as the scale, texture face, animation definition list of unique point coordinate, texture coordinate, grid.FAP is the lineup's face animation parameters that defines in the MPEG-4 standard, and the human face expression and the lip that can reproduce most natures are moving.MPEG-4 has 68 FAP, and wherein FAPI and FAPZ are known as senior FAP, can be pre-defined better basic, different lips, and other lip can be formed by these basic lip linear combination; Equally, the also available several basic expression linearities of expression FAP are combined into various abundant expressions.Except that senior FAP, other common FAP has defined the motion of a certain zonule of people's face respectively.Except that senior FAP, other common FAP has defined the motion of some zonules of people's face and the rotation of head respectively, and wherein moving up and down of left eye and right eye upper eyelid then described by FAP19 and FAP20 respectively.The very careful variation of human face expression has been described in these motions, such as upwarping of eyebrow and having sticked up of the corners of the mouth, and these FAP all with FDP in the group that defines confidential relation is arranged.

And based on the animation method of muscle model mainly based on the muscle model of Waters.This muscle model is divided into two types with muscle: play the linearity/parallel muscle of stretching action and the sphincter of a contraction.One end of linear muscle is attached on the bone, thereby is static, and the other end gos deep into the soft tissue of skin.Directly move particle warp mesh in its domain of influence by muscle, simulate countenance.In the method for Waters, the definition of a muscle comprises: vector field (domain of influence) direction, initial point and insertion point co-ordinate and displacement size etc.Because the terseness of this model and the independence of face's grid, it is used widely.The basic thought of above-mentioned two kinds of face cartoon methods all is to select the reference mark according to certain principle on 3 d human face mesh model earlier, again by the moving displacement at reference mark and it factor of influence to non-reference mark, calculate the moving displacement at non-reference mark, move non-reference mark according to result of calculation at last, and then drive the three-dimensional grid model motion.All do not have in these two kinds of methods to provide concrete net point motion control method at the human eye closing motion specially.Simultaneously, owing to be subjected to selected position, reference mark and limited in number, many the eye movement effects is played an important role but other net points of not being selected as the reference mark then can only carry out moving displacement by certain control algolithm under the driving at reference mark, its characteristics of motion is unintelligible, simulation human eye closing motion that can't be true to nature, the authenticity of simulation result is relatively poor.

2. eye motion simulation

Except motion simulation, the simulation of eye animation is also concentrated on simulation to eyes (eyeball) motion to the eye perimeter.People carry out various behavior modeling to emotion changes and information interchange is played the concrete effect and the research of basis oneself to eye motion to the various eye motions of researching and analysing of the effect of gaze in social interaction based on Kendon and Argyle.Wherein mainly be research and behavior modeling to eye gaze behavior.For example, Colburn etc. has proposed a kind of method of stratification state machine.Pelachaud etc. utilize Bayesian Belief Net to produce various gaze behavior based on the eye tracking data.Simultaneously, also the people studies and proposes corresponding frequency of wink under a series of different moods to frequency of wink with the relation of emotion.For example, high-frequency (36blinks/min) can be transmitted negative feeling.And can give the impression of people's sagacity the nictation of lower frequency (9blink/min).These researchs have improved the sense of reality of eye motion simulation, but all do not relate to the research to the human eye closing motion, therefore have certain limitation.

3. to the simulation of human eye closing motion

According to patent retrieval, application number is 200910021321.9, and name is called and proposes a kind of human eye closing motion analogy method based on the oscillating guidebar mechanism model in the application for a patent for invention of " a kind of control method for simulating human eye movement ".The method can be simulated the closing motion of human eye under the normal condition preferably, but owing to be subjected to the restriction of oscillating guidebar mechanism model, the motion control number of parameters is limited, and the characteristics of motion is single, human eye closing motion abundant under the different emotions can't be simulated, fine and smooth eye motion can't be further realized.

Summary of the invention

Controlled not strong to net point when simulating the human eye closing motion in order to overcome prior art, not strong this shortcoming of the simulation result sense of reality, the present invention proposes a kind of simulating human eye emotion performance analogy method, to remedy said method, improve the sense of reality of people's eye movement animation in the deficiency aspect the net point extent control.

