Earthwork construction quantity metering method and system based on structured light vision measurement

Abstract

The invention discloses an earthwork construction quantity metering method based on structured light vision measurement. The earthwork construction quantity metering method is based on a measuring device composed of a line structured light sensor and a multi-label ultra-wideband positioning subsystem. The method comprises the following steps: acquiring a three-dimensional coordinate of an ultra-wideband base station in a construction area coordinate system; three-dimensional coordinates of the earthwork slope contour are obtained; performing real-time conversion relation calculation on the coordinate system of the linear structured light sensor and the coordinate system of the construction area to obtain a conversion matrix; the coordinates of the earthwork slope contour and the conversion matrix are converted into coordinates under a construction area coordinate system; the method comprises the following steps: before and after earthwork construction, scanning an earthwork slope by adopting a measuring device to respectively obtain all coordinate point sets on an earthwork outline; and for all coordinate point sets on the earthwork contour, obtaining a volume difference in a least square fitting mode, and taking the volume difference as the earthwork volume change in the current construction process. According to the invention, direct measurement of the earthwork slope contour is realized through three-dimensional reconstruction, and the high-precision measurement effect of the earthwork position in the area is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of construction measurement, and in particular to a method and system for measuring earthwork construction quantity based on structured light vision measurement. Background Art

[0002] Earthwork volume is one of the main data in the organization design of earthwork construction. The calculation of earthwork volume should be as accurate as possible. It is the basis for organizing labor when manual excavation is used or calculating machine shifts and construction period when mechanical construction is used. The earthwork volume must be budgeted in the engineering design stage, which is directly related to the cost estimate and scheme selection of the project. In reality, disputes caused by the accuracy of earthwork volume calculation in some engineering projects are also relatively common. How to use the terrain data measured on site by the surveying unit or the original digital terrain data to quickly and accurately calculate the earthwork volume has become an urgent problem for engineering managers to solve.

[0003] The more commonly used methods for calculating earthwork volume are: manual measurement method, which generally uses a level and white marker to draw contour lines on the slope, uses a fixed length of measuring line to measure the length of the contour line, and calculates the earthwork volume based on the measured length and width of the contour line. This method is time-consuming and prone to human errors; laser measurement method, which uses a laser rangefinder to measure the distance and height of the earthwork project surface, and then calculates the earthwork volume based on the measured data, which has high requirements for operators; remote sensing measurement method, which uses satellite remote sensing data for measurement, and calculates the earthwork volume by analyzing satellite images and lidar data, but it is costly and has poor real-time performance.

[0004] With the advancement and implementation of the national strategy of "Digital China", digital construction technology has developed rapidly in the field of infrastructure, effectively improving the construction quality and management level. Therefore, it is particularly important to realize digital measurement of earthwork volume during the construction of infrastructure. Summary of the invention

[0005] The present invention provides a method and system for measuring earthwork construction volume based on structured light vision measurement. A walking carrier is used to carry a measurement subsystem and move in front of the earthwork working slope. The line structured light sensor forms light spots and stripes on the earthwork slope by projecting line structured light. The sensor collects the structured light stripes for three-dimensional reconstruction to obtain the regional contour coordinates of the slope. At the same time, the translation and rotation angle of the sensor coordinate system relative to the construction site coordinate system are obtained by relying on multi-label ultra-wideband, and the regional contour coordinates of the current slope are converted to the construction site coordinates. The three-dimensional coordinates of the earthwork contour in the construction site coordinate system continuously scanned by the measurement system during movement are compared with the three-dimensional coordinate results of the earthwork contour measured before construction to obtain the change in earthwork volume during the earthwork construction process.

[0006] The present invention provides a method for measuring earthwork construction quantity based on structured light vision measurement, a measuring device composed of a line structured light sensor and a multi-tag ultra-wideband positioning subsystem, and the measuring device is installed on a walking carrier; the method specifically includes:

[0007] Get the coordinate system O of the UWB base station in the construction area global -3D coordinates under xyz;

[0008] The walking carrier moves along the earthwork working surface, and obtains the three-dimensional coordinates of the earthwork slope contour through the line structured light sensor;

[0009] The line structured light sensor coordinate system O sensor -xyz and construction area coordinate system O global -xyz performs real-time conversion relationship calculation to obtain the conversion matrix

[0010] The coordinates of the earthwork slope contour (x s ,0,z s ) and the transformation matrix Convert the coordinates (x g ,y g ,z g ); wherein the coordinates of the earthwork slope profile are obtained by continuous scanning by the measuring device;

[0011] Before and after earthwork construction, the measuring device is used to scan the earthwork slope surface to obtain the set of all coordinate points U on the earthwork contour. start , U end ;

[0012] For all coordinate points on the earthwork contour before and after earthwork construction, start , U end , the volume difference V is obtained by the least squares fitting method delta , the volume difference V delta That is the change in earthwork volume in the current construction process.

