The invention provides a cleaning method of a cleaning robot, the cleaning robot and a computer storage medium. The cleaning method comprises the steps that by measuring first ground inspection data of a current position of the cleaning robot, a first reference value is obtained, then a first parameter range is set, and a first condition is generated according to the first parameter range, whether a first real-time ground detection signal value meets the first condition or not is determined, and the advancing direction of the cleaning robot is controlled according to the determination result. By detecting a reflection intensity value of the ground, the cleaning robot performs cleaning in a designated area, the boundary of the designated area is judged for a plurality of times, the advancing direction of the cleaning robot is controlled according to the judgment result, on the one hand, the cleaning robot is prevented from missing sweeping, on the other hand, the cleaning robot is prevented from crossing the boundary, the cleaning effect and the work efficiency of the cleaning robot are improved, and the experience of a user is improved.