WO2022257552A1 - 清扫方法、装置、扫地机及计算机可读介质 - Google Patents

清扫方法、装置、扫地机及计算机可读介质 Download PDF

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WO2022257552A1
WO2022257552A1 PCT/CN2022/082859 CN2022082859W WO2022257552A1 WO 2022257552 A1 WO2022257552 A1 WO 2022257552A1 CN 2022082859 W CN2022082859 W CN 2022082859W WO 2022257552 A1 WO2022257552 A1 WO 2022257552A1
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Prior art keywords
cleaning
cleaned
area
conditions
parameters
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PCT/CN2022/082859
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English (en)
French (fr)
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牛延升
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北京石头创新科技有限公司
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Priority to EP22819157.3A priority Critical patent/EP4353136A1/en
Priority to AU2022289169A priority patent/AU2022289169A1/en
Publication of WO2022257552A1 publication Critical patent/WO2022257552A1/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor

Definitions

  • the present disclosure relates to the field of smart home appliances, in particular to a cleaning method and device, a sweeping machine and a computer-readable medium.
  • the area to be cleaned is usually cleaned several times.
  • the existing floor sweepers perform multiple cleanings, they often just repeat the same cleaning path mechanically, which is prone to missed cleaning.
  • performing multiple cleanings on the default area to be cleaned to achieve a certain degree of cleanliness in the area to be cleaned will bring a lot of trouble to the user or take a long time for the user experience.
  • the area to be cleaned is large, and it takes more time to clean once, and the user has other needs for the area within a certain period of time, the default multiple cleanings will bring a poor user experience to the user.
  • the purpose of the present disclosure is to provide a cleaning method, device, sweeping machine and computer readable medium, so as to solve the technical problem that the sweeping machine misses sweeping during the second cleaning.
  • the present disclosure provides a cleaning method, the method includes: performing the first cleaning on the area to be cleaned in a reversing manner along the first cleaning direction;
  • the area to be cleaned is cleaned for the second time in a turn-back manner along a second cleaning direction, wherein the second cleaning direction is perpendicular to the first cleaning direction.
  • the obtaining the cleaning parameters includes: obtaining at least one of the time required for the first cleaning of the area to be cleaned and the number of repetitions of cleaning the area to be cleaned.
  • the conditions for satisfying the cleaning parameters include:
  • At least one of the time required for the first cleaning of the area to be cleaned and the number of repetitions of cleaning the area to be cleaned satisfies a condition.
  • the time required for the first cleaning of the area to be cleaned satisfies a condition, including: the time required for the first cleaning of the area to be cleaned is less than a threshold.
  • the number of repetitions of cleaning the area to be cleaned meets conditions, including:
  • the number of repetitions of cleaning the area to be cleaned is greater than 1.
  • the present disclosure also provides a cleaning device, the device comprising:
  • the first cleaning module is used to clean the area to be cleaned for the first time in a reversing manner along the first cleaning direction;
  • the second cleaning module is configured to perform a second cleaning on the area to be cleaned in a turn-back manner along a second cleaning direction based on the cleaning parameters satisfying the conditions, wherein the second cleaning direction is the same as the first cleaning direction vertical.
  • the present disclosure further provides a sweeping machine, which is used to execute the method described in any one of the above embodiments.
  • the present disclosure also provides a computer-readable medium, on which computer-readable instructions are stored, and the computer-readable instructions enable the sweeper to perform the operation provided in any one of the above embodiments. Methods.
  • the sweeper under the condition of satisfying the cleaning parameters, that is, certain trigger conditions, the sweeper will be triggered to perform the second cleaning.
  • the conditions for triggering the second cleaning are set. Users can set the conditions for triggering the second cleaning according to their own needs, so as to meet the diverse choices of cleaning areas for users under different conditions, so as to give users a better experience. Since the first cleaning direction and the second cleaning direction are vertical and the area to be cleaned is cleaned in a retracement manner, it is avoided that the mechanically repeated cleaning of the area to be cleaned by the sweeper causes omission of the area to be cleaned, that is, the cleaning method provided by the present disclosure satisfies the requirements of When the second cleaning is triggered, the area to be cleaned can be cleaned efficiently and without omission.
