The invention relates to a method and device for determining abrasion volume of a natural structural surface of rock and computer equipment. The method comprises the following steps of: according to the point characteristic values of the first point data and the second point data, obtaining a second point data, screening the first point cloud data and the second point cloud data; calculating a difference value between the point characteristic values of each first point data in the screened first point cloud data and each second point data in the second point cloud data; screening the first point cloud data and the second point cloud data again according to the difference value of the point characteristic values, adopting an iterative closest point algorithm and according to the first pointcloud data after the re-screening and the second point cloud data after the re-screening, obtaining the second point cloud data, and obtaining a rigid body transformation matrix, transforming the sheared second point cloud data according to the rigid body transformation matrix to obtain third point cloud data, calculating a height coordinate difference between each piece of third point data and each piece of corresponding first point data, and determining a sheared wear volume according to a calculation result. By adopting the method, the point cloud registration and alignment accuracy can beimproved.