Device for detecting an obstacle by means of intersecting planes and detection method using such a device

An obstacle detection device which is intended to be fitted to a mobile vehicle able to move parallel to a reference plane, comprising:

• at least two emitters of electromagnetic beams which are able to form two virtual planes in two different directions that are able to intersect one another and intersect a potential obstacle,
• at least one image sensor able to produce a two-dimensional (2D) image of the intersection of the two virtual planes with the potential obstacle, and
• an image analysis means able to determine the presence of an obstacle by comparing the 2D image with a reference image, wherein the obstacle is determined to be present when the 2D image comprises a deformation of a straight line, and wherein the reference image comprises a straight line formed by intersection of the two virtual planes with the reference plane.