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[Objectives] In order to analyze the influence of different three-dimensional(3D) point cloud density on the measurement accuracy of grain volume with the size of scraper,the optimal point cloud density for small volume measurement of grain was obtained. [Methods] In this paper,a grain volume measurement device based on laser triangulation was designed by using a line laser sensor under laboratory conditions. LabVIEW software programming was used to achieve motor motion control,image acquisition and processing in the camera,3D coordinate extraction of grain surface point cloud,data storage,volume calculation of grain and 3D point cloud visualization,etc.,focusing on the laser center line coordinate extraction method and point cloud interpolation processing method. Based on the verification of the measurement system performance,the optimal point cloud density of rice was obtained by synthetically analyzing the mean relative error and maximum relative error of the number and volume measurement of grain point clouds under 14 different point cloud densities. [Results] In the performance verification of the system,the average relative error and the minimum relative error of the measurement results were 0.44% and 0.28%,respectively. Considering the number of point clouds,accuracy and stability of grain volume measurement,the optimal density of three-dimensional point clouds for rice volume measurement was 11 mm×11 mm. [Conclusions] The laser triangulation in this paper can accurately measure the grain mass,and the optimal point cloud density of the grain volume with the size of the scraper was obtained. [ABSTRACT FROM AUTHOR]