| 摘要 |
PROBLEM TO BE SOLVED: To provide an omnidirectional light-wave distance measuring instrument which can take measurements in all horizontal directions and a travel control system for a moving body which uses the omnidirectional light-wave measuring instrument. SOLUTION: The omnidirectional distance measuring instrument comprises a light-wave distance measuring instrument, a hollow motor, an angle measurement part, a reflection part, and a detection part. The light-wave measuring instrument which outputs output light in a 1st direction, detects the reflected light of the output light from an obstacle, and measures the distance to the obstacle by using the output light and reflected light, the hollow motor is hollow at the center part of its rotary shaft whose axis is in the 1st direction, and the angle measurement part measures the angle of rotation of the rotary shaft from a predetermined reference direction. The reflection part is provided on the axis of the rotary shaft and rotated by the hollow motor and has a reflecting surface part which has a specific tilt angle to the axis of the rotary shaft; and the reflecting surface part outputs the output light which is made incident from the light-wave distance measuring instrument through the center part of the rotary shaft in a 2nd direction and outputs the reflected light made incident from the opposite direction from the 2nd direction in the opposite direction from the 1st direction and this reflected light is made incident on the light-wave distance measuring instrument through the center part of the rotary shaft and the detection part detects the position of the obstacle from the distance found by the light-wave distance measuring instrument and the angle of rotation found by the angle measurement part.
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