The technical solution adopted for the present invention to solve the technical problems may further comprise the steps:

At first obtain three-dimensional human eye grid model, i.e. the 3D grid data.People's eye is based on facial existence on the physiological structure, promptly needs to obtain at first to obtain 3 d human face mesh model so desire obtains the grid data of human eye.The method of obtaining 3 d human face mesh model mainly contains the employing three-dimensional laser scanner and scans the three-dimensional grid model of true number of people generation people face or set up human face three-dimensional model by hand by 3 d modeling softwares such as MAYA.In addition, by professional human body modeling softwares such as Poser, from its model bank, directly derive required headform and corresponding texture information.The 3 d human face mesh model that the present invention adopts is directly directly to derive from Poser7.0.

Secondly, the kinetic characteristic according to eye designs the motion control point.Select net point as the motion control point at the ocular of model in accordance with the following methods: by the characteristics of human eye closed action are analyzed, the closing motion of eyelid can be used as is that the flexible arc of being done under the drive of upper eyelid marginal point stretches, therefore, with reference among the MPEG-4 to the definition at eye FDP reference mark, all net points of choosing upper eyelid edge are as the motion control point.In grid model, select peak and two canthus points at upper eyelid edge, with the line of two canthus points as a limit, with be parallel to this limit and through the straight line of peak as another limit, and then mark off a rectangular area, and in this zone, carry out choosing of reference mark, edge; Set the XOY coordinate system, X-axis is parallel to the line of 2 canthus points, constraint based on the rectangular area boundary condition, count the total-grid point that drops in this zone, Q altogether, the rectangular area is divided into Q sub-range along X-direction, obtain the net point of Y coordinate figure minimum at all net points that fall into each sub-range, i.e. minimum point in this subregion is as candidate boundary point; From the increase of left end canthus point beginning along with the X coordinate figure, the Y coordinate figure at reference mark, edge also earlier increases to peak gradually and then is reduced to right-hand member canthus point again gradually, thereby from candidate point, filter out frontier point as the motion control point according to this condition, get rid of non-frontier point.

Once more, adopt the motion of crank and rocker mechanism model-driven boundary Control point, eye motion that is virtually reality like reality.

Crank and rocker mechanism is made up of four members, is respectively crank, connecting rod, rocking bar and frame.Described frame is exactly a fixed member in the mechanism, crank is the side link that can do the complete cycle gyration, side link is the member that links to each other with frame, connecting rod is the member that a end that two side links do not link to each other with frame separately is interconnected to constitute, and rocking bar is the side link that can only swing within the specific limits.Crank and frame, crank and connecting rod, connecting rod and rocking bar, rocking bar with constitute revolute pair respectively with frame, promptly two members of component movement pair can only be made kinematic pair in relative rotation around a certain axis; Wherein, it is secondary that crank and frame constitute turnover, promptly forms two revolute pairs that the energy of revolute pair rotates relative to complete cycle.Motion principle according to crank and rocker mechanism, when crank is a driving link, be that the member by given known characteristics of motion self-movement is called driving link in the mechanism, rocking bar is a driven member, be when remaining movable part is called driven member in the mechanism, crank can be done complete cycle around the fixed hinge of frame and rotate, and can be with the continuous rotation of crank, by directly and the connecting rod that links of frame be transformed into the reciprocally swinging of rocking bar.Equally, utilize people's eyeball to be approximately this characteristic of spheroid, regard the movement locus of human eye eyelid frontier point as one section circular arc, suppose the eyelid frontier point be arranged on the endplay device rocking bar more arbitrarily, the angular velocity of rotation of setting crank according to demand is a controlled variable, according to frame, crank, the position relation between the rocking bar and the initial installation site of crank, and the crank rotational angular velocity parameter of input, calculate eyelid frontier point locus at any time or the angle that turns over, and drive three dimensional network lattice point motion with this, thereby simulate the closing motion of eyelid, generate realistic three-dimensional human eye animation.Wherein, the position relation between setting frame, crank, rocking bar and the initial installation site of crank need abide by the principle:

In crank, connecting rod, rocking bar, the frame length of quarter butt and stock and must be less than or equal to other two bars length and, and form that a bar must be arranged in the two secondary bars of turnover is quarter butt in four bars.

