Robot positioning obstacle-avoiding method based on supersonic wave

The invention discloses a method which integrates binocular visual perception environment information, precisely corrects the posture, senses the environment information of a robot with the assistance of supersonic waves, builds a map and achieves the obstacle-avoiding walking according to the map. The method achieves the position of a moving robot based on a supersonic sensor, achieves the simultaneous positioning of the supersonic wave and the robot in the monocular vision and map building more quickly, achieves the autonomous navigation and obstacle-avoiding path planning in a household environment, achieves the multi-sensing comprehensive analysis, integrates the visual information, the information of the supersonic sensor and the information of an infrared sensor, and better achieves the multi-mode obstacle-avoiding path planning and autonomous navigation movement of the mobile robot.