Method for controlling cleaning device and cleaning device

A method for controlling a cleaning device, wherein the cleaning device comprises a first distance sensor disposed at a bottom, wherein the first distance sensor is configured to detect a distance between the cleaning device and a to-be-cleaned surface under the cleaning device, wherein the control method comprises:

• in a process in which the cleaning device moves on a bottom of a pool, when the cleaning device approaches or collides with an obstacle, controlling the cleaning device to climb the obstacle;
• and
• in a process of climbing the obstacle, if the obstacle is determined as a step at least based on a detection value of the first distance sensor, controlling the cleaning device to move from a first surface of the step to a second surface of the step, wherein the step at least comprises the approximately vertical first surface and the approximately horizontal second surface.