  • Fig. 1 is a flow chart of a cleaning method according to the present disclosure.
  • the present disclosure proposes a cleaning method, which includes: cleaning the area to be cleaned for the first time in a turn-back manner along the first cleaning direction; The area to be cleaned is cleaned for the second time, wherein the direction of the second cleaning is perpendicular to the direction of the first cleaning.
  • the way to obtain the first cleaning direction is not specifically limited.
  • it may be the cleaning direction preset in the system according to different areas to be cleaned, the cleaning direction set manually, or the first cleaning direction determined by the system according to certain requirements.
  • the specific direction of the first cleaning direction is not specifically limited, and can be defined by the user or determined by the system according to a certain setting condition.
  • the first cleaning direction is not a single direction, but refers to the overall traveling direction of the cleaning device during the first cleaning. For example, if the cleaning device starts to move south or north during the first cleaning, and there will be one or more turns to the north and/or south during the process, the first cleaning direction can be understood as the north-south direction.
  • the second cleaning direction is not a single direction, but refers to the overall traveling direction of the cleaning equipment during the second cleaning. For example, if the cleaning equipment starts to move eastward or westward during the second cleaning, and there will be one or more turns westward and/or eastward during the process, then the second cleaning direction can be interpreted as an east-west direction.
  • the area to be cleaned is cleaned for the first time in a retracement manner along the first cleaning direction, that is, the area to be cleaned is cleaned for the first time with an S-shaped cleaning path or a zigzag cleaning path, or it can be understood as the sweeping machine sweeping to the waiting area.
  • an S-shaped cleaning path or a zigzag cleaning path or it can be understood as the sweeping machine sweeping to the waiting area.
  • the cleaning parameters and the satisfying conditions are not specifically limited here.
  • the parameters can be cleaning time, cleaning times or return times, and the corresponding satisfying conditions are that the cleaning time meets the set time, the cleaning times meet the conditions or The number of turns meets the conditions.
  • the total cleaning time can be set. If the time for the first cleaning of the area to be cleaned in a reversing manner along the first cleaning direction is less than the total cleaning time, the cleaning parameters meet the conditions and the second cleaning can be performed.
  • the result based on the cleaning parameters satisfying the conditions may be the judgment result given by the method protected by the technical solution protected by the present disclosure, or it may be the reception of such a judgment result, that is, the above-mentioned judgment step may be the judgment step included in the cleaning method, or This determination step may not be included but a determination result may be received.
  • the direction of the second cleaning is perpendicular to the direction of the first cleaning, and the second cleaning also cleans the area to be cleaned in the way of turning back, so the first cleaning path and the second cleaning path will form a well-shaped cleaning of the area to be cleaned Path, or it can be understood that the two cleanings will form a net-like cleaning path in the area to be cleaned, so that the area to be cleaned can be cleaned efficiently and without omission during the second cleaning.
  • the sweeper under the condition of satisfying the cleaning parameters, that is, certain trigger conditions, the sweeper will be triggered to perform the second cleaning.
  • the conditions for triggering the second cleaning are set, and users can set the conditions for triggering the second cleaning according to their own needs, so as to meet the diverse choices of the cleaning area for the user under different conditions, so as to give the user a better experience. Since the first cleaning direction and the second cleaning direction are vertical and the area to be cleaned is cleaned in a retracement manner, avoiding the omission of the area to be cleaned caused by the mechanical repeated cleaning of the area to be cleaned by the sweeper, that is, the cleaning method provided by the present disclosure meets the requirements of When the second cleaning is triggered, the area to be cleaned can be cleaned efficiently and without omission.
  • the conditions for triggering the second cleaning are set, and the user can set the conditions for triggering the second cleaning according to his own needs, so as to satisfy the user's diverse selection of areas to be cleaned under different conditions, so as to give the user better experience.
