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Aiming at the given cleaning robot having the defects of low localization accuracy and not has the ability of in time localizing with the on-line circumstance, a localization algorithm based on fuzzy distance and DS(DEMPSTER-SHAFER) evidence fusion is proposed. Firstly, the main structure of cleaning robot is modeled and analyzed, and the hardware is designed. In order to realize its accurate localization, the fuzzy distance is introduced, the distance between the data collected by current sensor node and the ideal result, according the value of the distance to adaptively and dynamically adjust the weight for the basis belief allocation weight, the weighted belief is used as the new belief to get the final fusion result. The experiment is operated in several fields and the designed cleaning robot is traveling in the fields to collect the rubbish and self-localizing, the result shows the method in this paper can realize localization for cleaning robot, compared with the DS evidence fusion method and other methods, it has the higher localization precision with less time and space complexity, therefore, it has big priority.