[0013] Furthermore, the line structured light sensor is composed of a laser and an industrial camera.

[0014] Furthermore, the multi-tag ultra-wideband positioning subsystem includes multiple ultra-wideband positioning tags, the outer shell of the walking carrier is installed with no less than 3 ultra-wideband positioning tags, and the spacing between the ultra-wideband positioning tags is not less than a set value, and the positions of the ultra-wideband tags and the linear structured light sensor are kept relatively fixed.

[0015] Furthermore, the acquisition of the coordinate system O of the ultra-wideband base station in the construction area globalIn the step of three-dimensional coordinates under the coordinate system of -xyz, at least a set number of ultra-wideband base stations are fixedly deployed at the corners of the construction area, and the ultra-wideband base stations are positioned by a total station or a differential GNSS positioning device to obtain the location of the ultra-wideband base stations in the construction site coordinate system O global -xyz three-dimensional coordinates.

[0016] Furthermore, the step of obtaining the three-dimensional coordinates of the earthwork slope contour obtained by the line structured light sensor when the walking carrier moves along the earthwork working surface specifically includes:

[0017] The laser of the line structured light sensor projects the line structured light plane onto the earthwork slope surface, forming a stripe light spot modulated and deformed by the slope surface contour;

[0018] The industrial camera of the line structured light sensor collects a two-dimensional image of the stripe light spot, and uses a digital image processing method to extract the center coordinates of the structured light stripes with sub-pixel accuracy;

[0019] Using the principle of triangulation, the deformation information of light is converted into the three-dimensional shape of the target object, and the pixel coordinate system of the industrial camera is used to calculate the three-dimensional shape of the target object. C -UV and line structured light sensor coordinate system O sensor -xyz transformation relationship, in order to convert the coordinates (u, v) of the fringe center on the two-dimensional imaging plane of the industrial camera into the coordinates (x s ,0,z s ).

[0020] Furthermore, the line structured light sensor coordinate system O sensor -xyz and construction area coordinate system O global -xyz performs real-time conversion relationship calculation to obtain the conversion matrix The steps include:

[0021] The coordinates of each ultra-wideband tag on the walking carrier in the construction area coordinate system O are calculated by combining the distance measurement value between the ultra-wideband base station and the ultra-wideband tag and the three-dimensional coordinates of the ultra-wideband base station. global -3D coordinates under xyz;

[0022] The geometric constraint relationship between the ultra-wideband tags on the walking carrier is used to obtain the current line structured light sensor coordinate system O sensor -xyz to site coordinate system O global -xyz transformation matrix

[0023] The present invention also provides an earthwork construction quantity measurement system based on structured light vision measurement, a measuring device composed of a line structured light sensor and a multi-tag ultra-wideband positioning subsystem, and the measuring device is installed on a walking carrier; the method specifically includes:

[0024] The first acquisition module is used to obtain the coordinate system O of the ultra-wideband base station in the construction area. global -3D coordinates under xyz;

[0025] The second acquisition module is used to acquire the three-dimensional coordinates of the earthwork slope contour obtained by the line structured light sensor when the walking carrier moves along the earthwork working surface;

[0026] The calculation module is used to convert the line structured light sensor coordinate system O sensor -xyz and construction area coordinate system O global -xyz performs real-time conversion relationship calculation to obtain the conversion matrix

[0027] Conversion module, used to convert the coordinates (x s ,0,z s ) and the transformation matrix Convert the coordinates (x g ,y g ,z g ); wherein the coordinates of the earthwork slope profile are obtained by continuous scanning by the measuring device;

[0028] The scanning module is used to scan the earthwork slope surface with the measuring device before and after earthwork construction to obtain the set of all coordinate points U on the earthwork contour. start , U end ;

[0029] The fitting module is used to fit the set U of all coordinate points on the earthwork contour before and after earthwork construction. start , U end , the volume difference V is obtained by the least squares fitting method delta , the volume difference V delta That is the change in earthwork volume in the current construction process.