  • the obtaining the cleaning parameters includes: obtaining at least one of the time required for the first cleaning of the area to be cleaned and the number of repetitions of cleaning the area to be cleaned.
  • the parameter is selected as the first cleaning time of the area to be cleaned in order to bring users a better experience and prevent the sweeper from working for too long to affect the user's life and mood.
  • the total cleaning time can be the system setting value, that is, the total time that the sweeper works in a certain area that the user can accept based on big data, or the total time that the user sets according to his or her own needs.
  • the parameters are selected so that the number of repeated cleanings can meet the cleanliness needs of the area to be cleaned.
  • cleaning 3 times can meet the user's needs for cleanliness, and the number of repeated cleanings can be defaulted to 3 times or The user sets it to 3 times.
  • the number of times of repeated cleaning can be the default setting value of the system, or the value set by the user according to his own needs.
  • the cleaning parameter satisfaction condition includes: at least one of the time required for the first cleaning of the area to be cleaned and the number of repetitions of cleaning the area to be cleaned is satisfied .
  • the first cleaning time satisfies the condition, that is, the first cleaning time is lower than the set total cleaning time.
  • the first cleaning time will be less than the total cleaning time, and the second cleaning time will be triggered.
  • the first cleaning time will be greater than the total cleaning time, and the second cleaning will not be triggered at this time.
  • the number of repetitions of cleaning the area to be cleaned satisfies the condition, that is, the number of repetitions of cleaning the area to be cleaned is greater than 1.
  • the second cleaning When the number of repetitions of cleaning the area to be cleaned is less than or equal to 1, the second cleaning will not be triggered; When the number of repetitions of cleaning in the cleaning area is greater than 1, the second cleaning will be triggered.
  • Different conditions satisfy the user's diverse choices of cleaning areas under different conditions, so as to give users a better experience.
  • the time required for the first cleaning of the area to be cleaned satisfies a condition, including: the time required for the first cleaning of the area to be cleaned is less than a threshold.
  • the threshold is the total cleaning time
  • the total cleaning time can be a system setting value, that is, the total time for the sweeper to work in a certain area that the user can accept based on big data, or the user can use it according to his own needs.
  • the total time set.
  • the parameter is selected as the first cleaning time of the area to be cleaned in order to bring users a better experience and prevent the sweeper from working for too long to affect the user's life and mood.
  • the number of repetitions of cleaning the area to be cleaned satisfies a condition, including: the number of repetitions of cleaning the area to be cleaned is greater than 1.
  • the parameters are selected so that the number of repeated cleanings can meet the cleanliness needs of the area to be cleaned. For example, in general, cleaning 3 times can meet the user's needs for cleanliness, and the number of repeated cleanings can be defaulted to 3 times or The user set it to 3 times.
  • the present disclosure also provides a cleaning device, which includes a first cleaning module and a second cleaning module.
  • the first cleaning module is used to clean the area to be cleaned for the first time in the way of turning back along the first cleaning direction; the second cleaning module is used to clean the area to be cleaned in the way of turning back along the second cleaning direction based on the cleaning parameters satisfying the conditions.
  • the area to be cleaned is cleaned for the second time, wherein the second cleaning direction is perpendicular to the first cleaning direction.
  • the cleaning device has the same technical effect as the above method, which will not be repeated here.
  • the present disclosure further provides a sweeping machine, which is used to execute the method provided in any of the above embodiments.
  • the sweeping machine has the same technical effect as the above-mentioned method, which will not be repeated here.
  • the present disclosure also provides a computer-readable medium on which computer-readable instructions are stored, and the computer-readable instructions cause the sweeper to execute the method provided in any one of the above embodiments, which has the same The same technical effect of this method will not be repeated here.
  • the present disclosure further provides a cleaning device, including: a processor; and a memory for storing executable instructions, wherein the processor is used for executing the executable instructions stored in the memory.
  • a cleaning device including: a processor; and a memory for storing executable instructions, wherein the processor is used for executing the executable instructions stored in the memory.

