controlling the self-moving device to move from a current position relative to a docking boundary using a radio detection device, the radio detection device including a positioning base station and a positioning tag, the positioning base station set within a predetermined distance of the charging station, and the positioning tag set on the self-moving device, and, according to the distance between the positioning tag and the positioning base station, controlling the self-moving device to move from the current position relative to the docking boundary, the docking boundary being a docking circle with the positioning base station at a center of the docking circle, a radius of the docking circle being D_dst, and the distance between at least part of the boundary line and the positioning base station being not less than D_dst, the docking boundary and the boundary line configured so that they intersect one another;

judging whether the self-moving device senses a boundary line signal from the boundary line during the step of controlling the self-moving device to move;

if the self-moving device senses the boundary line signal before or when reaching the docking boundary, controlling the self-moving device to move to the charging station based on the boundary line signal until the self-moving device successfully docks with the charging station; and

if the self-moving device does not sense the boundary line signal when reaching the docking boundary, controlling the self-moving device to move from the docking boundary to the boundary line by moving around and along the docking boundary until the self-moving device senses the boundary line signal.