Traveling control method of cleaning robot, cleaning robot and storage medium

The invention relates to the technical field of smart home, in particular to an advancing control method of a cleaning robot, the cleaning robot and a storage medium. The method comprises the steps that in the advancing process of the cleaning robot, three-dimensional information of a step type obstacle in a front area is collected through a sensor system, and the three-dimensional information at least comprises height information and depth information of the step type obstacle; and at least when the height information and the depth information meet obstacle crossing conditions, executing an obstacle crossing action of crossing the step type obstacle so as to clean the step type obstacle. According to the embodiment of the invention, the depth information of the step type obstacle is considered during obstacle crossing, so that refined and intelligent obstacle crossing can be performed on the step type obstacle, and obstacle crossing abnormity is avoided. 本说明书涉及智能家居技术领域，尤其涉及一种清洁机器人的行进控制方法、清洁机器人以及存储介质。其中所述方法，包