The invention discloses a
motor control method and device, cleaning equipment and a storage medium, and the method comprises the steps: determining a
voltage change rate based on a driving
voltage signal; predicting whether a power-off risk exists or not based on the
voltage change rate; if yes, the current driving voltage is determined based on the driving voltage
signal, the current driving voltage and the voltage change rate are input into a turn-off state
machine, and the turn-off state
machine comprises a plurality of states divided based on different voltage threshold values and / or different voltage change rate threshold values; based on the turn-off state
machine, the motor is controlled to be switched among the multiple states, and turn-off operation corresponding to the current state is executed. Whether a power-off risk exists or not is predicted by monitoring the voltage change rate of the motor, the state of the motor is switched through the turn-off state machine when the power-off risk exists, and different turn-off operations are executed in different states, so that the influence of sudden power-off on the service life of a battery and devices is avoided, orderly storage of key operation data is facilitated, and the service life of the battery and the devices is prolonged. The equipment reliability is improved.