The invention is suitable for the technical field of
service robot map construction, and relates to a
semantic map construction method and device, a
robot and a storage medium, and the method comprises the steps: receiving advancing instruction information sent by a user, and controlling the
robot to advance according to the advancing instruction information; collecting an image of the target areato construct a space map; collecting, identifying and analyzing spatial
semantic information of semantic objects in the target area; acquiring
time information when the spatial
semantic information is acquired, and determining a
key frame closest to the time according to the
time information; labeling the spatial
semantic information to the spatial map according to the
key frame; and detecting whether mapping ending information is received or not, forming a navigation map with
semantics if so, and continuing to control the
robot to advance if not, and collecting the image and spatial semanticinformation of the target area to continue to construct the spatial map. According to the invention, the problems of low efficiency and poor accuracy of traditional manual navigation
map labeling canbe solved.