2. the initial position of crank, connecting rod, rocking bar, frame can not be overlapped on the horizontal line of frame direction, and the initial angle of rocking bar and frame line must be the obtuse angle.

The invention has the beneficial effects as follows: combining mechanism is learned principle and is carried out motion control, kinetic characteristic according to endplay device, rocking bar can move reciprocatingly under the drive of crank within the specific limits, therefore adopt same mathematical model can realize that not only eyes open and closed opposite like this motion process under situation continuous time, and can move by adjusting the eyes closed that parameters such as position relation between the different bars and the initial installation site of crank generate abundanter reflection different emotions, its mathematical model is simple, explicit physical meaning, control is simple, realizes easily and the fidelity height.

The present invention is further described below in conjunction with drawings and Examples.

Description of drawings

Fig. 1 is the definition of eye FDP among the MPEG-4;

Fig. 2 is the left eye enlarged drawing of eye FDP definition among the MPEG-4;

Fig. 3 is human eye movement's control operation process flow diagram of the present invention;

Fig. 4 is the 3 d human face mesh model synoptic diagram of deriving by Poser7.0;

Fig. 5 is the net point distribution situation synoptic diagram of the 3 d human face mesh model ocular of derivation;

Fig. 6 is a kind of reference mark design exemplary plot to people's eye portion in Fig. 3 face wire frame model of the embodiment of the invention;

Fig. 7 is an endplay device motion principle sketch;

Fig. 8 is maximum anglec of rotation computing method synoptic diagram.

Embodiment

Method embodiment: present embodiment is the operating process shown in 2 with reference to the accompanying drawings, and based on a simple embodiment of accompanying drawing 5.

At first can scan real human face and obtain original three-dimensional face net point model by three-dimensional laser scanner, or by 3 d modeling softwares such as 3DS MAX or MAYA, set up human face three-dimensional model by hand by the designer, also can be by professional human body modeling softwares such as Poser, from its model bank, directly derive required head part's model, obtain accompanying drawing 4.

By computer entry device the people's eye portion in the original three-dimensional grid model is carried out the reference mark design then.In order to obtain meticulousr eye motion simulation effect, according to the vision visual understanding of people to human eye closing motion feature, and with reference in the MPEG-4 standard to the definition at eye FDP reference mark, the number at reference mark, margo palpebrae place in the increase, choose total-grid point on the boundary curve of upper eyelid as the motion control point, the net point that adopts the solid black round dot to represent as upper eyelid edge in the accompanying drawing 6.In this invention, according among the MEPG-4 to the definition of human eye FDP, (FDP 3.7 to select the peak (FDP 3.1) at upper eyelid edge and two canthus points in grid model, 3.11), line with two canthus points (FDP 3.7,3.11) is a limit, to be parallel to this limit and to make a rectangular area through the straight line of peak (FDP 3.1) as another margin, as shown in Figure 2, and in this zone, carry out choosing of reference mark, edge.Set the XOY coordinate system, X-axis is parallel to the line of two canthus points, restriction by the rectangular area boundary condition, count the total-grid point that drops in this zone, Q altogether, the rectangular area on average is divided into Q sub-range along X axis, obtain the point of y coordinate figure minimum at all net points that fall into each sub-range, i.e. minimum point in this subregion is as candidate boundary point.From the increase of left end canthus point (FDP 3.11) beginning along with the x coordinate figure, the y coordinate figure at reference mark, edge also should increase to peak (FDP 3.1) earlier gradually and then be reduced to right-hand member canthus point (FDP3.7) again gradually, and promptly its y coordinate figure should satisfy relation: y _FDP3.11＜y ₁＜y ₂＜... y _FDP3.1＞y _n＞... y _FDP3.7Thereby, from candidate point, determine frontier point according to this condition, get rid of other non-frontier points.

Once more, adopt the motion of crank and rocker mechanism model-driven boundary Control point, eye motion that is virtually reality like reality.

Before the establishment of introducing concrete model, at first explain the key concept that some are relevant with mechanism.

Member: any machine or mechanism are all formed by a plurality of component compositions, and it is meant each the moving cell body independently in machine or the mechanism.Member can be single part, also can be the rigid attachment body of a plurality of parts.Form between each part of same member relative motion can not be arranged.

