Environment map updating method, system and equipment of robot and storage medium

The invention discloses an environment map updating method, system and equipment of a robot and a storage medium. The method comprises the steps of obtaining sensed environment measurement data, obtaining pose data of the robot, updating a pre-stored environment map according to the environment measurement data and the pose data, according to the updated environment map, carrying out passable detection on obstacles in a set range taking the robot as the center to obtain an obstacle passable detection result, and generating a local environment reachability map according to the obstacle passable detection result and the updated environment map, wherein the local environment reachability map is provided with an obstacle passable mark and an obstacle impassable mark. After the environment map is locally updated based on the environment measurement data and the pose data of the robot, obstacle passable detection is performed, and passability and impassability of the obstacle are marked in the map, so that the prob