A method for controlling a cleaning device, in which the cleaning device includes a lifting/lowering assembly configured to perform a lifting/lowering action, includes: acquiring, in response to a first control instruction, whether a current first position of the lifting/lowering assembly is a first in-place position, the first in-place position comprising a lowering in-place position or a lifting in-place position; controlling, in response to the first position being the first in-place position, the lifting/lowering assembly to perform a first action to move toward a second in-place position, the second in-place position being an in-place position opposite to the first in-place position; acquiring a first drive current for driving the lifting/lowering assembly to perform the first action; and determining, based on the first drive current, whether the lifting/lowering assembly moves to the second in-place position.