The distance measuring apparatus according to the present invention may comprise: a light emitting unit for emitting light; a light receiving unit comprising one or more cells configured to receive incoming light and output a signal corresponding to an amount of the received light; a motor; a first rotary unit for changing a path of outgoing light which is emitted from the light emitting unit while being rotated by the motor; and a second rotary unit for changing a path of the incoming light so that the incoming light enters the light receiving unit while being rotated by the motor synchronously with the first rotary unit. Therefore, it is possible to simplify the structure of the apparatus which measures distances in a wide angular range.