The work aims to make up for the deficiency of affordance structure matrix in emotional contents, to further clarify the use process of the affordance structure matrix in product innovation design. The original weighting method of affordance structure matrix was replaced by a more objective entropy weight method, so as to introduce the emotional factors. At the same time, combined with fishbone diagram and conflict matrix, the problem was analyzed and solved, and the innovation of sweeping robot was used to make a method argument. With the existing affordance structure matrix as a dominant tool, the emotion-entropy method was proposed to integrate emotional factors into the affordance structure matrix, forming a complete product innovation design process. The improved design of sweeping robot proves the practicability and effectiveness of the method, enriches and completes the affordance structure matrix method system, and provides reference for the subsequent product design practice.