Robot recharging control method based on base station pedal

The invention discloses a robot recharging control method based on a base station pedal, and the method comprises the steps: A, adjusting the pose of a robot according to a recharging guide signal received by the robot, and enabling the robot to move forwards towards the position where a charging base station is located; then executing the step B; b, when the robot arrives in front of a pedal of the base station, the robot turns around, and then the step C is executed; or, if the robot detects that the distance between the robot and the base station pedal meets the distance requirement of acceleration control of the robot, the step C is executed; then executing the step C; c, the robot accelerates and travels towards the position where the charging base station is located until the robot accelerates to the target climbing speed; and then when the robot climbs on the base station pedal, the robot decelerates towards the position where the charging base station is located, and meanwhile, the pose of the robot i