A map establishing method for a self-moving device, the method comprising the following steps: generating a working region map and an initial shadow section, the working region map being a map of a boundary (8, 901), and the initial shadow section being a part of the boundary (8, 901) 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; and wherein exploring the initial shadow region comprises: performing path planning according to the working region map; making the self-moving device move and/or work according to a planned path; obtaining a positioning signal quality parameter obtained by a navigation module of the self-moving device during movement of the self-moving device; and determining that the self-moving device is located in a shadow region according to a case that the obtained positioning signal quality parameter does not meet a set positioning signal quality threshold; and wherein generating a corrected shadow region according to the positioning signal quality data and the positioning coordinates comprises: obtaining a coordinate point in which the positioning signal quality parameter does not meet the set positioning signal quality threshold when the self-moving device moves according to the planned path; recognizing a boundary point of the corrected shadow region according to the coordinate point; and connecting boundary points determined in the planned path, to form a boundary of the corrected shadow region. generating a working region map and an initial shadow section, the working region map being a map of a boundary (8, 901), and the initial shadow section being a part of the boundary (8, 901) 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; and wherein exploring the initial shadow region comprises: performing path planning according to the working region map; making the self-moving device move and/or work according to a planned path; obtaining a positioning signal quality parameter obtained by a navigation module of the self-moving device during movement of the self-moving device; and determining that the self-moving device is located in a shadow region according to a case that the obtained positioning signal quality parameter does not meet a set positioning signal quality threshold; and wherein performing path planning according to the working region map; making the self-moving device move and/or work according to a planned path; obtaining a positioning signal quality parameter obtained by a navigation module of the self-moving device during movement of the self-moving device; and determining that the self-moving device is located in a shadow region according to a case that the obtained positioning signal quality parameter does not meet a set positioning signal quality threshold; and wherein generating a corrected shadow region according to the positioning signal quality data and the positioning coordinates comprises: obtaining a coordinate point in which the positioning signal quality parameter does not meet the set positioning signal quality threshold when the self-moving device moves according to the planned path; recognizing a boundary point of the corrected shadow region according to the coordinate point; and connecting boundary points determined in the planned path, to form a boundary of the corrected shadow region. obtaining a coordinate point in which the positioning signal quality parameter does not meet the set positioning signal quality threshold when the self-moving device moves according to the planned path; recognizing a boundary point of the corrected shadow region according to the coordinate point; and connecting boundary points determined in the planned path, to form a boundary of the corrected shadow region.