Distance measurement device, distance measurement method, and distance measurement program

A distance measurement method by a distance measurement device including a light source, a reflective member that varies a scan angle for scanning an object to be measured with light from the light source and reflects the light from the light source for each varied scan angle, a polarization optical member that guides the light reflected by the reflective member to the object to be measured, a first light-receiving section that receives reflected light after the light guided by the polarization optical member is reflected by the object to be measured, and a second light-receiving section that receives the light reflected by the reflective member and the polarization optical member in this order in a case where the scan angle of the reflective member is a specific angle, wherein the polarization optical member includes a transmitting unit through which the light heading toward the reflective member from the light source is transmitted, and a reflecting unit that reflects the light reflected by the reflective member toward the object to be measured and reflects the light reflected by the reflective member toward the second light-receiving section, in which the reflective member reflects the light a plurality of times by varying the scan angle after the light is reflected in a state where the specific angle is set as the scan angle until the light is reflected in a state where the scan angle is set as the specific angle again, the distance measurement method executed by a processor, comprising:

• acquiring the number of times of light generation of the light source corresponding to the reception of the reflected light by the first light-receiving section between a first time at which the second light-receiving section receives the light and a second time at which the second light-receiving section receives the light after the first time;
• deriving the scan angle corresponding to the reflected light received by the first light-receiving section based on the number of times of light generation;
• and
• associating the scan angle with distance measurement data corresponding to the reflected light received by the first light-receiving section.

A non-transitory computer-readable memory storing a distance measurement program causing a processor to execute a process for distance measurement by a distance measurement device including a light source, a reflective member that varies a scan angle for scanning an object to be measured with light from the light source and reflects the light from the light source for each varied scan angle, a polarization optical member that guides the light reflected by the reflective member to the object to be measured, a first light-receiving section that receives reflected light after the light guided by the polarization optical member is reflected by the object to be measured, and a second light-receiving section that receives the light reflected by the reflective member and the polarization optical member in this order in a case where the scan angle of the reflective member is a specific angle, wherein the polarization optical member includes a transmitting unit through which the light heading toward the reflective member from the light source is transmitted, and a reflecting unit that reflects the light reflected by the reflective member toward the object to be measured and reflects the light reflected by the reflective member toward the second light-receiving section, in which the reflective member reflects the light a plurality of times by varying the scan angle after the light is reflected in a state where the specific angle is set as the scan angle until the light is reflected in a state where the scan angle is set as the specific angle again, the distance measurement program causing the processor to execute a process comprising:

• acquiring the number of times of light generation of the light source corresponding to the reception of the reflected light by the first light-receiving section between a first time at which the second light-receiving section receives the light and a second time at which the second light-receiving section receives the light after the first time;
• deriving the scan angle corresponding to the reflected light received by the first light-receiving section based on the number of times of light generation;
• and
• associating the scan angle with distance measurement data corresponding to the reflected light received by the first light-receiving section.