A motion deformation measurement and analysis system and method

Abstract

The present application provides a motion deformation measurement and analysis system and method, the system includes a motion capture device, a motion parameter calculator and a deformation measurement calculator, the motion capture device is used to collect a reference set and a target set; the motion parameter calculator is used to perform 3D registration of the reference set and the target set to obtain a coordinate transformation mapping matrix; according to the coordinate transformation mapping matrix, rigid motion information is obtained; according to the target set and the coordinate transformation mapping matrix, a third coordinate set is calculated; the deformation measurement calculator is used to obtain the third coordinate set and the reference set, and the coordinate vectors corresponding to the surface feature points in the third coordinate set and the reference set are used to calculate the deformation of the surface area of ​​the object. When measuring the strain deformation of a moving object, the present application does not need to spray speckle on the surface of the object, and the measurement process is simpler and more efficient.

Description

Technical Field

[0001] The present application relates to the field of dynamic measurement technology, and in particular to a motion deformation measurement and analysis system and method. Background Art

[0002] When performing strain deformation measurement and analysis on a moving object, the surface image of the object captured by an ordinary camera during the movement is relatively blurred. Therefore, a high-precision camera is generally used to capture the surface image of the moving object.

[0003] In the prior art, a digital image correlation (DIC) system is usually used to measure and analyze the strain deformation of an object surface. A digital image correlation (DIC) system is an optical non-contact three-dimensional deformation measurement system used to measure and analyze the surface morphology, displacement and strain deformation of an object, and to display the three-dimensional strain field data after measurement and analysis on a computer of the digital image correlation (DIC) system. When a digital image correlation (DIC) system is used to measure and analyze the strain deformation of a moving object, the specific process is as follows: first, two high-precision cameras are used to capture the digital speckle images of the moving object surface before and after deformation in real time; second, the digital speckle images of the moving object surface before and after deformation are matched using a digital image correlation (DIC) algorithm to determine several deformation points of the moving object; third, the three-dimensional coordinates of the deformation points on the moving object surface are calculated based on the parallax data of each deformation point and the high-precision camera parameters obtained in advance; finally, the displacement field of the moving object surface is obtained by calculating the change in the three-dimensional coordinates of each deformation point in each deformation state measurement area, and the strain field of the moving object surface is further calculated.

[0004] However, when using the above-mentioned digital image correlation (DIC) system to measure and analyze the strain deformation of a moving object, it is necessary to spray speckles on the surface of the object in advance, and further obtain the deformation information of the moving object by measuring the changes in the speckle field. Since the process of spraying speckles is relatively complicated, the efficiency of measurement and analysis using the digital image correlation (DIC) system is low. Summary of the invention

[0005] The present application provides a motion deformation measurement and analysis system and method to solve the problem in the prior art that when a digital image correlation (DIC) system is used to measure and analyze the strain deformation of a moving object, it is necessary to spray speckles on the surface of the object, and further obtain the deformation information of the moving object by measuring the change of the speckle field. Since the process of spraying speckles is relatively complicated, the efficiency of measurement and analysis using the digital image correlation (DIC) system is low.

[0006] In a first aspect, the present application provides a motion deformation measurement and analysis system, comprising: a motion capture device, a motion parameter calculator and a deformation measurement calculator, wherein the motion capture device is connected to the motion parameter calculator, and the deformation measurement calculator is connected to the motion capture device;

[0007] A motion capture device, used to collect and calculate a three-dimensional coordinate set of surface features of a moving object, wherein the three-dimensional coordinate set includes a reference set and a target set, the reference set is the three-dimensional coordinate set of surface features of the moving object collected by the motion capture device at an initial moment, and the target set is the three-dimensional coordinate set of surface features of the object collected by the motion capture device at a current moment;

[0008] A motion parameter calculator, used to obtain the reference set and the target set, and perform 3D registration on the reference set and the target set at the current moment to obtain a coordinate transformation mapping matrix;

[0009] Acquiring rigid motion information of the moving object according to the coordinate transformation mapping matrix;

[0010] Calculate a third coordinate set at the current moment according to the target set and the coordinate transformation mapping matrix;

[0011] A deformation measurement calculator is used to obtain the third coordinate set and the reference set, and use the coordinate vectors corresponding to the surface feature points in the third coordinate set and the reference set to calculate the deformation of the surface area where the surface feature of the moving object is located, wherein the surface feature of the moving object includes at least one surface feature point.

