A method and system for measuring earthwork construction volume based on structured light vision measurement

Abstract

The application discloses a kind of earthwork construction quantity measurement methods based on structured light vision measurement, based on the measurement device of linear structure light sensor, multiple label ultra-wideband positioning subsystem composition;Method includes: obtaining the three-dimensional coordinates of ultra-wideband base station in the coordinate system of construction area;Obtain the three-dimensional coordinates of earthwork slope profile;Linear structure light sensor coordinate system and the real-time conversion relationship calculation of construction area coordinate system, conversion matrix is obtained;The coordinates of earthwork slope profile and conversion matrix are converted to the coordinates in the coordinate system of construction area;Before and after earthwork construction, measurement device is used to scan earthwork slope, respectively, and the volume of all coordinate point sets on earthwork profile is obtained;For all coordinate point sets on earthwork profile, the volume difference is obtained using the fitting method of least square, as the earthwork volume change of current construction process.The three-dimensional reconstruction realizes the direct measurement of earthwork slope profile, and improves the high-precision measurement effect of earthwork position in the region.

Description

TECHNICAL FIELD

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

[0002] Earthwork quantity is one of the main data of earthwork construction organization design, and the calculation of earthwork quantity must be as accurate as possible, which is the basis for organizing labor force when using manual excavation or calculating mechanical shifts and construction period when using mechanical construction, and the earthwork quantity must be budgeted during the engineering design stage, which is directly related to the cost estimate and scheme optimization of the project. In reality, disputes caused by the accuracy of earthwork quantity calculation are also common for some engineering projects. How to quickly and accurately calculate the earthwork quantity by using the topographic data measured on site by the measurement unit or the original digital topographic data has become a problem that engineering management personnel urgently need to solve.

[0003] Commonly used methods for calculating earthwork quantity include: manual measurement method, which generally uses a level and white markers to draw contour lines on a slope, uses a fixed-length measuring line to measure the length of the contour line, and calculates the earthwork volume according to the measured length and width of the contour line, which is time-consuming and prone to human error; laser measurement method, which uses a laser range finder to measure the distance and height of the earthwork surface, and then calculates the earthwork volume according to the measurement data, which requires higher operating personnel; remote sensing measurement method, which uses satellite remote sensing data for measurement, and calculates the earthwork volume by analyzing satellite images and laser radar data, but the cost is high and the real-time performance is poor.

[0004] With the implementation of the national strategy of "Digital China", digital construction technology is rapidly developing in the field of infrastructure, effectively improving the construction quality and management level, so it is particularly important to realize the digital measurement of earthwork quantity in the construction process of infrastructure. SUMMARY

[0005] The present application provides a method and system for measuring earthwork construction quantity based on structured light vision measurement, which uses a walking carrier to carry a measurement subsystem to move in front of the earthwork slope, a line structured light sensor forms a light spot stripe on the earthwork slope by projecting line structured light, the sensor collects the structured light stripe for three-dimensional reconstruction to obtain the regional contour coordinates of the slope, and simultaneously relies on a multi-tag ultra-wideband to obtain the translation and rotation angle of the sensor coordinate system relative to the construction site coordinate system, and converts the regional contour coordinates of the current slope to the construction site coordinate. By comparing the earthwork contour three-dimensional coordinates in the construction site coordinate system continuously scanned by the measurement system during movement with the earthwork contour three-dimensional coordinate results measured before construction, the change of earthwork quantity during the earthwork construction process is obtained.

[0006] The application 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.

[0007] acquire three-dimensional coordinates of the ultra-wideband base station in a construction area coordinate system O global -xyz;

[0008] acquire three-dimensional coordinates of an earthwork slope profile obtained by the line structured light sensor when the walking carrier moves along the earthwork surface;

[0009] convert the line structured light sensor coordinate system O sensor -xyz into a real-time conversion relationship with the construction area coordinate system O global -xyz to obtain a conversion matrix

[0010] convert the coordinates (x s ,0,z s ) of the earthwork slope profile and the conversion matrix into coordinates (x g ,y g ,z g ) in the construction area coordinate system; wherein the coordinates of the earthwork slope profile are continuously scanned by the measuring device;

[0011] scan the earthwork slope by the measuring device before and after earthwork construction to obtain all coordinate point sets U start and U end on the earthwork profile respectively;

[0012] use a least square fitting method to obtain a volume difference V delta from all coordinate point sets U start and U end on the earthwork profile before and after earthwork construction, and the volume difference V delta is the earthwork quantity change in the current construction process.

