MAP BUILDING METHOD, SELF-MOVING DEVICE, AND AUTOMATIC WORKING SYSTEM

A map establishing method includes: generating a working region map and an initial shadow section, the working region map being a map of a boundary, and the initial shadow section being a part of the boundary on which a positioning signal does not meet a quality requirement; generating an initial shadow region according to the initial shadow section; exploring the initial shadow region, and collecting positioning signal quality data and positioning coordinates during exploration; and generating a corrected shadow region according to the positioning signal quality data and the positioning coordinates. A self-moving device includes: a control module; a map generation module; and an exploration module and a shadow region correction module. An automatic working system is provided with the self-moving device. An actual range of a shadow region is first explored, and then a corrected shadow region is obtained, so that a working region map can be updated, the working efficiency of the self-moving device can be improved, a staying time of the self-moving device in the shadow region can be effectively controlled, a processing mode of the shadow region can be reasonably planned, and the positioning accuracy can be improved.