Map construction method, device and equipment

The invention provides a map construction method, a device and equipment. The method comprises the steps: collecting backtracking data of a backtracking path in a process that a teaching vehicle travels to a starting point of a task region along the backtracking path, and storing the backtracking data; when the teaching vehicle runs to the starting point of the task area, a mapping data filling function is started, and mapping data is filled with backtracking data; in the process that the teaching vehicle travels from the starting point of the task area to the end point of the task area along the task path, task data of the task path are collected, and the mapping data are filled with the task data; and when the teaching vehicle runs to the end point of the task area, stopping the mapping data filling function, and constructing a target map based on all mapping data. Through the technical scheme of the invention, the mapping range of the target map is expanded, the operation interval of initial positioning is