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

[0014] Further, the multi-tag ultra-wideband positioning subsystem includes a plurality of ultra-wideband positioning tags, and the shell of the walking carrier is installed with no less than three ultra-wideband positioning tags, and the ultra-wideband positioning tags are spaced apart from each other by no less than a set value, and the positions of the ultra-wideband tags and the line structured light sensor are relatively fixed.

[0015] Further, the acquisition of the ultra-wideband base station in the construction area coordinate system O globalIn the steps of using 3D coordinates in -xyz, at least a predetermined number of ultra-wideband (UWB) base stations are fixedly deployed in the corners of the construction area. The UWB base stations are located using a total station or differential GNSS positioning device to obtain their position in the construction site coordinate system O. global 3D coordinates under -xyz.

[0016] Furthermore, the step of obtaining the three-dimensional coordinates of the earthwork slope contour obtained by the line structured light sensor as the walking vehicle 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, forming a striped light spot that is modulated and deformed by the slope contour.

[0018] The industrial camera of the line structured light sensor acquires a two-dimensional image of the striped light spot, and uses digital image processing to extract the center coordinates of the structured light stripe with sub-pixel precision.

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

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

[0021] By using the ranging values ​​between the ultra-wideband base station and the ultra-wideband tag, and combining them with the three-dimensional coordinates of the ultra-wideband base station, the coordinates of each ultra-wideband tag on the mobile carrier in the construction area O are calculated. global Three-dimensional coordinates under -xyz;

[0022] By utilizing the geometric constraints between the ultra-wideband tags on the walking carrier, the current line structured light sensor coordinate system O is obtained. sensor -xyz to the site coordinate system O global Transformation matrix under -xyz

[0023] The application further provides a soil construction quantity measurement system based on structured light vision measurement.

[0024] The first acquisition module is used for acquiring three-dimensional coordinates of the ultra-wideband base station in the construction area coordinate system O global -xyz.

[0025] The second acquisition module is used for acquiring three-dimensional coordinates of the soil slope profile obtained by the line structured light sensor when the walking carrier moves along the soil working surface.

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

[0027] The conversion module is used for converting the coordinates (x s ,0,z s ) of the soil slope profile and the conversion matrix to the coordinates (x g ,y g ,z g ) in the construction area coordinate system; wherein the coordinates of the soil slope profile are obtained by continuous scanning of the measurement device.

[0028] The scanning module is used for scanning the soil slope profile by the measurement device before and after the soil construction to obtain all coordinate point sets U start , U end on the soil profile respectively.

[0029] The fitting module is used for obtaining the volume difference V start by using the least square fitting method on all coordinate point sets U end , U delta on the soil profile before and after the soil construction, and the volume difference V delta is the soil quantity change in the current construction process.

[0030] The application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the above method when executing the computer program.

[0031] The application further provides a computer readable storage medium, which stores a computer program, and the computer program realizes the steps of the above method when executed by a processor.

[0032] The application has the following beneficial effects:

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

[0034] 2、The application can obtain the positioning and orientation of the walking carrier in the large-scale construction area through multi-tag ultra-wideband positioning, improve the measurement precision of three-dimensional reconstruction in a large range, and has low requirements for the type and driving mode of the walking carrier.

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

[0036] Figure 1 It is a method flowchart of an embodiment of the application.

[0037] Figure 2 It is an architecture diagram of earthwork construction measurement in the application.

[0038] Figure 3 It is a device structure schematic diagram of an embodiment of the application.

[0039] Figure 4 It is a computer device internal structure schematic diagram of an embodiment of the application.

[0040] The implementation, functional features and advantages of the application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

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

[0042] The application provides an earthwork quantity measurement method and system based on line structured light vision and ultra-wideband positioning. The measurement subsystem mainly consists of a line structured light sensor and a multi-tag ultra-wideband positioning system, and is installed on a freely movable walking carrier. The walking carrier carrying the measurement system moves in front of the earthwork slope, the line structured light sensor forms a light spot stripe on the earthwork slope by projecting line structured light, the sensor collects the structured light stripe for three-dimensional reconstruction to obtain the regional profile coordinates of the slope, and simultaneously obtains the translation and rotation angle of the sensor coordinate system relative to the construction site coordinate system by relying on the multi-tag ultra-wideband, and converts the regional profile coordinates of the current slope to the construction site coordinate. By comparing the earthwork profile three-dimensional coordinates obtained by the measurement system during continuous scanning with the earthwork profile three-dimensional coordinates measured before construction, the earthwork quantity change during the earthwork construction process is obtained.

