PROBLEM TO BE SOLVED: To provide a range-finding and detection system for measuring an azimuth and a position of a detection target using one light-receiving means.SOLUTION: A range-finding and detection system comprises a plurality of deflected beam illumination units 101 and 102 including light sources emitting laser beams LB1 and LB2 upon performing pulse-width modulation on the laser beams and deflection means deflecting the laser beams in a predetermined cycle within a range of predetermined deflection angles and emitting the deflected laser beams to a detection target 115, respectively. The range-finding and detection system also includes one light-receiving means 103 receiving a plurality of reflection light obtained by reflecting the laser beams by the detection target 115 and outputting light-receiving signals. A control unit provides different pulse widths to the deflected beam illumination units 101 and 102 in a predetermined cycle within the range so that the units 101 and 102 perform the pulse width modulation, analyzes the light-receiving signals which the light-receiving means receives based on the pulse widths, and locates a position and an azimuth of the detection target.
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