Abstract: The core problem in the field of sweeping robots rests is its positioning. The effective positioning of the collision position during the sweeping process is pivotal to improving the cleaning efficiency of aweeping robot. As a new type of non-destructive testing technology, the signal characteristics render acoustic emission feasible in various material environments for positioning experiments. The time difference positioning system based on acoustic emission technology has good capture and positioning abilities for burst signals like the collision signals. Moreover, the acoustic emission time difference method was used to study the corresponding collision position on the sweeping robot shell and assess the error. The results show that the acoustic emission time difference positioning method can effectively locate the collision point simply and quickly. The maximum error between the coordinates calculated by this method and the actual collision point coordinates is 8.45 mm, and the minimum value is 0.7 mm. The research results can provide an important reference for the precise location of acoustic emission events in experimental research and engineering.