A method for detecting an operating terrain for use by an engineering equipment, comprising the steps of: obtaining point cloud data of an operating region that are collected by a laser radar at a current time, wherein the operating region is divided into a plurality of grids, and each grid of the plurality of grids has a corresponding height value, and wherein the point cloud data comprise three-dimensional coordinates of a plurality of sampling points; for any grid among the plurality of grids performing the steps of: determining an input point of the grid from the plurality of sampling points, based on the three-dimensional coordinates of the plurality of sampling points, comprising the steps of: determining a sampling point set corresponding to the grid, based on the three-dimensional coordinates of the plurality of sampling points, wherein the sampling point set comprises the sampling points in the grid; and using a sampling point with a largest height coordinate in the sampling point set as the input point; determining a type of the input point, based on a height coordinate of the input point and the height value of the grid, wherein the type comprises a noise point and a ground point; and in response to determining that the input point is the ground point, updating the height value of the grid based on the height coordinate of the input point. obtaining point cloud data of an operating region that are collected by a laser radar at a current time, wherein the operating region is divided into a plurality of grids, and each grid of the plurality of grids has a corresponding height value, and wherein the point cloud data comprise three-dimensional coordinates of a plurality of sampling points; for any grid among the plurality of grids performing the steps of: determining an input point of the grid from the plurality of sampling points, based on the three-dimensional coordinates of the plurality of sampling points, comprising the steps of: determining a sampling point set corresponding to the grid, based on the three-dimensional coordinates of the plurality of sampling points, wherein the sampling point set comprises the sampling points in the grid; and using a sampling point with a largest height coordinate in the sampling point set as the input point; determining a type of the input point, based on a height coordinate of the input point and the height value of the grid, wherein the type comprises a noise point and a ground point; and in response to determining that the input point is the ground point, updating the height value of the grid based on the height coordinate of the input point. determining an input point of the grid from the plurality of sampling points, based on the three-dimensional coordinates of the plurality of sampling points, comprising the steps of: determining a sampling point set corresponding to the grid, based on the three-dimensional coordinates of the plurality of sampling points, wherein the sampling point set comprises the sampling points in the grid; and using a sampling point with a largest height coordinate in the sampling point set as the input point; determining a sampling point set corresponding to the grid, based on the three-dimensional coordinates of the plurality of sampling points, wherein the sampling point set comprises the sampling points in the grid; and using a sampling point with a largest height coordinate in the sampling point set as the input point; determining a type of the input point, based on a height coordinate of the input point and the height value of the grid, wherein the type comprises a noise point and a ground point; and in response to determining that the input point is the ground point, updating the height value of the grid based on the height coordinate of the input point. <EOS>