Sharp ir rangefinder seems to simply output voltage in a range of 0.5-2.5 V. You need to plug it to analog in port.
If you're not familiar with analog input -things, you might want to read these arduino examples. In these they just use potentiometer and Light-resistive diode to control led blink rate, but rangefinder controlling more complicated logical system works basically the same way.Analog Input
Just the wiring. 5V operating voltage is good for this rangefinder, too.Calibration
You want to calibrate the sensor too, because it's not 0-5V as potentiometer would be, it's 0.5-2.5V.
And yep, they are arduino examples, board looks different and is blue, but all the ports are the same.
Hope this get's you a bit further