[0043] The application provides a method for measuring earthwork construction quantity based on structured light vision measurement, which is based on a measurement device composed of a line structured light sensor and a multi-tag ultra-wideband positioning subsystem, the line structured light sensor for earthwork slope profile measurement is installed on a walking carrier, and conversion of a sensor coordinate system to a construction site coordinate system is performed based on multi-tag ultra-wideband, and through continuous scanning measurement, three-dimensional reconstruction of the earthwork slope is completed.

[0044] As shown in the method specifically comprises: Figures 1-2

[0045] S1, obtain the three-dimensional coordinates of the ultra-wideband base station in the construction area coordinate system O global -xyz under the ultra-wideband base station;

[0046] Before obtaining the three-dimensional coordinates, a line structured light sensor composed of a laser and an industrial camera is installed on the walking carrier, and no less than 3 ultra-wideband positioning tags are installed on the shell of the walking carrier, and the distance between the tags is no less than 0.5 meters (a set value, which can be adjusted according to specific needs, and is not limited here), and the position of the ultra-wideband tag and the line structured light sensor is kept relatively fixed;

[0047] No less than 3 (a set number, which can be adjusted according to specific needs, and is not limited here) ultra-wideband base stations are fixed and arranged 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 three-dimensional coordinates of the ultra-wideband base stations in the construction site coordinate system O global -xyz.

[0048] S2, obtain the three-dimensional coordinates of the earthwork slope profile obtained by the line structured light sensor through the movement of the walking carrier along the earthwork surface;

[0049] Step S2 specifically comprises:

[0050] S2.1, the laser of the line structured light sensor projects a line structured light plane onto the earthwork slope to form a stripe light spot modulated and deformed by the slope profile;

[0051] S2.2, the industrial camera of the line structured light sensor collects a two-dimensional image of the stripe light spot, and extracts sub-pixel level precision structured light stripe center coordinates in a digital image processing manner;

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

[0053] S3, Adjust the coordinate system O of the line structured light sensor sensor -xyz and the coordinate system of the construction area O global -xyz performs real-time transformation relationship calculations to obtain the transformation matrix.

[0054] Step S3 specifically includes:

[0055] S3.1. Using the distance measurement values ​​between the ultra-wideband base station and the ultra-wideband tag, and combining them with the three-dimensional coordinates of the ultra-wideband base station, calculate the coordinate system O of each ultra-wideband tag on the mobile carrier in the construction area. global Three-dimensional coordinates under -xyz;

[0056] S3.2. Using the geometric constraints between the ultra-wideband tags on the walking carrier, the current line structured light sensor coordinate system O is obtained. sensor -xyz to the site coordinate system O global Transformation matrix under -xyz

[0057] S4. The coordinates (x, y) of the earthwork slope profile obtained in step S2 are... s ,0,z s and the transformation matrix obtained through step S3 Transform to coordinates in the construction area coordinate system (x g ,y g ,z g The coordinates of the earthwork slope profile are obtained by continuous scanning using the measuring device.

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

[0059] S6. Set U of all coordinate points on the earthwork outline before and after earthwork construction. start U end The volume difference V was obtained using a least-squares fitting method. delta The volume difference V delta This refers to the change in earthwork volume during the current construction process.

[0060] The application measures the profile coordinates of the local area of the earthwork slope surface through the line structured light sensor, the laser light source of which can resist the interference of light in outdoor conditions; the walking carrier is positioned and oriented through the multi-tag ultra-wideband, which has the characteristics of low cost and strong adaptability; the line structured light sensor is continuously scanned and measured on the earthwork slope surface by the walking carrier, and the position and direction offset of the line structured light sensor are calculated through the multi-tag ultra-wideband, so that the scanning measurement result of the earthwork slope surface is converted in the coordinate system; the volume difference before and after the construction is calculated by scanning and measuring the earthwork slope surface before and after the construction, so that the earthwork volume change in the construction process is obtained.

