The disclosure discloses a historical map utilization method based on a vision robot, including: S1, the vision robot is controlled to continuously collect image of a preset road sign of a preset working area, and road sign information of the preset road sign is obtained; S2, the obtained road sign information is transmitted to a first map positioning system and a second map positioning system; S3, the first map positioning system and the second map positioning system are controlled to respectively process corresponding road sign information, thereby obtaining first pose information and second pose information; S4, the first pose information and the second pose information under the same preset road sign are selected, and a transformation relationship formula of the first pose information and the second pose information is calculated; and S5, the historical map is controlled to perform a corresponding transformation operation, and subsequent motion control is performed.