[0030] The present invention also provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0031] The present invention also provides a computer-readable storage medium on which a computer program is stored, and the computer program implements the steps of the above method when executed by a processor.

[0032] The beneficial effects of the present invention are:

[0033] 1. The present invention realizes direct measurement of the earthwork slope profile through line structured light three-dimensional reconstruction, obtains the contour of the regional earthwork slope, and improves the high-precision measurement effect of the earthwork position in the region.

[0034] 2. The present invention uses multi-tag ultra-wideband positioning to obtain the positioning and orientation of the walking carrier in a large construction area, thereby improving the measurement accuracy of the three-dimensional reconstruction in a large range of the method and having low requirements on the type and driving mode of the walking carrier.

[0035] 3. Through continuous scanning and measurement of the walking carrier, the regional slope contour coordinates are converted to the construction site coordinate system to obtain the overall contour coordinates of the construction earthwork slope, thereby improving the measurement efficiency of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 The figure is a schematic diagram of a method flow according to an embodiment of the present invention.

[0037] Figure 2 It is a structural diagram of the earthwork construction quantity measurement in the present invention.

[0038] Figure 3 FIG. 1 is a schematic diagram of a device structure according to an embodiment of the present invention.

[0039] Figure 4 The figure is a schematic diagram of the internal structure of a computer device according to an embodiment of the present invention.

[0040] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0041] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0042] The present invention provides an earthwork quantity measurement method and system based on line structured light vision and ultra-wideband positioning. The measurement subsystem is mainly composed of a line structured light sensor and a multi-label ultra-wideband positioning system, and is installed on a freely movable walking carrier. The walking carrier carries the measurement system and moves in front of the earthwork working slope. The line structured light sensor forms light spots and stripes on the earthwork slope by projecting line structured light. The sensor collects the structured light stripes for three-dimensional reconstruction to obtain the regional contour coordinates of the slope. At the same time, the multi-label ultra-wideband is used to obtain the translation and rotation angle of the sensor coordinate system relative to the construction site coordinate system, and the regional contour coordinates of the current slope are converted to the construction site coordinates. By comparing the three-dimensional coordinates of the earthwork contour in the construction site coordinate system continuously scanned by the measurement system during the movement with the three-dimensional coordinates of the earthwork contour measured before construction, the change in earthwork quantity during the earthwork construction process is obtained.

[0043] The present invention provides a method for measuring earthwork construction volume based on structured light vision measurement. The measuring device is composed of a line structured light sensor and a multi-label ultra-wideband positioning subsystem. The line structured light sensor used for measuring the contour of the earthwork slope is installed on a walking carrier, and the sensor coordinate system is converted to the construction site coordinate system based on the multi-label ultra-wideband. Through continuous scanning measurement, the three-dimensional reconstruction of the earthwork slope is completed.

[0044] like Figure 1-2 As shown, the method specifically includes:

[0045] S1. Obtain the coordinate system O of the ultra-wideband base station in the construction area global -3D coordinates under xyz;

[0046] Before obtaining the three-dimensional coordinates, a linear structured light sensor composed of a laser and an industrial camera is installed on the walking carrier, and no less than three ultra-wideband positioning tags are installed on the outer shell of the walking carrier, and the distance between the tags is not less than 0.5 meters (the set value can be adjusted according to specific needs and is not limited here), and the positions of the ultra-wideband tag and the linear structured light sensor are kept relatively fixed;

[0047] At least three (the number can be adjusted according to specific needs and is not limited here) ultra-wideband base stations are fixedly deployed in the corners of the construction area. The ultra-wideband base stations are positioned by a total station or a differential GNSS positioning device to obtain the coordinates of the ultra-wideband base stations in the construction site coordinate system O. global -xyz three-dimensional coordinates.

