A control method of an autonomous moving device for moving and working in a working region limited by a boundary wire , comprising the steps: detecting a boundary signal, and outputting a boundary signal output, and determining a current type of the boundary signal output wherein types of the boundary signal output comprise an inside signal, an outside signal, an unknown signal, and no signal; when the current type of the boundary signal output is not the same as a last type of the boundary signal output, triggering an estimating step, the estimating step comprising the steps: estimating whether the current type of the boundary signal output in a predetermined estimation period is consistent or not, including estimating whether the current type of the boundary signal output is the same or not in the predetermined estimation period, and if the same, estimating the current type of the boundary signal output is consistent, if consistent, determining that the current type of the boundary signal output is stable and determining a position relation of the autonomous moving device relative to the boundary wire based on the stable current type of the boundary signal output; and if not consistent, determining that the current type of the boundary signal output is instable, determining that the position relation of the autonomous moving device relative to the boundary wire is unchanged and repeating the estimating step. detecting a boundary signal, and outputting a boundary signal output, and determining a current type of the boundary signal output wherein types of the boundary signal output comprise an inside signal, an outside signal, an unknown signal, and no signal; when the current type of the boundary signal output is not the same as a last type of the boundary signal output, triggering an estimating step, the estimating step comprising the steps: estimating whether the current type of the boundary signal output in a predetermined estimation period is consistent or not, including estimating whether the current type of the boundary signal output is the same or not in the predetermined estimation period, and if the same, estimating the current type of the boundary signal output is consistent, if consistent, determining that the current type of the boundary signal output is stable and determining a position relation of the autonomous moving device relative to the boundary wire based on the stable current type of the boundary signal output; and if not consistent, determining that the current type of the boundary signal output is instable, determining that the position relation of the autonomous moving device relative to the boundary wire is unchanged and repeating the estimating step. estimating whether the current type of the boundary signal output in a predetermined estimation period is consistent or not, including estimating whether the current type of the boundary signal output is the same or not in the predetermined estimation period, and if the same, estimating the current type of the boundary signal output is consistent, if consistent, determining that the current type of the boundary signal output is stable and determining a position relation of the autonomous moving device relative to the boundary wire based on the stable current type of the boundary signal output; and if not consistent, determining that the current type of the boundary signal output is instable, determining that the position relation of the autonomous moving device relative to the boundary wire is unchanged and repeating the estimating step. <EOS>