The paper presents a new embedded sensor method of non-contact automatic route-finding and route-tracing for stepped robot. The final system is designed and integrated into a single hardware PCB with size of 30x30x15 mm3. A line scanning charge couple device (CCD) with 1024 pixels is used to obtain the plane scene of route, and a pair of infrared LED is employed to provide the illumination of the route-finder. Moreover, this route-finder still includes a micro lens, CCD driver, instrumentation pre-amplifier, edge extracting circuit, FPGA circuit for position measure and logic control, direction and state display of the route-finder by LED, moving direction control pins output and power manage circuits. The router-finder for stepped robot has the advantages of simple and fast operation, easy assembly with robot, small volume, high sensitivity and precision for route-finding and tracing. The paper outlines in detail the principle of the route-finding and tracing by edge extraction and edge position measure using a CCD image sensor with a micro lens assisted by infrared illumination and a FPGA circuit. Some relational edge extraction and measure algorithms suitable for embedded system with FPGA are introduced in the paper too. Finally, the actual experiment results are given.