[0061] As shown in Figure 3 , the application also provides an earthwork construction volume measurement system based on structured light vision measurement, which comprises a measurement device composed of a line structured light sensor and a multi-tag ultra-wideband positioning subsystem, and the measurement device is installed on a walking carrier; the method specifically comprises the following steps:

[0062] A first acquisition module 1 is used to acquire the three-dimensional coordinates of the ultra-wideband base station in the construction area coordinate system O global -xyz;

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

[0064] A calculation module 3 is used to calculate the real-time conversion relationship between the line structured light sensor coordinate system O sensor -xyz and the construction area coordinate system O global -xyz, so as to obtain a conversion matrix

[0065] A conversion module 4 is used to convert the coordinates (x s ,0,z s ) of the earthwork slope profile and the conversion matrix to the coordinates (x g ,y g ,z g ) in the construction area coordinate system; wherein the coordinates of the earthwork slope profile are continuously scanned by the measurement device;

[0066] A scanning module 5 is used to scan the earthwork slope surface by the measurement device before and after the earthwork construction, so as to obtain all coordinate point sets U start , U end on the earthwork profile respectively;

[0067] A fitting module 6 is used to obtain the volume difference V by using the least square fitting method on all coordinate point sets U start , U end on the earthwork profile before and after the earthwork construction.delta The volume difference V delta This refers to the change in earthwork volume during the current construction process.

[0068] In one embodiment, the line structured light sensor consists 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 equipped with no less than three ultra-wideband positioning tags, and the distance between the ultra-wideband positioning tags is not less than a set value. The positions of the ultra-wideband tags and the line structured light sensor are kept relatively fixed.

[0070] In one embodiment, in the second acquisition module 2, at least a predetermined number of ultra-wideband base stations are fixedly deployed in the corners of the construction area. The ultra-wideband base stations are located using a total station or differential GNSS positioning device to obtain the location of the ultra-wideband base stations in the construction site coordinate system O. global 3D coordinates under -xyz.

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

[0072] The projection unit, used by the laser of the line structured light sensor, projects the line structured light plane onto the earthwork slope, forming a striped light spot that is modulated and deformed by the slope contour.

[0073] The extraction unit is used to acquire two-dimensional images of the striped light spots by the industrial camera of the line structured light sensor, and to extract the center coordinates of the structured light stripes with sub-pixel precision using digital image processing.

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

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

[0076] The calculation unit is used to calculate the coordinate system O of each ultra-wideband tag on the mobile carrier in the construction area by using the ranging value between the ultra-wideband base station and the ultra-wideband tag, combined with the three-dimensional coordinates of the ultra-wideband base station. global Three-dimensional coordinates under -xyz;

[0077] A result unit is configured to obtain a current line structured light sensor coordinate system O sensor -xyz to a site coordinate system O global -xyz conversion matrix

[0078] The above modules and units are used to perform the steps of the earthwork construction volume measurement method based on structured light vision measurement. The specific implementation manners are described above in the method embodiments, and will not be described here.

[0079] As shown in Figure 4 The present application also provides a computer device, which can be a server, and the internal structure thereof can be as shown in Figure 4 The computer device includes a processor, a memory, a network interface and a database connected through a system bus. The processor of the computer device is configured 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 operating system and the computer program in the non-volatile storage medium. The database of the computer device is configured to store all data required in the process of the earthwork construction volume measurement method based on structured light vision measurement. The network interface of the computer device is configured to communicate with an external terminal through a network connection. The computer program is executed by the processor to implement the earthwork construction volume measurement method based on structured light vision measurement.

[0080] Those skilled in the art can understand, Figure 4 The structure shown in

[0081] The present application also provides a computer readable storage medium having a computer program stored thereon, and the computer program is executed by the processor to implement any one of the above earthwork construction volume measurement methods based on structured light vision measurement.

[0082] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiment methods can be included. Any reference to memory, storage, databases, or other media in this application and in examples provided herein, unless specifically stated otherwise, can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in many 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 document, the terms "comprising", "including", or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, device, article, or method that comprises a list of elements does not only include those elements, but can also include other elements not expressly listed or inherent to such process, device, article, or method. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, device, article, or method that includes the element.

[0084] The above description is only the preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation, or direct or indirect application in other related technical fields, based on the content of the present application specification and drawings, is also included in the patent protection scope of the present application.

Claims

1. A method for measuring earthwork construction volume based on structured light vision measurement, characterized in that, A measurement device based on a line structured light sensor and a multi-tag ultra-wideband positioning subsystem is mounted on a mobile carrier. The multi-tag ultra-wideband positioning subsystem includes multiple ultra-wideband positioning tags, with at least three ultra-wideband positioning tags mounted on the outer shell of the mobile carrier. The distance between the ultra-wideband positioning tags is not less than a set value, and the positions of the ultra-wideband positioning tags and the line structured light sensor are kept relatively fixed. The method specifically includes: Obtain the coordinate system of the ultra-broadband base station in the construction area O global Three-dimensional coordinates under -xyz; The three-dimensional coordinates of the earthwork slope profile are obtained by the line structured light sensor as the walking vehicle moves along the earthwork working surface. The coordinate system of the line structured light sensor O sensor -xyz and the coordinate system of the construction area O global -xyz performs real-time transformation relationship calculations to obtain the transformation matrix. ; The coordinates of the earthwork slope outline ( x s , 0, z s ) and transformation matrix Coordinates converted to the construction area coordinate system x g , y g , z g The coordinates of the earthwork slope profile are obtained by continuous scanning using the measuring device. Before and after earthwork construction, the aforementioned measuring device was used to scan the earthwork slope, obtaining the set of all coordinate points on the earthwork outline. U start , U end ; Set of all coordinate points on the earthwork outline before and after earthwork construction. U start , U end The volume difference was obtained using a least-squares fitting method. V delta The volume difference V delta This refers to the change in earthwork volume during the current construction process.