[0048] S2, obtaining the three-dimensional coordinates of the earthwork slope contour obtained by the line structured light sensor when the walking carrier moves along the earthwork working surface;

[0049] Step S2 specifically includes:

[0050] S2.1, the laser of the line structured light sensor projects the line structured light plane onto the earth slope surface, forming a stripe light spot modulated and deformed by the slope contour;

[0051] S2.2, the industrial camera of the line structured light sensor collects a two-dimensional image of the stripe light spot, and uses a digital image processing method to extract the center coordinates of the structured light stripes with sub-pixel accuracy;

[0052] S2.3, using the principle of triangulation, the deformation information of light is converted into the three-dimensional shape of the target object, and the pixel coordinate system O of the industrial camera is used to calculate the shape of the target object. C -UV and line structured light sensor coordinate system O sensor -xyz transformation relationship, in order to convert the coordinates (u, v) of the fringe center on the two-dimensional imaging plane of the industrial camera into the coordinates (x s,0,z s ).

[0053] S3, the line structured light sensor coordinate system O sensor -xyz and construction area coordinate system O global -xyz performs real-time conversion relationship calculation to obtain the conversion matrix

[0054] Step S3 specifically includes:

[0055] S3.1. The coordinate system of the construction area of ​​each ultra-wideband tag on the walking carrier is calculated by combining the distance measurement value between the ultra-wideband base station and the ultra-wideband tag with the three-dimensional coordinates of the ultra-wideband base station. global -3D coordinates under xyz;

[0056] S3.2, using the geometric constraints between the ultra-wideband tags on the walking carrier, obtain the current line structured light sensor coordinate system O sensor -xyz to site coordinate system O global -xyz transformation matrix

[0057] S4, the coordinates (x s ,0,z s ) and the transformation matrix obtained by step S3 Convert the coordinates (x g ,y g ,z g ); wherein the coordinates of the earthwork slope profile are obtained by continuous scanning by the measuring device;

[0058] S5. Before and after the earthwork construction, based on steps S2-S4, the earthwork slope surface is scanned using the measuring device to obtain a set U of all coordinate points on the earthwork contour. start , U end ;

[0059] S6, the set U of all coordinate points on the earthwork contour before and after earthwork construction start , U end , the volume difference V is obtained by the least squares fitting method delta , the volume difference V delta That is the change in earthwork volume in the current construction process.

[0060] The present invention measures the contour coordinates of a local area of ​​an earthwork slope surface through a line structured light sensor, and its laser light source can resist light interference under outdoor conditions; a walking carrier is positioned and oriented through a multi-label ultra-wideband, and has the characteristics of low cost and strong adaptability; the walking carrier drives the line structured light sensor to continuously scan and measure the earthwork slope surface, and the multi-label ultra-wideband is used to calculate the position and direction offset of the line structured light sensor, and the coordinate system is converted for the scanning and measurement results of the earthwork slope surface; the earthwork slope surface before and after construction is scanned and measured, and the volume difference before and after is calculated to obtain the change in earthwork volume during the earthwork construction process.

[0061] like Figure 3 As shown, the present invention also provides an earthwork construction quantity measurement system based on structured light vision measurement, a measuring device composed of a line structured light sensor and a multi-tag ultra-wideband positioning subsystem, and the measuring device is installed on a walking carrier; the method specifically includes:

[0062] The first acquisition module 1 is used to obtain the coordinate system O of the ultra-wideband base station in the construction area. global -3D coordinates under xyz;

[0063] The second acquisition module 2 is used to acquire the three-dimensional coordinates of the earthwork slope contour obtained by the line structured light sensor when the walking carrier moves along the earthwork working surface;

[0064] Calculation module 3, used to transform the line structured light sensor coordinate system O sensor -xyz and construction area coordinate system O global -xyz performs real-time conversion relationship calculation to obtain the conversion matrix

[0065] Transformation module 4 is used to transform the coordinates (x s ,0,z s ) and the transformation matrix Convert the coordinates (x g ,y g ,z g ); wherein the coordinates of the earthwork slope profile are obtained by continuous scanning by the measuring device;

[0066] Scanning module 5 is used to scan the earthwork slope surface with the measuring device before and after earthwork construction to obtain all coordinate point sets U on the earthwork contour. start , U end ;

[0067] Fitting module 6 is used to fit all coordinate point sets U on the earthwork contour before and after earthwork construction start , U end , the volume difference V is obtained by the least squares fitting methoddelta , the volume difference V delta That is the change in earthwork volume in the current construction process.

