(EN) The embodiment of the invention provides a map construction method and device, equipment and a storage medium. The method comprises the steps that map data are acquired; in the moving process, whethera fixed object which is not marked in map data exists in the environment or not is detected; if a fixed object is detected, the position information of the fixed object in the map data is determined;and the position information is sent to control equipment, so that the control equipment updates the map data based on the position information and returns the updated map data to mobile equipment. Therefore, when the unmarked fixed object in the map data is discovered for the first time, the fixed object can be fused into the map data, so that the fixed object does not need to be repeatedly identified, and obstacle avoidance operation does not need to be carried out on the fixed object. By adopting the method and the device, the expenditure of computing resources and time resources of the mobile equipment can be saved, and the working efficiency of the mobile equipment is improved.
(ZH) 本发明实施例提供一种地图构建方法、装置、设备和存储介质，该方法包括：获取地图数据；在移动的过程中，检测环境中是否存在地图数据中未标注过的固定对象；若检测到固定对象，则确定固定对象在地图数据中的位置信息；向控制设备发送位置信息，以使得控制设备基于位置信息对地图数据进行更新，并将更新后的地图数据返回给可移动设备。在第一次发现地图数据中未标注过的固定对象时，就可以将固定对象融合到地图数据中，这样就无需反复识别该固定对象，对该固定对象进行避障操作。采用本发明，可以节约可移动设备的计算资源以及时间资源的开销，提高可移动设备的工作效率。
