A cleaning device including a suction motor; a suction head including a suction port; a rotatable brush inside the suction head; a brush motor; a pressure sensor; a memory storing coefficient tables including coefficients of a hyperplane equation for determining a type of surface to be cleaned; and a controller. The controller is configured to, in a first state with the suction head separated from the surface, select a reference coefficient table corresponding to a first suction pressure and a first load of the brush motor, in a second state with the suction head in contact with the surface, identify a type of the surface based on a second suction pressure, a second load of the brush motor, and the reference coefficient table, and adjust an output of the suction motor and/or the brush motor based on the identified type of the surface to be cleaned.