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

3. The method for measuring earthwork volume based on structured light vision measurement according to claim 1, characterized in that, The coordinate system of the ultra-broadband base station in the construction area is obtained. O global In the steps of using 3D coordinates in -xyz mode, at least a predetermined number of ultra-wideband (UWB) base stations are fixedly deployed in the corners of the construction area. The UWB base stations are located using a total station or differential GNSS positioning device to obtain their position in the construction site coordinate system. O global 3D coordinates under -xyz.

4. The method for measuring earthwork construction volume based on structured light vision measurement according to claim 2, characterized in that, The step of obtaining the three-dimensional coordinates of the earthwork slope contour obtained by the line structured light sensor as the walking vehicle 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, forming a striped light spot that is modulated and deformed by the slope contour. The industrial camera of the line structured light sensor acquires a two-dimensional image of the striped light spot, and uses digital image processing to extract the center coordinates of the structured light stripe with sub-pixel precision. Using the principle of triangulation, the deformation information of light rays is converted into the three-dimensional shape of the target object, and then measured using the pixel coordinate system of an industrial camera. O C -UV and line structured light sensor coordinate system O sensor The -xyz transformation relationship is used to determine the coordinates of the fringe center on the two-dimensional imaging plane of the industrial camera. u , v Convert the coordinates of the slope profile to ( ) x s , 0, z s ).

5. The method for measuring earthwork construction volume based on structured light vision measurement according to claim 1, characterized in that, The coordinate system of the line structured light sensor O sensor -xyz and the coordinate system of the construction area O global -xyz performs real-time transformation relationship calculations to obtain the transformation matrix. The steps include: By using the distance measurement values ​​between the ultra-wideband base station and the ultra-wideband positioning tag, and combining them with the three-dimensional coordinates of the ultra-wideband base station, the coordinates of each ultra-wideband positioning tag on the mobile vehicle in the construction area are calculated. O global Three-dimensional coordinates under -xyz; By utilizing the geometric constraints between the ultra-wideband positioning tags on the walking vehicle, the coordinate system of the current line structured light sensor is obtained. O sensor -xyz to site coordinate system O global Transformation matrix under -xyz .

6. A system for measuring earthwork construction volume based on structured light vision measurement, characterized in that, A measurement device based on a line structured light sensor and a multi-tag ultra-wideband positioning subsystem is mounted on a mobile platform. The multi-tag ultra-wideband positioning subsystem includes multiple ultra-wideband positioning tags. At least three ultra-wideband positioning tags are mounted on the outer shell of the mobile platform, and the distance between the ultra-wideband positioning tags is not less than a predetermined value, maintaining a relatively fixed position between the ultra-wideband positioning tags and the line structured light sensor. The system specifically includes: The first acquisition module is used to acquire the coordinate system of the ultra-broadband base station in the construction area. O global Three-dimensional 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 as the walking vehicle moves along the earthwork working surface. The calculation module is used to convert the coordinate system of the line structured light sensor. O sensor -xyz and the coordinate system of the construction area O global -xyz performs real-time transformation relationship calculations to obtain the transformation matrix. ; The conversion module is used to convert the coordinates of the earthwork slope profile ( x s , 0, z s ) and transformation matrix Coordinates converted to the construction area coordinate system x g , y g , z g The coordinates of the earthwork slope profile are obtained by continuous scanning using the measuring device. The scanning module is used to scan the earthwork slope surface using the measuring device both before and after earthwork construction, obtaining a set of coordinate points on the earthwork outline. U start , U end ; The fitting module is used to set the coordinates of all points on the earthwork profile before and after earthwork construction. U start , U end The volume difference was obtained using a least-squares fitting method. V delta The volume difference V delta This refers to the change in earthwork volume during the current construction process.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

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