DETECTOR FOR OBSTRUCTION

PURPOSE:To detect an obstruction under a complicated condition by combining a point-like detection for an obstruction through a reflectmetry using a light and an imaginary object recognision using an image recognition means in a manner that the both will be common to a light source. CONSTITUTION:Respective signal lights from a light source 1 are sent in different directions per every signals by a scanning means 2 and the signal lights scattered/reflected on an object are focussed by a focussing means 3 and are detected by a light receiving means 4. A control detector 6 receives the measured results on the delay time up to the reception of signal reflection light and its light intensity from an optical system and records the data corresponding to the information of feeding-out directions. On the basis of the records, a reflectmetry part 6a constructs the picture elements on an image picture corresponding to the reflecting point by using the light intensity information. Then, a diagnosis part 7 discriminates an obstruction on the route for mobile route in accordance with the predetermined judgement standard.