[0012] In a preferred embodiment of the present application, the deformation measurement calculator is also used for:

[0013] Subtracting the coordinate vectors corresponding to the surface feature points in the reference set from the third coordinate set to obtain the displacement of the surface feature points of the moving object caused by the deformation, wherein the modulus of the displacement vector represents the deformation amount of the surface feature points;

[0014] According to the surface feature points, spatial triangulation is performed on the surface of the object to obtain a plurality of triangles with the surface feature points as vertices;

[0015] The deformation distribution field inside the triangle is calculated by triangle interpolation.

[0016] In the above technical solution, a motion parameter calculator and a deformation measurement calculator are used to simultaneously measure and calculate the motion information and deformation information of the moving object. There will be no coupling of rigid motion information and deformation information in the prior art, which will lead to inaccurate strain deformation measurement results of the moving object.

[0017] In a second aspect, the present application provides a motion deformation measurement and analysis method, the method comprising:

[0018] Collecting and calculating a three-dimensional coordinate set of surface features of a moving object, wherein the three-dimensional coordinate set includes a reference set and a target set, the reference set is the three-dimensional coordinate set of surface features of the moving object collected by the motion capture device at an initial moment, and the target set is the three-dimensional coordinate set of surface features of the object collected by the motion capture device at a current moment;

[0019] Acquire the reference set and the target set, and perform 3D registration on the reference set and the target set at the current moment to obtain a coordinate transformation mapping matrix;

[0020] Acquiring rigid motion information of the moving object according to the coordinate transformation mapping matrix;

[0021] Calculate a third coordinate set at the current moment according to the target set and the coordinate transformation mapping matrix;

[0022] Acquire the third coordinate set and the reference set;

[0023] The deformation amount of the surface area where the surface feature of the moving object is located is calculated using the coordinate vectors corresponding to the third coordinate set and the surface feature points in the reference set, wherein the surface feature of the moving object includes at least one surface feature point.

[0024] In a preferred embodiment of the present application, the deformation amount of the surface area where the surface features of the moving object are located is calculated using the coordinate vectors corresponding to the surface feature points in the third coordinate set and the reference set, including:

[0025] Subtracting the coordinate vectors corresponding to the surface feature points in the reference set from the third coordinate set to obtain the displacement of the surface feature points of the moving object caused by the deformation, wherein the modulus of the displacement vector represents the deformation amount of the surface feature points;

[0026] According to the surface feature points, spatial triangulation is performed on the surface of the object to obtain a plurality of triangles with the surface feature points as vertices;

[0027] The deformation distribution field inside the triangle is calculated by triangle interpolation.

[0028] In a preferred embodiment of the present application, the moving object is illuminated by a light source, and the light source is used to enhance the contrast between the characteristic area on the surface of the moving object and the non-characteristic area on the surface of the moving object.

[0029] In a preferred embodiment of the present application, the light source includes a semiconductor laser light source.

[0030] In the above technical solution, the semiconductor laser light source has the characteristics of narrow pulse and high peak power output, and is suitable for motion capture of high-speed moving objects with a stroboscopic pulse width limited to less than or equal to one hundred nanoseconds.

[0031] In a preferred embodiment of the present application, the surface feature points include at least one retroreflective marking point.

[0032] In the above technical solution, the retroreflective marking points can exist in various sizes and shapes and are used to mark the surface features of moving objects.

[0033] In a third aspect, the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of a motion deformation measurement and analysis method when executing the computer program.

[0034] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of a motion deformation measurement and analysis method are implemented.