Kinematic chain: the system that the connection of plural member by kinematic pair constitutes is called kinematic chain.

Mechanism: in kinematic chain a certain member is fixed and become frame, then this kinematic chain just becomes mechanism.

Kinematic pair: two members are called kinematic pair by the formed movable connection of direct contact.And can participate in contact on two members and the surface that constitutes kinematic pair is called pairing element.

Revolute pair: two members of component movement pair can only be made kinematic pair in relative rotation around a certain axis.

Turnover is secondary: two revolute pairs that the energy of composition revolute pair rotates relative to complete cycle.(can not do complete cycle rotates, it is secondary then to be called swing)

Driving link: the member by given known characteristics of motion self-movement in the mechanism is called driving link.

Driven member: remaining movable part is called driven member in the mechanism.

Frame: fixed member in the mechanism.

Side link: the member that links to each other with frame.

Connecting rod: the member that the end that two side links do not link to each other with frame separately is interconnected to constitute.

Crank: the side link that can do the complete cycle gyration.

Rocking bar: the side link that can only swing within the specific limits.

Crank and rocker mechanism is made up of four members, is respectively crank, connecting rod, rocking bar and frame.Crank and frame, crank and connecting rod, connecting rod and rocking bar, rocking bar with constitute revolute pair respectively with frame.Wherein, crank and frame constitute the turnover pair.Motion principle according to crank and rocker mechanism, when crank is a driving link, when rocking bar was driven member, crank can be done complete cycle around the fixed hinge of frame and rotate, and can be with the continuous rotation of crank, by directly and the connecting rod (intermediate member) that links of frame be transformed into the reciprocally swinging of rocking bar.Equally, utilize people's eyeball to be approximately this characteristic of spheroid, regard the movement locus of human eye eyelid frontier point as one section circular arc, suppose the eyelid frontier point be arranged on the endplay device rocking bar more arbitrarily, the angular velocity of rotation of setting crank according to demand is a controlled variable, according to frame, crank, the position relation between the rocking bar and the initial installation site of crank, and the crank rotational angular velocity parameter of input, calculate eyelid frontier point locus at any time or the angle that turns over, and drive three dimensional network lattice point motion with this, thereby simulate the closing motion of eyelid, generate realistic three-dimensional human eye animation.Wherein, the position relation between setting frame, crank, rocking bar and the initial installation site of crank need abide by the principle:

1. the length of quarter butt and stock and must be less than or equal to the length of other two bars and and form that a bar must be arranged in the two secondary bars of turnover is quarter butt in four bars in crank, connecting rod, rocking bar, the frame.

2. in actual motion, because human eye initially is generally the nature open configuration.Therefore, the initial position of four members can not be overlapped on the horizontal line of frame direction, and the initial angle of rocking bar and frame line must be the obtuse angle.

The mechanism model kinematic sketch as shown in Figure 7.For this mechanism is carried out motion analysis, set up rectangular coordinate system earlier as Fig. 7, and each member is showed with vector form.(get a Y and l ₄Unanimity, and get a Y and be the start line of each member azimuth angle theta, metering is for just in the counterclockwise direction).The endplay device model that is adopted is made up of 4 members, and wherein member 4 is a frame, belongs to the fixed part in the mechanism; Member 1 is driving link (crank), and member 2 is a connecting rod, and member 3 is driven member (guide rod).Member 1 constitutes revolute pair at joint O ' respectively with the M point respectively with frame 4 and member 2; Member 2 also constitutes revolute pair with member 3 at abutment N place, member 3 and frame 4 constitute revolute pair at joint O point.By the structural theory of four-bar mechanism, as can be known the cranked condition of four-bar mechanism be the length of each bar need satisfy the bar elongate member (length of quarter butt and stock and should be less than or equal to other two bars length and) and form that a bar must be arranged in the two secondary bars of turnover is quarter butt in four bars.After above-mentioned condition satisfied, the revolute pair that its quarter butt participates in constituting all was that turnover is secondary.Therefore, we get bar 1 and are quarter butt when structure rocking bar model, and then bar 1 is the turnover pair, and bar 2 and bar 3 are rotation pairs.We get O point position eyeball central point when the simulated eye palpebral movement, the length r of OO ' equals the eyeball radius; The bar of bar 1 is long to be l ₁, when bar 1 is in initial position and the angle of frame 4 be θ ₁Bar 2 links to each other by joint M point with bar 1, and the bar of bar 2 is long to be l ₂, with the angle of frame 4 be θ ₂Bar 2 links to each other by abutment N with bar 3, and the bar of bar 3 is long to be l ₃, with the angle of frame be θ ₃Bar 3 is connected with frame 4 by the O point.Bar 1 moves in a circle with angular velocity omega around O ', then by the connection of bar 2, drives bar 3 and also will do the circular motion that rotates around O point.Suppose that the arbitrary reference mark K on the edge, upper eyelid is positioned at certain fixed point on the bar 3, just can draw up the movement locus of boundary Control point by the said mechanism pattern die.

