Sensor device and measurement method

A sensor device measuring a distance to an object includes: a light projection unit repeatedly emitting detection light toward the object; a light reception unit receiving reflected light of the detection light and outputting a binarized light reception signal (RT); a light projection oscillation unit controlling the emission of the detection light and outputting a start signal synchronized with the emission of the detection light; a counter measurement unit starting counting of the RT when receiving the RT and the start signal, and outputting a stop signal corresponding to a feature point of the RT; a delay line measurement unit outputting a delay line output signal corresponding to the delay time of the RT near the feature point of the RT when receiving the RT and the stop signal; and a distance calculation unit calculating the distance to the object based on the delay line output signal.