[0035] The present invention provides a motion deformation measurement and analysis system and method, which has the following beneficial effects compared with the prior art:

[0036] The present application can measure and calculate the motion information and deformation information of the moving object at the same time through the motion parameter calculator and the deformation measurement calculator, and the measurement and analysis efficiency is higher; and for objects with rigid motion information, since the rigid motion information and deformation information are measured and calculated separately, there will be no problem of inaccurate strain deformation measurement results due to the coupling of rigid motion information and deformation information. In addition, the present application does not require the use of a high-precision camera to meet the needs of strain deformation measurement of high-speed moving objects, and the cost is lower; when measuring and analyzing the strain deformation of a moving object, there is no need to spray speckle on the surface of the moving object, and the measurement process is simpler and more practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the embodiments are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0038] Figure 1 This is a structural block diagram of a motion deformation measurement and analysis system according to Embodiment 1 of the present application;

[0039] Figure 2 This is a flow chart of a motion deformation measurement and analysis method according to Embodiment 2 of the present application;

[0040] Figure 3a Schematic diagram of a discrete curve formed by the coordinate information of the moving object in the X direction and the time t in Example 2;

[0041] Figure 3b Schematic diagram of a discrete curve formed by the rotation angle information of the moving object in the X direction and the time t in Example 2;

[0042] Figure 3c Schematic diagram of a discrete curve formed by the coordinate information of the moving object in the Y direction and the time t in Example 2;

[0043] Figure 3d Schematic diagram of a discrete curve formed by the rotation angle information of the moving object in the Y direction and the time t in Example 2;

[0044] Figure 3e Schematic diagram of a discrete curve formed by the coordinate information of the moving object in the Z direction and the time t in Example 2;

[0045] Figure 3f Schematic diagram of a discrete curve formed by the rotation angle information of the moving object in the Z direction and the time t in Example 2;

[0046] Figure 4 This is a schematic diagram of part of the structure after spatial triangulation of the object surface is performed when calculating the deformation in Example 2. DETAILED DESCRIPTION

[0047] In order to make the purpose, implementation mode and advantages of the present application clearer, the exemplary implementation mode of the present application will be clearly and completely described below in conjunction with the drawings in the exemplary embodiments of the present application. Obviously, the described exemplary embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0048] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0049] Based on the exemplary embodiments described in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the claims attached to this application. In addition, although the disclosure in this application is introduced according to one or several exemplary examples, it should be understood that each aspect of the disclosure can also constitute a complete implementation method separately.

[0050] It should be noted that the brief description of terms in this application is only for the convenience of understanding the embodiments described below, and is not intended to limit the embodiments of this application. Unless otherwise specified, these terms should be understood according to their common and usual meanings.

[0051] To facilitate the technical solution of the application, some concepts involved in the application are first explained below.

[0052] Digital image correlation technology (DIC) uses binocular stereo vision technology to track the speckle image on the surface of an object to measure the three-dimensional coordinates, displacement and strain of the object surface during deformation. It is mainly used for the measurement and acquisition of full-field strain, deformation, displacement, amplitude, mode and other information.

[0053] DICM: Use a camera to capture digital speckle images of the surface of the measured plane object before and after deformation, and then obtain the displacement of each feature point on the surface of the measured object by matching the corresponding image sub-areas in the digital speckle images before and after deformation. Before and after the object is deformed, the movement of the feature points on its surface produces displacement. Through the relevant algorithm, the corresponding feature points before and after the object is deformed are determined, and the displacement can be obtained.

[0054] See also Figure 1 The present application provides a motion deformation measurement and analysis system, including: a motion capture device, a motion parameter calculator and a deformation measurement calculator, wherein the motion capture device is connected to the motion parameter calculator, and the deformation measurement calculator is connected to the motion capture device.

[0055] A motion capture device is used to collect and calculate the three-dimensional coordinate set of the surface features of a moving object, that is, to collect the spatial motion trajectory of the surface features of the moving object in a reference state and a current state; wherein the three-dimensional coordinate set includes a reference set (first coordinate set) and a target set (second coordinate set), the reference set (first coordinate set) is the three-dimensional coordinate set of the surface features of the moving object collected by the motion capture device at an initial moment, that is, in a reference state, and the target set (second coordinate set) is the three-dimensional coordinate set of the surface features of the object collected by the motion capture device at a current moment, that is, in a current state.

