Fuente: Wipo "Sensorization" The present invention relates to a self-moving device, including: a housing, a movement module configured to drive the housing to move, a drive module configured to drive the movement module to move, and a control module configured to control the self-moving device. A non-contact obstacle recognition sensor assembly is disposed on the housing. After the obstacle recognition sensor assembly detects that an obstacle exists in a movement direction, the control module controls the self-moving device to continue moving and steer until the obstacle is avoided. The movement direction is a forward driving direction of the self-moving device. Compared with the prior art, the present invention detects an obstacle and then steers to avoid the obstacle, so that direct collisional contact with the obstacle can be avoided, and the service life of the self-moving device is extended.