Get θ _3maxFor eyelid winds with right and left eyes ball center line by the state of normally opening eyes to complete closure state boundary Control point is the angle that turning axle was turned over, and concrete computing method are:

Definition with reference to eye FDP among the MPEG-4, get the highest net point (FDP 3.1/3.2) at edge, upper eyelid, minimum net point at palpebra inferior edge (FDP 3.3/3.4) and eyeball central point O are as leg-of-mutton three summits, as accompanying drawing 8, calculate leg-of-mutton three edge lengths according to net point at three-dimensional position coordinates, use the cosine law again and can obtain the angle θ that eyes are turned over by normal condition net point when fully closed _3max

Referring to accompanying drawing 8, by mechanical motion principle as can be known, when former moving bar 1 is 0 or 180 ° with axle Y angle, the angle between follower lever 3 and the axle X Maximum is by changing initial value (0＜θ of external control parameter θ 3 ₃＜θ _3max), can control the closed degree of eyes effectively, realize the closure of all places, simulate the various operating state of closing one's eyes.

Below in conjunction with accompanying drawing 7, specifically set forth the motion control principle of closing course by mathematical model:

(1) position analysis, can write out the vector sealing equation that each bar of mechanism is constituted by Fig. 7:

l ₁+l ₂＝l ₃+l ₄(1)

And θ is arranged ₄=θ ₃+ pi/2 (2)

Be expressed as with plural form

$l_1{e}^{{\mathrm{i\θ}}_1}+l_2{e}^{{\mathrm{i\θ}}_2}=l_3{e}^{{\mathrm{i\θ}}_4}+l_4---\left(3\right)$

After the expansion,

l ₁cosθ ₁+l ₂cosθ ₂＝l ₄+l ₃cosθ ₄(4)

l ₁sinθ ₁+l ₂sinθ ₂＝l ₃sinθ ₄(5)

Order

A＝2l ₁l ₃sinθ ₁(6)

B＝2l ₃(l ₁cosθ ₁-l ₄)(7)

$C={\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="HSA00000448434900012.png,HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_2^2-{\mathrm{<figure-callout\; id="1"\; label="l"\; filenames="HSA00000448434900031.png,HSA00000448434900032.png"\; state="\{\{state\}\}">l</figure-callout>}}_1^2-{\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="HSA00000448434900012.png,HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_3^2-{\mathrm{<figure-callout\; id="4"\; label="l"\; filenames="HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_4^2+{2l}_1{\mathrm{<figure-callout\; id="4"\; label="l"\; filenames="HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_4\cos {\mathrm{\&theta;}}_1---\left(8\right)$

A sin θ then ₄+ B cos θ ₄+ C=0 (9)

That separates can get

$\tan ({\mathrm{\&theta;}}_4/2)=A\&PlusMinus;\sqrt{(A^2+B^2-C^2)}/(B-C)---\left(10\right)$

But consider in the actual motion process l ₃Angle theta with X-axis ₃Can not be the obtuse angle, separate so get

$\tan ({\mathrm{\&theta;}}_4/2)=A+\sqrt{(A^2+B^2-C^2)}/(B-C)---\left(11\right)$

${\mathrm{\&theta;}}_4=2\&CenterDot;\arctan (A+\sqrt{(A^2+B^2-C^2)}/(B-C))---\left(12\right)$

