Object detection device

Abstract

An object detection device can dynamically set an appropriate object detection region according to a state of an inherently unobstructive moving object. The device includes: an optical scanning unit configured to scan measurement light in a measurement space and to guide reflected light from a reflector; a reflector detection unit configured to detect reflector information including a distance from the device to the reflector, a reflected light intensity, and a scanning direction of the measurement light; a reference body identification unit configured to identify whether the reflector is a predetermined reference body, based on the reflector information; a region defining unit configured to define an object detection region along the reference body, based on the reflector information about the reference body; and an object determination unit configured to determine, as a target object, a reflector that is present in the region and that is not identified as the reference body.