The present invention relates to a method for obstacle avoidance of fusion of a plurality of data weights, a storage device and a mobile terminal. The method comprises the steps of: A, respectively setting corresponding coordinate points to a robot center, a laser radar, a 3D camera, an ultrasonic wave module and an infrared switch; B, performing TF conversion of a robot world coordinate to the same robot coordinate system; C, setting the point cloud data weight of the 3D camera as [Alpha], setting weights of data of the ultrasonic wave module and data of the infrared switch are [Beta], and performing location of data of the laser radar in a navigation map through a robot; D, presetting a safety value; and E, performing weight comparison with the preset safety value, and performing determination and obstacle avoidance. Four sensors mutually make up each shortcoming, different weight modes are added to perform data fusion, and therefore a robot performs autonomous motion in different scenes, and autonomous obstacle avoidance is more flexible and intelligent.