Lunar surface robot patrol navigation method and system based on mixed reality

The invention belongs to the related technical field of robot inspection and detection, and discloses a lunar surface robot inspection navigation method and system based on mixed reality, and the method comprises the steps: carrying out the terrain reconstruction of the lunar surface terrain through mixed reality equipment, and obtaining a reconstructed terrain file; extracting vertex information of the reconstructed terrain file to obtain a point cloud file, and performing plane fitting on the point cloud file to obtain a maximum plane in the terrain; projecting the point cloud file on the maximum plane to obtain a DEM map; performing feature extraction and classification on the DEM map by adopting a convolutional neural network to obtain a passable area, an impassable area and a robot, and converting the passable area, the impassable area and the robot to a robot coordinate system; and acquiring a path starting position and a target position, performing path planning on a motion path of the robot by taking