Image acquisition terminal-based mapping method and system and cleaning equipment with same

The invention relates to a mapping method and system based on an image acquisition terminal and cleaning equipment with the mapping system. The method comprises the steps of obtaining first collection information in the moving process of the cleaning equipment; the first collection information refers to information collected by a sensor arranged in the cleaning equipment when the cleaning equipment moves; receiving second acquisition information sent by the image acquisition terminal; the second acquisition information refers to an environment image of the cleaning equipment acquired by the image acquisition terminal when the cleaning equipment moves; the image acquisition terminal is independent of the cleaning equipment; and according to the first collection information and the second collection information, generating a corresponding environment map when the cleaning equipment moves. When the cleaning equipment maps, the external image acquisition terminal is combined, the existing hardware of the cleaning