Mechanical arm active mapping method and device

The invention provides a mechanical arm active mapping method and device, and belongs to the field of image processing. The method comprises the steps of updating an environment map and performing boundary voxel detection to generate a boundary voxel map after hand-eye calibration of the mechanical arm; fusing the boundary voxel map to a root node of a preset environment octree map at the minimum resolution to generate a three-dimensional fused map; determining an exploration domain based on the three-dimensional boundary map, and generating an observation ball; a sampling point is arranged on the observation spherical surface, and an observation pose set of the visual sensor at the tail end of the mechanical arm is obtained according to the rotation relation between the position of the sampling point and the optical axis vector of the visual sensor; a corresponding mechanical arm observation configuration set is obtained by combining hand-eye calibration and mechanical arm kinematics model solving; and a non