[0056] It should be noted that, in this embodiment 1, the surface features of the moving object are acquired in real time by the motion capture device, and the surface features of the moving object include at least one surface feature point, and the surface feature point can have a variety of sizes and shapes, which are used to mark the features of the moving object, such as a circular marker point. Furthermore, in this embodiment 1, the surface feature point includes at least one retroreflective marker point. Therefore, what the motion capture device acquires in real time are the three-dimensional coordinates of the surface feature points on the surface of the moving object.

[0057] When using motion capture equipment to obtain the three-dimensional coordinates of surface features of a moving object, it is necessary to distinguish between deformation measurement of fast-moving objects and deformation measurement of high-speed moving objects;

[0058] When measuring the deformation of a fast-moving object, a retroreflective marking point is used as the surface feature of the fast-moving object. At the same time, a fill light source is used to illuminate the retroreflective target, and the fill light source should be as close to the camera optical axis as possible to capture a stronger signal from the retroreflective marking point, and on this basis, the deformation measurement of the fast-moving object is performed.

[0059] When measuring the deformation of high-speed moving objects, in order to avoid motion blur affecting the accuracy of deformation measurement, the camera's single exposure time is usually required to be less than 1us, reaching the level of hundreds of nanoseconds or even lower; however, general optical acquisition equipment usually does not support ultra-short exposure shooting. Therefore, a laser light source (the integral brightness of the retroreflective mark point illuminated by ambient light is much smaller than the laser light source, approximately 0) can be used to provide high-speed stroboscopic illumination, and the imaging integration time can be limited by the stroboscopic pulse width of the light source at the level of hundreds of nanoseconds or even lower. At the same time, sufficient light intensity is obtained to achieve an effect equivalent to that of an ultra-short exposure camera, and on this basis, deformation measurement of high-speed moving objects is performed. Among them, the laser light source is a semiconductor laser light source with the characteristics of narrow pulses and high peak power output. Therefore, it can be applied to the deformation measurement of highly moving objects with stroboscopic pulse width limited to hundreds of nanoseconds and below.

[0060] In addition, the distinction between the fast-moving objects and the high-speed moving objects mentioned above can be determined based on the common knowledge of technicians in this field or based on experience in actual measurement and analysis to determine whether the object is moving fast or at high speed, and this embodiment 1 does not make any specific limitations on this.

[0061] A motion parameter calculator, used to obtain a reference set (first coordinate set) and a target set (second coordinate set) collected by the motion capture device, and to perform 3D registration on the reference set (first coordinate set) and the target set (second coordinate set) at the current moment, i.e., in the current state, to obtain a coordinate transformation mapping matrix M;

[0062] According to the coordinate transformation mapping matrix M, the rigid motion information of the moving object is obtained, wherein the rigid motion information includes the translation T and the rotation matrix R; secondly, the rigid motion information such as the velocity v and the angular velocity ω is calculated by the translation T, the rotation matrix R and the time interval t from the initial moment (reference state) to the current moment (current state); further, the rigid motion information such as the acceleration a and the angular acceleration α is obtained by performing differential calculations on the velocity v and the angular velocity ω respectively with respect to the time interval t, and the rigid motion information also includes the rotation quaternion Q and the attitude angle, etc.;

[0063] According to the target set (second coordinate set) and the coordinate transformation mapping matrix M, a third coordinate set at the current moment, ie, in the current state, is calculated.

[0064] In this embodiment 1, when the motion parameter calculator performs 3D registration, the 3D registration includes using a subset of the surface features of the moving object for best fit registration, which can be calculated with the help of SVD decomposition to achieve maximum registration accuracy, that is, using at least three of the surface features of the moving object for registration calculation.

[0065] A deformation measurement calculator is used to obtain the third coordinate set and the reference set (first coordinate set), and use the coordinate vectors corresponding to the surface feature points in the third coordinate set and the reference set (first coordinate set) to calculate the deformation of the surface area where the surface feature of the moving object is located, wherein the surface feature of the moving object includes at least one surface feature point.

