A self-moving device and a control method. The self-moving device comprises: a body (110); traveling wheel assemblies (120), configured to support the body (110); a visual sensor (130), configured to acquire an image in a traveling direction of the self-moving device; an attitude sensor (140), configured to acquire an attitude of the self-moving device; and a controller (150), electrically connected to the visual sensor (130) and the attitude sensor (140), the controller (150) being configured to calculate a first inclination angle of the ground in the traveling direction of the self-moving device on the basis of the image, calculate a second inclination angle of the ground on the basis of the first inclination angle and the attitude, and control the traveling wheel assemblies (120) on the basis of the second inclination angle.