(2) velocity analysis

Will

To time t differentiation, utilize formula (6) to get

${\mathrm{<figure-callout\; id="1"\; label="l"\; filenames="HSA00000448434900031.png,HSA00000448434900032.png"\; state="\{\{state\}\}">l</figure-callout>}}_1{\mathrm{\&omega;}}_1{\mathrm{ie}}^{{\mathrm{i\&theta;}}_1}+{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="HSA00000448434900012.png,HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_2{\mathrm{\&omega;}}_2{\mathrm{ie}}^{{\mathrm{i\&theta;}}_2}={\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="HSA00000448434900012.png,HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_3{\mathrm{\&omega;}}_3{\mathrm{ie}}^{{\mathrm{i\&theta;}}_4}---\left(13\right)$

With formula (13) both sides all divided by

${\mathrm{<figure-callout\; id="1"\; label="l"\; filenames="HSA00000448434900031.png,HSA00000448434900032.png"\; state="\{\{state\}\}">l</figure-callout>}}_1{\mathrm{\&omega;}}_1{\mathrm{ie}}^{i({\mathrm{\&theta;}}_1-{\mathrm{\&theta;}}_4)}+{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="HSA00000448434900012.png,HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_2{\mathrm{\&omega;}}_2{\mathrm{ie}}^{i({\mathrm{\&theta;}}_2-{\mathrm{\&theta;}}_4)}={\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="HSA00000448434900012.png,HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_3{\mathrm{\&omega;}}_{3}i---\left(14\right)$

Formula (13) both sides all divided by

${\mathrm{<figure-callout\; id="1"\; label="l"\; filenames="HSA00000448434900031.png,HSA00000448434900032.png"\; state="\{\{state\}\}">l</figure-callout>}}_1{\mathrm{\&omega;}}_1{\mathrm{ie}}^{i({\mathrm{\&theta;}}_1-{\mathrm{\&theta;}}_2)}+{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="HSA00000448434900012.png,HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_2{\mathrm{\&omega;}}_{2}i={\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="HSA00000448434900012.png,HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_3{\mathrm{\&omega;}}_3{\mathrm{ie}}^{i({\mathrm{\&theta;}}_4-{\mathrm{\&theta;}}_2)}---\left(15\right)$

Formula (14) and formula (15) are all got real part,

${\mathrm{\&omega;}}_2=-{\mathrm{\&omega;}}_1\frac{{\mathrm{<figure-callout\; id="1"\; label="l"\; filenames="HSA00000448434900031.png,HSA00000448434900032.png"\; state="\{\{state\}\}">l</figure-callout>}}_1\sin ({\mathrm{\&theta;}}_1-{\mathrm{\&theta;}}_4)}{{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="HSA00000448434900012.png,HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_2\sin ({\mathrm{\&theta;}}_2-{\mathrm{\&theta;}}_4)}---\left(16\right)$

${\mathrm{\&omega;}}_3={\mathrm{\&omega;}}_1\frac{{\mathrm{<figure-callout\; id="1"\; label="l"\; filenames="HSA00000448434900031.png,HSA00000448434900032.png"\; state="\{\{state\}\}">l</figure-callout>}}_1\sin ({\mathrm{\&theta;}}_1-{\mathrm{\&theta;}}_2)}{{\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="HSA00000448434900012.png,HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_3\sin ({\mathrm{\&theta;}}_4-{\mathrm{\&theta;}}_2)}---\left(17\right)$

(3) acceleration analysis

Formula (13) to time t differentiation, is got

$-{\mathrm{<figure-callout\; id="1"\; label="l"\; filenames="HSA00000448434900031.png,HSA00000448434900032.png"\; state="\{\{state\}\}">l</figure-callout>}}_1{\mathrm{\&omega;}}_1^2{\mathrm{ie}}^{{\mathrm{i\&theta;}}_1}+{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="HSA00000448434900012.png,HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_2{\mathrm{\&epsiv;}}_2{\mathrm{ie}}^{{\mathrm{i\&theta;}}_2}-{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="HSA00000448434900012.png,HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_2{\mathrm{\&omega;}}_2^2{\mathrm{ie}}^{{\mathrm{i\&theta;}}_2}={\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="HSA00000448434900012.png,HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_3{\mathrm{\&epsiv;}}_3{\mathrm{ie}}^{{\mathrm{i\&theta;}}_4}-{\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="HSA00000448434900012.png,HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_3{\mathrm{\&omega;}}_3^2{\mathrm{ie}}^{{\mathrm{i\&theta;}}_4}---\left(18\right)$

