Distance measuring device, method for detecting attachment orientation of distance measuring device, and recording medium

The invention provides a distance measuring device, a mounting posture detection method thereof and a recording medium, wherein the mounting posture of the distance measuring device mounted on various devices can be detected without using posture detection equipment such as a tilt sensor and a leveler. A TOF sensor (20) is provided with an illumination unit (21), an imaging element (23), a distance information acquisition unit (11), an angle information acquisition unit (12), and a mounting orientation detection unit (14). The illumination unit (21) emits light to the ground (FL). The imaging element detects the light irradiated from the illumination unit. The distance information acquisition unit acquires distance information to reference points (P1, P2) on the ground on the basis of a phase difference between a light-receiving wave and a light-projecting wave of light detected by the imaging element. The angle information acquisition unit acquires angle information to the reference points (P1, P2). The moun