Cleaning track determination method and device and automatic cleaning equipment

The invention provides a cleaning track determination method and device and automatic cleaning equipment. The method comprises the steps of receiving a cleaning task, and obtaining reference driving track information of a target road corresponding to the cleaning task, wherein the target road comprises one or more areas to be swept; based on the reference driving track information, controlling the automatic cleaning equipment to drive along the edge position of the target road, and if the automatic cleaning equipment enters the areas to be swept, obtaining current road information of the road where the automatic cleaning equipment is located; and determining a sweeping track of the current road according to the current road information. In the mode, when the sweeping task is carried out, the current road information is obtained in real time, the sweeping track of the current road can be determined according to the current road information, and compared with a fixed sweeping track, the normal driving of vehicl