Formula (18) both sides all divided by

${\mathrm{<figure-callout\; id="1"\; label="l"\; filenames="HSA00000448434900031.png,HSA00000448434900032.png"\; state="\{\{state\}\}">l</figure-callout>}}_1{\mathrm{\&omega;}}_1^2{\mathrm{ie}}^{i({\mathrm{\&theta;}}_1-{\mathrm{\&theta;}}_4)}+{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="HSA00000448434900012.png,HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_2{\mathrm{\&epsiv;}}_2{\mathrm{ie}}^{i({\mathrm{\&theta;}}_2-{\mathrm{\&theta;}}_4)}-{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="HSA00000448434900012.png,HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_2{\mathrm{\&omega;}}_2^2{\mathrm{ie}}^{i({\mathrm{\&theta;}}_2-{\mathrm{\&theta;}}_4)}={\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="HSA00000448434900012.png,HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_3{\mathrm{\&epsiv;}}_{3}i-{\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="HSA00000448434900012.png,HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_3{\mathrm{\&omega;}}_3^{2}i---\left(19\right)$

Formula (18) both sides all divided by

$-{\mathrm{<figure-callout\; id="1"\; label="l"\; filenames="HSA00000448434900031.png,HSA00000448434900032.png"\; state="\{\{state\}\}">l</figure-callout>}}_1{\mathrm{\&omega;}}_1^2{\mathrm{ie}}^{i({\mathrm{\&theta;}}_1-{\mathrm{\&theta;}}_2)}+{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="HSA00000448434900012.png,HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_2{\mathrm{\&epsiv;}}_{2}i-{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="HSA00000448434900012.png,HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_2{\mathrm{\&omega;}}_2^{2}i={\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="HSA00000448434900012.png,HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_3{\mathrm{\&epsiv;}}_3{\mathrm{ie}}^{i({\mathrm{\&theta;}}_4-{\mathrm{\&theta;}}_2)}-{\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="HSA00000448434900012.png,HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_3{\mathrm{\&omega;}}_3^2{\mathrm{ie}}^{i({\mathrm{\&theta;}}_4-{\mathrm{\&theta;}}_2)}---\left(20\right)$

Formula (19) and formula (20) are all got real part, draw

${\mathrm{\&epsiv;}}_2=\frac{{\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="HSA00000448434900012.png,HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_3{\mathrm{\&omega;}}_3^2-{\mathrm{<figure-callout\; id="1"\; label="l"\; filenames="HSA00000448434900031.png,HSA00000448434900032.png"\; state="\{\{state\}\}">l</figure-callout>}}_1{\mathrm{\&omega;}}_1^2\cos ({\mathrm{\&theta;}}_1-{\mathrm{\&theta;}}_4)-{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="HSA00000448434900012.png,HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_2{\mathrm{\&omega;}}_2^2\cos ({\mathrm{\&theta;}}_2-{\mathrm{\&theta;}}_4)}{{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="HSA00000448434900012.png,HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_2\sin ({\mathrm{\&theta;}}_2-{\mathrm{\&theta;}}_4)}---\left(21\right)$

${\mathrm{\&epsiv;}}_3=\frac{{\mathrm{<figure-callout\; id="2"\; label="l"\; filenames="HSA00000448434900012.png,HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_2{\mathrm{\&omega;}}_2^2+{\mathrm{<figure-callout\; id="1"\; label="l"\; filenames="HSA00000448434900031.png,HSA00000448434900032.png"\; state="\{\{state\}\}">l</figure-callout>}}_1{\mathrm{\&omega;}}_1^2\cos ({\mathrm{\&theta;}}_1-{\mathrm{\&theta;}}_2)-{\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="HSA00000448434900012.png,HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_3{\mathrm{\&omega;}}_3^2\cos ({\mathrm{\&theta;}}_4-{\mathrm{\&theta;}}_2)}{{\mathrm{<figure-callout\; id="3"\; label="l"\; filenames="HSA00000448434900012.png,HSA00000448434900031.png"\; state="\{\{state\}\}">l</figure-callout>}}_3\sin ({\mathrm{\&theta;}}_4-{\mathrm{\&theta;}}_2)}---\left(22\right)$

Illustrate: ε ₂And ε ₃Represent the acceleration of bar 2 and bar 3 respectively.

