Track planning method, device and equipment and storage medium

The invention relates to the technical field of trajectory planning, and provides a trajectory planning method and device, equipment and a storage medium, and the method comprises the steps: obtaining a global trajectory of a self-moving device; acquiring a local map of walking of the self-moving equipment according to the global trajectory line, and updating areas in and out of the field of view of the local map according to point clouds shot by the self-moving equipment at different time periods; and when it is predicted that the to-be-tracked trajectory of the updated local map intersects with the obstacle, reconstructing the current to-be-tracked trajectory, and taking the reconstructed to-be-tracked trajectory which does not intersect with the obstacle as a local trajectory. The to-be-tracked trajectory which does not intersect with the obstacle after reconstruction is used as a local trajectory for avoiding the obstacle, so that the problem that a trajectory route for avoiding the unknown obstacle canno