[0068] In one embodiment, the line structured light sensor is composed of a laser and an industrial camera.

[0069] In one embodiment, the multi-tag ultra-wideband positioning subsystem includes multiple ultra-wideband positioning tags, the outer shell of the walking carrier is installed with no less than 3 ultra-wideband positioning tags, and the spacing between the ultra-wideband positioning tags is not less than a set value, and the positions of the ultra-wideband tags and the linear structured light sensor are kept relatively fixed.

[0070] In one embodiment, in the second acquisition module 2, at least a set number of ultra-wideband base stations are fixedly deployed at the corners of the construction area, and the ultra-wideband base stations are positioned by a total station or a differential GNSS positioning device to obtain the ultra-wideband base stations in the construction site coordinate system. global -xyz three-dimensional coordinates.

[0071] In one embodiment, the second acquisition module 2 specifically includes:

[0072] A projection unit, wherein the laser of the line structured light sensor projects the line structured light plane onto the earthwork slope surface to form a stripe light spot modulated and deformed by the slope surface contour;

[0073] An extraction unit, used for the industrial camera of the line structured light sensor to collect a two-dimensional image of the stripe light spot, and to extract the center coordinates of the structured light stripes with sub-pixel accuracy by using a digital image processing method;

[0074] The conversion unit is used to convert the deformation information of light into the three-dimensional shape of the target object by using the triangulation principle, and the pixel coordinate system O of the industrial camera is used to convert the deformation information of light into the three-dimensional shape of the target object. C -UV and line structured light sensor coordinate system O sensor -xyz transformation relationship, in order to convert the coordinates (u, v) of the fringe center on the two-dimensional imaging plane of the industrial camera into the coordinates (x s ,0,z s ).

[0075] In one embodiment, the calculation module 3 includes:

[0076] The calculation unit is used to calculate the coordinate system of the construction area of ​​each ultra-wideband tag on the walking carrier by using the distance measurement value between the ultra-wideband base station and the ultra-wideband tag in combination with the three-dimensional coordinates of the ultra-wideband base station. global -3D coordinates under xyz;

[0077] The result unit is used to obtain the current line structured light sensor coordinate system O by using the geometric constraint relationship between the ultra-wideband tags on the walking carrier. sensor -xyz to site coordinate system O global -xyz transformation matrix

[0078] The above modules and units are used to execute the corresponding steps in the above earthwork construction quantity measurement method based on structured light vision measurement. The specific implementation method thereof is described in the above method embodiment and will not be repeated here.

[0079] like Figure 4 As shown, the present invention also provides a computer device, which can be a server, and its internal structure can be as shown in Figure 4 As shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor designed by the computer is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store all data required for the process of the earthwork construction quantity measurement method based on structured light vision measurement. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the earthwork construction quantity measurement method based on structured light vision measurement is implemented.

[0080] Those skilled in the art will understand that Figure 4 The structure shown in is merely a block diagram of a portion of the structure related to the present application solution and does not constitute a limitation on the computer device to which the present application solution is applied.

[0081] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, any one of the above-mentioned earthwork construction quantity measurement methods based on structured light vision measurement is implemented.

[0082] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in this application and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0083] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0084] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for measuring earthwork construction quantity based on structured light vision measurement, characterized in that: A measuring device composed of a line structured light sensor and a multi-tag ultra-wideband positioning subsystem is installed on a walking carrier; the method specifically includes: Get the coordinate system O of the UWB base station in the construction area global -3D coordinates under xyz; The walking carrier moves along the earthwork working surface, and obtains the three-dimensional coordinates of the earthwork slope contour through the line structured light sensor; The line structured light sensor coordinate system O sensor -xyz and construction area coordinate system O global -xyz performs real-time conversion relationship calculation to obtain the conversion matrix The coordinates of the earthwork slope contour (x s ,0,z s ) and the transformation matrix Convert the coordinates (x g ,y g ,z g ); wherein the coordinates of the earthwork slope profile are obtained by continuous scanning by the measuring device; Before and after earthwork construction, the measuring device is used to scan the earthwork slope surface to obtain the set of all coordinate points U on the earthwork contour. start , U end ; For all coordinate points on the earthwork contour before and after earthwork construction, start , U end , the volume difference V is obtained by the least squares fitting method delta , the volume difference V delta That is the change in earthwork volume in the current construction process.

