Based on the digital map built by deep camera vision technology, intelligently plan the cleaning route, first along the wall before sweeping the middle instead of bumping around. With the route memory function, constantly planning and adjusting the optimal route, the smarter, the higher the efficiency. The machine has a break-point memory cleaning function. When the robot does not sweep once, and on the second turn on, the robot will return to the first sweep. Identity location on the map by scanning and positioning the charging seat with its deep camera visual navigation technology. When the room is fully cleaned, the charging deck can be found and charged only through multiple rooms. The robot can recognize the charging seat, avoiding the embarrassment of the robot hidden under the sofa.