Obstacle identification method, apparatus, self-moving device and storage medium

An obstacle identification apparatus, the obstacle identification apparatus being used in a self-moving device on which a first line laser emitter and an image acquisition component are installed;

• the first line laser emitter being adapted to emit line laser obliquely and downwardly along a moving direction;
• the image acquisition component being adapted to collect an environmental image including reflected light obtained by the line laser reflected by an object;
• the obstacle identification apparatus comprising:
• an image acquisition module adapted to acquire the environment image sent by the image acquisition component;
• a contour determination module adapted to use pixel coordinates of the reflected light in the environmental image to determine contour information of the object acted on by the line laser;
• and
• an object identification module adapted to determine that the object acted on by the line laser is an obstacle when a contour indicated by the contour information is an obstacle contour.

A self-moving device, comprising:

• a shell, a first line laser emitter, an image acquisition component and a control component;
• the first line laser emitter being disposed on the shell, and being adapted to emit line laser obliquely and downwardly along a moving direction;
• the image acquisition component being adapted to collect an environmental image comprising reflected light obtained by the line laser reflected by an object;
• the first line laser emitter and the image acquisition component being respectively connected in communication with the control component, the control component being adapted to:
• acquire the environment image sent by the image acquisition component;
• use pixel coordinates of the reflected light in the environment image to determine contour information of the object acted on by the line laser;
• and
• determine that the object acted on by the line laser is an obstacle when a contour indicated by the contour information is an obstacle contour.