[0066] Furthermore, in this embodiment 1, the deformation measurement calculator is also used for:

[0067] Subtracting the coordinate vectors corresponding to the surface feature points in the reference set from the third coordinate set to obtain the displacement of the surface feature points of the moving object caused by the deformation, wherein the modulus of the displacement vector represents the deformation amount of the surface feature points;

[0068] According to the surface feature points, the surface of the object is spatially triangulated, that is, the surface feature points are used as nodes for division to obtain a plurality of triangles with the surface feature points as vertices;

[0069] The deformation distribution field inside the triangle is calculated by triangle interpolation.

[0070] In the present embodiment 1, by using a motion parameter calculator and a deformation measurement calculator to simultaneously measure and calculate the motion information and deformation information of the moving object, there will be no coupling of rigid motion information and deformation information in the prior art, which will lead to inaccurate strain deformation measurement results of the moving object. In addition, the measurement process does not require speckle spraying on the surface of the object, which simplifies the measurement process.

[0071] Example 2

[0072] Corresponding to the above-mentioned embodiment 1 of a motion deformation measurement and analysis device, the present application also provides an embodiment of a motion deformation measurement and analysis method. Figure 2 As shown, the method includes:

[0073] S101, collecting and calculating a three-dimensional coordinate set of surface features of a moving object, wherein the three-dimensional coordinate set includes a reference set and a target set, the reference set (first coordinate set) is the three-dimensional coordinate set of surface features of the moving object collected by the motion capture device at an initial moment (reference state), and the target set (second coordinate set) is the three-dimensional coordinate set of surface features of the object collected by the motion capture device at a current moment (current state);

[0074] S102, obtaining the reference set (first coordinate set) and the target set (second coordinate set), and performing 3D registration on the reference set (first coordinate set) and the target set (second coordinate set) at the current moment (current state) to obtain a coordinate transformation mapping matrix M.

[0075] In step S102 of the second embodiment, the initial time (reference state) is recorded as t0, the current time (current state) is recorded as t1, and the first coordinate set and the second coordinate set are 3D aligned using an iterative closest point algorithm at the current time (current state), thereby obtaining a coordinate transformation mapping matrix M, Among them, R represents the rotation matrix and T represents the translation.

[0076] Furthermore, the above 3D registration includes using a subset of the surface features of the moving object to perform best fit registration, and the best fit registration can also be decomposed and calculated with the help of SVD algorithm.

[0077] Furthermore, if Figures 3a to 3f As shown, the surface feature points, i.e., the motion information of the moving object in the X, Y, and Z directions, are discrete curves formed on the time axis t. The motion information includes coordinate information and rotation angle information. The units of the horizontal and vertical coordinates can be changed according to actual use. Figure 3a It is a schematic diagram of the discrete curve formed by the coordinate information of the moving object in the X direction and time t. Figure 3b It is a schematic diagram of a discrete curve formed by the rotation angle information of the moving object in the X direction and the time t; Figure 3c It is a schematic diagram of the discrete curve formed by the coordinate information of the moving object in the Y direction and time t. Figure 3d It is a schematic diagram of a discrete curve formed by the rotation angle information of the moving object in the Y direction and the time t; Figure 3e It is a schematic diagram of the discrete curve formed by the coordinate information of the moving object in the Z direction and time t. Figure 3f It is a schematic diagram of a discrete curve formed by the rotation angle information of a moving object in the Z direction and time t; by performing a first-order difference on it, the velocity v and angular velocity ω of the moving object in any direction at any time can be obtained, and by performing a second-order difference on it, the acceleration a and angular acceleration α can be obtained.

