A self-moving device and a distance measurement method for said device, the self-moving device comprising a vehicle body (1), a movement assembly arranged on the vehicle body (1), and a control system arranged within the vehicle body (1); the self-moving device further comprises an optical reception apparatus (2) and at least two optical emission apparatuses (3) arranged on the vehicle body (1), at least two optical emission apparatuses (3) emitting light rays having different paths, and the optical reception apparatus (2) being able to receive reflected light rays formed via emitted light rays from at least one optical emission apparatus (3) hitting an obstruction. The self-moving device and the distance measurement method, by using emitted light rays that can be emitted in different paths, allow the area of the received light rays to become larger as an obstruction is approached, and the emitted light rays are formed by the addition of spectral reflection and diffuse reflection, thereby increasing the luminous intensity of light received and reducing the occurrence of non-uniform feedback distance due to obstructions having different reflectance.