River terrain model construction method and device, robot and storage medium

The invention discloses a riverway terrain model construction method and device, a robot and a storage medium, and the method comprises the steps that firstly, a spherical coordinate system is built,the elevation angle information of the robot is increased, and the situation awareness of the robot for the terrain is improved; secondly, through sound wave information returned by the double-frequency sonar, relevant parameters of the river bottom silt can be rapidly and accurately measured, a foundation is laid for early-stage work preparation of riverway silt cleaning, and the riverway silt cleaning engineering efficiency is improved; then, a riverway terrain model based on the tree structure factor graph is constructed through a Gaussian process random field, and sonar image background noise is reduced; and finally, a riverway terrain three-dimensional modeling process is completed through riverway scene reproduction. The method has the advantages of low background noise, multiple target feature details, good