[0078] S103, acquiring rigid motion information of the moving object according to the coordinate transformation mapping matrix M;

[0079] Specifically, the position of the surface feature point set on the time axis t is obtained by a motion capture device, and the coordinate transformation matrix M is calculated at each moment, and then the coordinate transformation mapping matrix M queue is calculated according to the time axis t, and the coordinate transformation mapping matrix M queue is composed of the coordinate transformation mapping matrix M at each moment, and the rigid motion information of the moving object is obtained through the coordinate transformation mapping matrix M queue. Further, the rigid motion information in step S103 includes the translation amount T, the rotation matrix R, the velocity v, the angular velocity ω, the acceleration a and the angular acceleration α, etc., and the rigid motion information also includes the rotation quaternion Q and the attitude angle, etc.

[0080] S104, calculating a third coordinate set at the current moment according to the target set (second coordinate set) and the coordinate transformation mapping matrix M;

[0081] S105, acquiring the third coordinate set and the reference set (first coordinate set);

[0082] S106, using the coordinate vectors corresponding to the surface feature points in the third coordinate set and the reference set (first coordinate set) to calculate the deformation amount of the surface area where the surface feature of the moving object is located, wherein the surface feature of the moving object includes at least one surface feature point.

[0083] In this embodiment 2, the above step S106 specifically includes the following steps:

[0084] Subtracting the coordinate vectors corresponding to the surface feature points in the reference set from the third coordinate set to obtain the displacement of the surface feature points of the moving object caused by the deformation, wherein the modulus of the displacement vector represents the deformation amount of the surface feature points;

[0085] According to the surface feature points, spatial triangulation is performed on the surface of the object to obtain a plurality of triangles with the surface feature points as vertices;

[0086] The deformation distribution field inside the triangle is calculated by triangle interpolation.

[0087] like Figure 4The figure shown is a schematic diagram of part of the structure after the spatial triangulation of the object surface is performed according to the above steps. The surface feature points are relatively sparse marking points. After constructing triangles with surface feature points as vertices, there are no surface marking points on the object surface, and the remaining points are all pixel points. When it is necessary to calculate the deformation distribution field inside a certain triangle, since the deformation of any pixel point inside the triangle is related to the three vertices (surface feature points), it is necessary to define the weight of the deformation of the three vertices (surface feature points) according to the distance of the pixel point from the three vertices (surface feature points); or use the centroid coordinates of the pixel point to determine the weight, and the deformation of the pixel point can be determined by the deformation of the three vertices (surface feature points) of the triangle and the weight of each vertex (surface feature point). It should be noted that Figure 4 Only the structural diagram after the spatial triangulation is shown, and the specific calculation process is not reflected in the figure. However, those skilled in the art can implement the technical solution of this application based on the conventional technical means of calculating the deformation amount in this field. Therefore, this part does not affect the implementation of the overall technical solution of this application.

[0088] In an implementation manner of the present embodiment 2, the moving object in the above steps may be illuminated by a light source, and the light source is used to enhance the contrast between the characteristic area on the surface of the moving object and the non-characteristic area on the surface of the moving object.

[0089] Furthermore, in one implementation of this embodiment 2, the light source includes a semiconductor laser light source having the characteristics of narrow pulse and high peak power output, and can be applied to high-speed moving object motion capture scenarios where the stroboscopic pulse width is limited to a hundred nanoseconds or less.

[0090] In an implementation of this embodiment 2, the surface feature points in step S106 include at least one retroreflective marking point, and the retroreflective marking point can have a variety of sizes and shapes.

[0091] The present application also provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of a motion deformation measurement and analysis method in Example 2 when executing the computer program.

[0092] The present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of a motion deformation measurement and analysis method in Example 2 are implemented.

[0093] It should be noted that in Examples 1 and 2 of the present application, only the optimal implementation process of the device and method is listed, but the calculation methods and formulas used in the specific calculations are well known to those skilled in the art. If there are some characters that are not explained, they are the conventional explanations for application in motion deformation measurement known to those skilled in the art, and therefore, it cannot be considered that this part is unclear.

