Self-moving device and control method thereof

A self-moving device, comprising:

• a housing, provided with a motor;
• a top cover having a main body configured to cover the housing, wherein the main body includes a lowermost free end;
• a protecting member connected to the housing and positioned below the lowermost free end of the main body;
• a moving module, comprising a track, the track, driven by the motor, moving the self-moving device;
• a working module;
• a control module controlling movement of the moving module and working of the working module;
• a first sensor and a second sensor, configured to detect an obstacle in a moving direction of the self-moving device, wherein 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 of the self-moving device as a vertical 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;
• the first sensor is a non-contact sensor and the second sensor is a contact sensor;
• and
• wherein by using a direction that is parallel to a working plane of the self-moving device and perpendicular to the moving direction of the self-moving device as a width direction, an effective detection width of the non-contact sensor covers a width range of the track;
• and
• a track resist member configured to protect the track, and wherein the second sensor is disposed on the track resist member, wherein the track resist member includes a lowermost free end, and wherein a first distance from the lowermost free end of the track resist member in the vertical direction to a working surface is less than a second distance from the lowermost free end of the main body in the vertical direction to the working surface.