As the above analysis, change angular velocity parameter ω ₁Can control the closing speed of eyelid, change angle parameter theta 3 (0＜θ ₃＜θ _3max), can control the degree of eyes closed, realize the actions of closing one's eyes in various degree such as semi-closure, full cut-off, thereby simulate real human eye closed action animation.Simultaneously, by changing the structure (l of rocking bar in advance ₁, l ₂, l ₃, l ₄, θ ₁) can control ω more flexibly ₃Size and pace of change.

The final human eye movement who obtains of the embodiment of the invention controls effect compared with prior art, introduce the endplay device model, enriched the details of human eye closing motion, strengthened the simulated effect of simulating human eye motion effectively, can be finer and smoother with simulate different human eye closed action processes accurately, the mathematical model of motion control is simple, explicit physical meaning, be easy to realize that effect is true to nature.

Claims (1)

1. a simulating human eye emotion performance analogy method is characterized in that comprising the steps:

At first, obtain three-dimensional human eye grid model, i.e. the 3D grid data;

Secondly, select net point as the motion control point according to the kinetic characteristic of eye at the ocular of model:

All net points of choosing upper eyelid edge are as the motion control point, in grid model, select peak and two canthus points at upper eyelid edge, with the line of two canthus points as a limit, also pass through the straight line of peak as another limit to be parallel to this limit, and then mark off a rectangular area, and in this zone, carry out choosing of reference mark, edge; Set the XOY coordinate system, X-axis is parallel to the line of 2 canthus points, constraint based on the rectangular area boundary condition, count the total-grid point that drops in this zone, Q altogether, the rectangular area is divided into Q sub-range along X-direction, obtain the net point of Y coordinate figure minimum at all net points that fall into each sub-range, i.e. minimum point in this subregion is as candidate boundary point; From the increase of left end canthus point beginning along with the X coordinate figure, the Y coordinate figure at reference mark, edge also earlier increases to peak gradually and then is reduced to right-hand member canthus point again gradually, thereby from candidate point, filter out frontier point as the motion control point according to this condition, get rid of non-frontier point;

Once more, adopt the motion of crank and rocker mechanism model-driven boundary Control point, eye motion that is virtually reality like reality:

Crank and rocker mechanism comprises crank, connecting rod, rocking bar and frame, crank and frame, crank and connecting rod, connecting rod and rocking bar, rocking bar with constitute revolute pair respectively with frame, wherein, crank and frame constitute the turnover pair; When crank is a driving link, when rocking bar is driven member, crank can be done complete cycle around the fixed hinge of frame and rotate, and can be with the continuous rotation of crank, by directly and the connecting rod that links of frame be transformed into the reciprocally swinging of rocking bar, suppose the eyelid frontier point be arranged on the endplay device rocking bar more arbitrarily, the angular velocity of rotation of setting crank according to demand is a controlled variable, according to frame, crank, the position relation between the rocking bar and the initial installation site of crank, and the crank rotational angular velocity parameter of input, calculate eyelid frontier point locus at any time or the angle that turns over, and drive three dimensional network lattice point motion with this, thereby simulate the closing motion of eyelid, generate realistic three-dimensional human eye animation; Wherein, the position relation between setting frame, crank, rocking bar and the initial installation site of crank need abide by the principle:

1) in crank, connecting rod, rocking bar, the frame length of quarter butt and stock and must be less than or equal to other two bars length and, and form that a bar must be arranged in the two secondary bars of turnover is quarter butt in four bars;

2) initial position of crank, connecting rod, rocking bar, frame can not be overlapped on the horizontal line of frame direction, and the initial angle of rocking bar and frame line must be the obtuse angle.

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