Claims

1. A motion deformation measurement and analysis system, characterized in that: include: A motion capture device, a motion parameter calculator and a deformation measurement calculator, wherein the motion capture device is connected to the motion parameter calculator, and the deformation measurement calculator is connected to the motion capture device; A motion capture device, used to collect and calculate a three-dimensional coordinate set of surface features of a moving object, wherein the three-dimensional coordinate set includes a reference set and a target set, the reference set is the three-dimensional coordinate set of surface features of the moving object collected by the motion capture device at an initial moment, and the target set is the three-dimensional coordinate set of surface features of the object collected by the motion capture device at a current moment; A motion parameter calculator, used to obtain the reference set and the target set, and perform 3D registration on the reference set and the target set at the current moment to obtain a coordinate transformation mapping matrix; Acquiring rigid motion information of the moving object according to the coordinate transformation mapping matrix; Calculate a third coordinate set at the current moment according to the target set and the coordinate transformation mapping matrix; A deformation measurement calculator is used to obtain the third coordinate set and the reference set, and use the coordinate vectors corresponding to the surface feature points in the third coordinate set and the reference set to calculate the deformation of the surface area where the surface feature of the moving object is located, wherein the surface feature of the moving object includes at least one surface feature point.

2. A motion deformation measurement and analysis system according to claim 1, characterized in that: The deformation measurement calculator is also used to: Subtracting the coordinate vectors corresponding to the surface feature points in the reference set from the third coordinate set to obtain the displacement of the surface feature points of the moving object caused by the deformation, wherein the modulus of the displacement vector represents the deformation amount of the surface feature points; According to the surface feature points, spatial triangulation is performed on the surface of the object to obtain a plurality of triangles with the surface feature points as vertices; The deformation distribution field inside the triangle is calculated by triangle interpolation.

3. A motion deformation measurement and analysis system according to claim 1, characterized in that: It also includes at least one light source, which is used to illuminate the moving object to enhance the contrast between the characteristic area on the surface of the moving object and the non-characteristic area on the surface of the moving object.

4. A motion deformation measurement and analysis system according to claim 3, characterized in that: The light source includes a semiconductor laser light source.

5. A motion deformation measurement and analysis system according to any one of claims 1 to 4, characterized in that: The surface feature points include at least one retroreflective marking point.

6. A motion deformation measurement and analysis method, characterized in that: The method comprises: Collecting and calculating a three-dimensional coordinate set of surface features of a moving object, wherein the three-dimensional coordinate set includes a reference set and a target set, the reference set is the three-dimensional coordinate set of surface features of the moving object collected by a motion capture device at an initial moment, and the target set is the three-dimensional coordinate set of surface features of the object collected by the motion capture device at a current moment; Acquire the reference set and the target set, and perform 3D registration on the reference set and the target set at the current moment to obtain a coordinate transformation mapping matrix; Acquiring rigid motion information of the moving object according to the coordinate transformation mapping matrix; Calculate a third coordinate set at the current moment according to the target set and the coordinate transformation mapping matrix; Acquire the third coordinate set and the reference set; The deformation amount of the surface area where the surface feature of the moving object is located is calculated using the coordinate vectors corresponding to the third coordinate set and the surface feature points in the reference set, wherein the surface feature of the moving object includes at least one surface feature point.

7. A motion deformation measurement and analysis method according to claim 6, characterized in that: Calculating the deformation of the surface area where the surface features of the moving object are located by using the coordinate vectors corresponding to the third coordinate set and the surface feature points in the reference set, including: Subtracting the coordinate vectors corresponding to the surface feature points in the reference set from the third coordinate set to obtain the displacement of the surface feature points of the moving object caused by the deformation, wherein the modulus of the displacement vector represents the deformation amount of the surface feature points; According to the surface feature points, spatial triangulation is performed on the surface of the object to obtain a plurality of triangles with the surface feature points as vertices; The deformation distribution field inside the triangle is calculated by triangle interpolation.

8. A motion deformation measurement and analysis method according to claim 6 or 7, characterized in that: The moving object is illuminated by a light source, and the light source is used to enhance the contrast between a characteristic area on the surface of the moving object and a non-characteristic area on the surface of the moving object.

9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the motion deformation measurement and analysis method as described in any one of claims 6 to 8 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of a motion deformation measurement and analysis method as described in any one of claims 6 to 8 are implemented.

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