The invention relates to a method for the taking of a large number of distance images comprising distance picture elements, wherein
electromagnetic radiation is transmitted in each case in the form of transmission pulses using a plurality of transmitters arranged in an array for each distance image to be taken and reflected echo pulses are detected using a plurality of receivers arranged in an array, with the respective distances of objects at which the transmission pulses are reflected and forming a distance picture element being measured by determining the
pulse time of flight, wherein a plurality of individual measurements are carried out using a time measuring device connected after the
receiver array for each distance image to be taken, in which individual measurements a respective pulse chain is processed which includes a logical start pulse derived from the respective transmission pulse and at least one logical
receiver pulse formed from an echo pulse or a
noise pulse, wherein the logical
receiver pulses are each generated by means of at least one reference of the receiver, the reference being broken through by the underlying echo pulses or
noise pulses, with an exceeding of the reference forming the positive flank of the receiver pulse defining an up event and a falling below of the reference forming the negative flank of the receiver pulse defining a down event, wherein, for each distance image to be taken, the associated pulse chains are formed in that the start pulses and the associated receiver pulses are each combined at the right time, the pulse chains formed in this manner are distributed over an array of time measuring channels formed by the time measuring device in accordance with a pre-settable measurement procedure, and, for each time measuring channel, the time durations are determined which, in each case with reference to a point in time before the start pulse, pass until a receiver pulse in that, for each up event and / or for each down event, at least the respective
clock pulses are counted which are made available by a central
clock at a known frequency, and the counter results are stored as an
event list in an arrangement taking account of their respective
time information, and wherein the stored event lists of all time measuring channels are read out and evaluated in order to convert the respective
time information contained in the event lists into distance values corresponding to the distance picture elements.