The present invention provides a self-moving device, including: a housing, provided with a motor； a moving module, including a track, the track, driven by the motor, moving the self-moving device； a working module； a control module, configured to control movement of the moving module and working of the working module； and a first sensor and a second sensor, configured to detect an obstacle in a moving direction of the self-moving device. The first sensor is configured to detect a first area in the moving direction, the second sensor is configured to detect a second area in the moving direction, and the first area and the second area are arranged perpendicular to the moving direction. The control module controls a moving manner of the self-moving device according to sensing results of the first sensor and the second sensor.
