Method and device for controlling self-moving equipment

The invention provides a method and a device for controlling self-moving equipment, which can improve the working safety of the self-moving equipment. The method is applied to a control module of the self-moving device and comprises the steps that various kinds of indication information sent by a visual module is received, and the indication information is used for indicating the working state of the visual module; monitoring whether the visual module is abnormal or not according to the receiving state of at least one kind of indication information in the multiple kinds of indication information; and controlling the self-moving equipment to stop working under the condition that the vision module is monitored to be abnormal. 本申请提供了一种控制自移动设备的方法及装置，能够提高自移动设备工作的安全性。该方法应用于自移动设备的控制模块，该方法包括：接收视觉模块发送的多种指示信息，所述指示信息用于指示所述视觉模块的工作状态；根据所述多种指示信息中的至少一种指示信息的接收状态监测所述视觉模块是否异常；在监测到所述视觉模块异常的情况下，控制所述自移动设备停止工作。