Self-moving device and method of controlling self-moving device

The invention provides a self-moving device and a method for controlling the self-moving device. The self-moving device moves in a working area limited by a boundary, and the self-moving device comprises a positioning system which determines the position of the self-moving device through a received positioning signal, and when the positioning signal does not meet a preset quality requirement, the self-moving device is located in a shadow area; the control module is configured to store a signal recovery point set, and the signal recovery point set records the positions of signal recovery points of the self-moving equipment and the priorities of the signal recovery points; selecting a target signal recovery point from the signal recovery point set based on the priority under the condition that the self-moving device is in the shadow area; and controlling the self-moving device to move to the target signal recovery point so as to perform signal recovery at the target signal recovery point. According to the inven