Laser scanning sensor

A laser scanning sensor comprising:

• a light-emitting element configured to emit a pulse laser beam;
• a light-receiving element configured to receive a reflected beam of the pulse laser beam reflected by at least one or more objects;
• a rotary polygon mirror having a plurality of reflecting surfaces configured to change a travelling direction of the pulse laser beam;
• a driving part configured to rotate the rotary polygon mirror;
• a rotation detecting part configured to detect a rotation status of the rotary polygon mirror and to generate, per rotation, at least one reference signal, and at least one trigger signal for each of the reflecting surfaces;
• a control/calculation part configured to control the driving part, to produce a projection pulse train for driving the light-emitting element in a predetermined specific pulse cycle after passage of a delay time counted from the generation of the trigger signal for each of the reflecting surfaces that follows the generation of the reference signal, and to acquire information on a distance to the object, per each pulse of the pulse laser beam, based on a time after a—after start of emission of the pulse laser beam before a return of the reflected beam to the light-receiving element;
• and
• a storage part configured to store the delay time and the specific pulse cycle,
• wherein the delay time is set independently for each of the reflecting surfaces, and
• wherein the laser scanning sensor is configured to obtain the delay time for each of the reflecting surfaces by subtracting a measured time lag from an initial delay time and to store the obtained delay time in the storage part, the measured time lag being a difference between a generation time of the trigger signal and a trigger reference time that comes when a standard time lag for each of the reflecting surfaces has passed since the generation of the reference signal.