As a single infrared sensor cannot obtain other information beyond the distance of obstacles, this paper designs an infrared sensor array detection system, which not only detects the distance information of moving targets, but also identifies the moving direction of the target. When the moving target passes through the infrared array, the system detects that the infrared reflected echo signal is converted into the target distance information, uses K-means clustering to separate the moving target signal from the background noise, and then extracts the target motion direction features through least square fitting. Finally, eight different motion directions are effectively perceived and classified through the classifier. The experimental results show that the method can successfully identify eight moving directions of the target. When the classifier parameter K is 5, the average recognition accuracy is more than 0. 83. The experimental results verify the feasibility of the proposed method based on infrared sensor array to accurately detect and identify the moving direction of the target, which lays a foundation for realizing dynamic obstacle avoidance of multimodal fusion robot.