2. The method for measuring earthwork construction quantity based on structured light vision measurement according to claim 1 is characterized in that: The line structured light sensor is composed of a laser and an industrial camera.

3. The earthwork construction quantity measurement method based on structured light vision measurement according to claim 2 is characterized in that: The multi-tag ultra-wideband positioning subsystem includes multiple ultra-wideband positioning tags. The outer shell of the walking carrier is installed with no less than 3 ultra-wideband positioning tags, and the spacing between the ultra-wideband positioning tags is not less than a set value, and the positions of the ultra-wideband tags and the linear structured light sensor are kept relatively fixed.

4. The earthwork construction quantity measurement method based on structured light vision measurement according to claim 1 is characterized in that: The acquisition of the coordinate system O of the ultra-wideband base station in the construction area global In the step of three-dimensional coordinates under the coordinate system of -xyz, at least a set number of ultra-wideband base stations are fixedly deployed at the corners of the construction area, and the ultra-wideband base stations are positioned by a total station or a differential GNSS positioning device to obtain the location of the ultra-wideband base stations in the construction site coordinate system O global -xyz three-dimensional coordinates.

5. The earthwork construction quantity measurement method based on structured light vision measurement according to claim 2 is characterized in that: The step of obtaining the three-dimensional coordinates of the earthwork slope contour obtained by the line structured light sensor when the walking carrier moves along the earthwork working surface specifically includes: The laser of the line structured light sensor projects the line structured light plane onto the earthwork slope surface, forming a stripe light spot modulated and deformed by the slope surface contour; The industrial camera of the line structured light sensor collects a two-dimensional image of the stripe light spot, and uses a digital image processing method to extract the center coordinates of the structured light stripes with sub-pixel accuracy; Using the principle of triangulation, the deformation information of light is converted into the three-dimensional shape of the target object, and the pixel coordinate system of the industrial camera is used to calculate the three-dimensional shape of the target object. C -UV and line structured light sensor coordinate system O sensor -xyz transformation relationship, in order to convert the coordinates (u, v) of the fringe center on the two-dimensional imaging plane of the industrial camera into the coordinates (x s ,0,z s ).

6. The earthwork construction quantity measurement method based on structured light vision measurement according to claim 3 is characterized in that: The line structured light sensor coordinate system O sensor -xyz and construction area coordinate system O global -xyz performs real-time conversion relationship calculation to obtain the conversion matrix The steps include: The coordinate system of the construction area of ​​each ultra-wideband tag on the walking carrier is calculated by combining the distance measurement value between the ultra-wideband base station and the ultra-wideband tag with the three-dimensional coordinates of the ultra-wideband base station. global -3D coordinates under xyz; The geometric constraint relationship between the ultra-wideband tags on the walking carrier is used to obtain the current line structured light sensor coordinate system O sensor -xyz to site coordinate system O global -xyz transformation matrix 7. An earthwork construction quantity measurement system based on structured light vision measurement, characterized in that: A measuring device composed of a line structured light sensor and a multi-tag ultra-wideband positioning subsystem is installed on a walking carrier; the method specifically includes: The first acquisition module is used to obtain the coordinate system O of the ultra-wideband base station in the construction area. global -3D coordinates under xyz; The second acquisition module is used to acquire the three-dimensional coordinates of the earthwork slope contour obtained by the line structured light sensor when the walking carrier moves along the earthwork working surface; The calculation module is used to convert the line structured light sensor coordinate system O sensor -xyz and construction area coordinate system O global -xyz performs real-time conversion relationship calculation to obtain the conversion matrix Conversion module, used to convert the coordinates (x s ,0,z s ) and the transformation matrix Convert the coordinates (x g ,y g ,z g ); wherein the coordinates of the earthwork slope profile are obtained by continuous scanning by the measuring device; The scanning module is used to scan the earthwork slope surface with the measuring device before and after earthwork construction to obtain the set of all coordinate points U on the earthwork contour. start , U end ; The fitting module is used to fit the set U of all coordinate points on the earthwork contour before and after earthwork construction. start , U end , the volume difference V is obtained by the least squares fitting method delta , the volume difference V delta That is the change in earthwork volume in the current construction process.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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