Self-propelled equipment and control method thereof

The invention provides self-propelled equipment which comprises a casing, a moving module, a working module, a control module, a first sensor and a second sensor. A motor is arranged in the casing. The moving module comprises a crawler belt which is driven by the motor to move the equipment. The control module controls the moving module and the working module. The first sensor and the second sensor are used for detecting obstacles in the moving direction of the self-propelled equipment; the first sensor is used for detecting a first region along the moving direction, the second sensor is used for sensing a second region along the moving direction, and the first region and the second region are arranged by being perpendicular to the moving direction. The control module controls moving modes of the self-propelled equipment according to the sensing results of the first sensor and the second sensor. 本发明提供了种自移动设备，包括：壳体，设置有马达；移动模块，包括履带，履带在马达驱动下移动自移动设备；工作模块；控制模块，控制移动模块移动及工作模块工作；第传感器及第二传感器，检测自移动设备在移动方向上的障碍物；所述第传感器用于检