Ground identification method and device, storage medium and electronic device

The invention provides a ground recognition method and device, a storage medium and an electronic device, and the method comprises the steps: carrying out the point cloud collection of a collection region of a target sensor through the target sensor on cleaning equipment, and obtaining a target region point cloud which comprises the height data of a plurality of first sampling points; according to the height data of the multiple first sampling points, candidate ground points are selected from the multiple first sampling points, the height of the candidate ground points is smaller than or equal to a first height threshold value, and the height difference between the candidate ground points and adjacent points of the candidate ground points is smaller than or equal to a first height difference threshold value; performing clustering operation on the candidate ground points to obtain a plurality of candidate ground point clouds; and according to the point cloud parameters of the plurality of candidate ground poin