An optical radar device for scanning an object that reduces the effects of stray light is provided. The optical radar device has a light source, a light scanning section, a light path change section, a light receiver, and an opposite phase signal adder. The opposite phase signal adder adds an opposite phase signal to the output signal from the light receiver. A rise timing of the opposite phase signal is delayed by a predetermined time relative to an output timing of the pulse light, and the opposite phase signal has an opposite phase with respect to a phase of the reflected light.