The invention discloses a mobile robot autonomous recharging method based on upper and lower computer collaborative planning, and the method comprises the following steps: 1, enabling a mobile robot to start a recharging mode, enabling the mobile robot to send a starting signal, and enabling a charging pile to send an infrared signal after receiving the starting signal; 2, judging a recharging process; 3, entering the recharging process; and 4, after the short-range recharging process is completed, enabling the mobile robot to send out a closing signal, and enabling the charging pile to stop sending out the infrared signal after receiving the closing signal; a mobile robot autonomous recharging system based on upper and lower computer collaborative planning comprises the mobile robot and the charging pile, the mobile robot comprises an upper computer, a lower computer, an infrared receiving module, a mobile robot charging electrode and a mobile robot Bluetooth module, and the chargingpile comprises a control module, an infrared transmitting module, a charging pile charging electrode and a charging pile Bluetooth module.