A method for establishing map traversal blocks of a global grid map, characterized in that the method comprises: S1, setting side lengths of the map traversal blocks according to a size of the global grid map; S2, calculating a coverage number of map traversal blocks in each of a global coordinate axis direction of the global grid map in combination with a ratio relationship between the size of the global grid map and the side lengths of the map traversal blocks determined in S1; S3, according to a constraint effect of the coverage number of the map traversal blocks determined in S2, carrying out a row-by-row and column-by-column accumulated operation on the side lengths of the map traversal blocks determined in S1 to calculate mapping coordinates of each map traversal block, so as to enable the map traversal block fills every row and column of the global grid map; wherein each of the map traversal block is formed by combining corresponding grids according to its mapping coordinates and side length; wherein S2 specifically comprises: where a quotient of an effective length of the global grid map divided by the side length of the map traversal blocks is a non-integer, ignoring a fraction, and determining a ratio of the effective length of the global grid map to the side length of the map traversal blocks as an integer part of the quotient, and +1 is performed on the ratio to obtain a coverage number of the map traversal blocks in the vertical coordinate axis direction of the global grid map; where a quotient of the effective width of the global grid map divided by the side length of the map traversal blocks is a non-integer, ignoring the fractional part, and determining the ratio of the effective width of said global grid map to the side length of the map traversal blocks as the integer part of said quotient, and +1 is performed on said ratio value to obtain a coverage number of the map traversal blocks in the horizontal coordinate axis direction of the global grid map. S1, setting side lengths of the map traversal blocks according to a size of the global grid map; S2, calculating a coverage number of map traversal blocks in each of a global coordinate axis direction of the global grid map in combination with a ratio relationship between the size of the global grid map and the side lengths of the map traversal blocks determined in S1; S3, according to a constraint effect of the coverage number of the map traversal blocks determined in S2, carrying out a row-by-row and column-by-column accumulated operation on the side lengths of the map traversal blocks determined in S1 to calculate mapping coordinates of each map traversal block, so as to enable the map traversal block fills every row and column of the global grid map; wherein each of the map traversal block is formed by combining corresponding grids according to its mapping coordinates and side length; wherein S2 specifically comprises: where a quotient of an effective length of the global grid map divided by the side length of the map traversal blocks is a non-integer, ignoring a fraction, and determining a ratio of the effective length of the global grid map to the side length of the map traversal blocks as an integer part of the quotient, and +1 is performed on the ratio to obtain a coverage number of the map traversal blocks in the vertical coordinate axis direction of the global grid map; where a quotient of the effective width of the global grid map divided by the side length of the map traversal blocks is a non-integer, ignoring the fractional part, and determining the ratio of the effective width of said global grid map to the side length of the map traversal blocks as the integer part of said quotient, and +1 is performed on said ratio value to obtain a coverage number of the map traversal blocks in the horizontal coordinate axis direction of the global grid map. where a quotient of an effective length of the global grid map divided by the side length of the map traversal blocks is a non-integer, ignoring a fraction, and determining a ratio of the effective length of the global grid map to the side length of the map traversal blocks as an integer part of the quotient, and +1 is performed on the ratio to obtain a coverage number of the map traversal blocks in the vertical coordinate axis direction of the global grid map; where a quotient of the effective width of the global grid map divided by the side length of the map traversal blocks is a non-integer, ignoring the fractional part, and determining the ratio of the effective width of said global grid map to the side length of the map traversal blocks as the integer part of said quotient, and +1 is performed on said ratio value to obtain a coverage number of the map traversal blocks in the horizontal coordinate axis direction of the global grid map.