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  • Electric Vacuum Cleaner (AREA)
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Abstract

一种清扫方法、装置、扫地机及计算机可读介质，该方法包括：沿第一清扫方向以折返的方式对待清扫区域进行第一次清扫；基于清扫参数满足条件，沿第二清扫方向以折返的方式对待清扫区域进行第二次清扫，其中第二次清扫方向与第一次清扫方向垂直。由此可见，在满足清扫参数的条件下也即一定的触发条件下，会触发扫地机进行第二次清扫。由于第一清扫方向和第二清扫方向垂直且以折返的方式对待清扫区域进行清扫，以对该区域进行高效、无遗漏的清扫。同时，设定了触发第二次清扫的条件，用户可根据自己的需要设定触发第二次清扫的条件，以满足用户在不同条件下对待清扫区域的多样性选择，以给用户较好的体验。

Description

清扫方法、装置、扫地机及计算机可读介质
本申请要求2021年6月11日提交的中国专利申请号202110654811.3的优先权，该中国专利申请以其整体通过引用并入本文。
技术领域
本公开涉及智能家电领域，尤其是涉及一种清扫方法、装置、扫地机及计算机可读介质。
背景技术
一般情况下，为使待清扫区域达到一定的清洁程度，通常会对待清扫区域进行多次清扫。但是现有的扫地机在进行多次清扫时，往往只是机械的重复相同的清扫路径，容易有漏扫的情况发生。在其他一些情况下，对于默认的对待清扫区域进行多次清扫以使待清扫区域达到一定的清洁程度会给用户带来很多麻烦或者耗时较长的用户体验。比如待清扫区域较大，清扫一次需要的时间较多，而用户对该区域在一定时间段内有其它使用需求，默认的多次清扫会给用户带来较差的使用体验。
发明内容
(一)发明目的
本公开的目的是提供一种清扫方法、装置、扫地机及计算机可读介质，以解决扫地机在进行第二次清扫时漏扫的技术问题。
(二)技术方案
为解决上述问题，本公开提供了一种清扫方法，该方法包括：沿第一清扫方向以折返的方式对待清扫区域进行第一次清扫；
基于清扫参数满足条件，沿第二清扫方向以折返的方式对所述待清扫区域进行第二次清扫，其中所述第二次清扫方向与所述第一次清扫方向垂直。
在其他一些实施方式中，所述沿第二清扫方向以折返的方式对所述待清扫区域进行第二次清扫之前，还包括：
获取清扫参数；
确定所述清扫参数是否满足设定条件。
在其他一些实施方式中，所述获取清扫参数包括：获取所述待清扫区域进行所述第一 次清扫所需的时间和对所述待清扫区域进行清扫的重复次数中的至少一个。
在其他一些实施方式中，所述清扫参数满足条件包括：
对所述待清扫区域进行所述第一次清扫所需的时间和对所述待清扫区域进行清扫的重复次数中的至少一个满足条件。
在其他一些实施方式中，所述对所述待清扫区域进行所述第一次清扫所需的时间满足条件，包括：对所述待清扫区域进行所述第一次清扫所需时间小于阈值。
在其他一些实施方式中，所述对所述待清扫区域进行清扫的重复次数满足条件，包括：
对所述待清扫区域进行清扫的重复次数大于1。
根据本公开的第二个方面，本公开还提供一个清扫装置，该装置包括：
第一清扫模块，用于沿第一清扫方向以折返的方式对待清扫区域进行第一次清扫；
第二清扫模块，用于基于清扫参数满足条件，沿第二清扫方向以折返的方式对所述待清扫区域进行第二次清扫，其中所述第二次清扫方向与所述第一次清扫方向垂直。
根据本公开的第三个方面，本公开还提供一种扫地机，所述扫地机用于执行如上任意一项实施例所述方法。
根据本公开的第四个方面，本公开还提供一种计算机可读介质，该计算机可读介质上存储有计算机可读指令，所述计算机可读指令使得扫地机执行如上任意一项实施例提供的方法。
(三)有益效果
由此可见，在满足清扫参数的条件下也即一定的触发条件下，会触发扫地机进行第二次清扫。设定了触发第二次清扫的条件，用户可根据自己的需要设定触发第二次清扫的条件，以满足用户在不同条件下对待清扫区域的多样性选择，以给用户较好的体验。由于第一清扫方向和第二清扫方向垂直且以折返的方式对待清扫区域进行清扫，避免扫地机对待清扫区域的机械重复的清扫造成待清扫区域的遗漏，也即本公开提供的清扫方法满足在触发第二次清扫时能高效、无遗漏的对待清扫区域进行清扫。
附图说明
图1是根据本公开提供的一种清扫方法流程图。
具体实施方式
为使本公开的目的、技术方案和优点更加清楚明了，下面结合具体实施方式并参照附 图，对本公开进一步详细说明。应该理解，这些描述只是示例性的，而并非要限制本公开的范围。此外，在以下说明中，省略了对公知结构和技术的描述，以避免不必要地混淆本公开的概念。
基于此，本公开提出一种清扫方法，该方法包括：沿第一清扫方向以折返的方式对待清扫区域进行第一次清扫；基于清扫参数满足条件，沿第二清扫方向以折返的方式对所述待清扫区域进行第二次清扫，其中所述第二次清扫方向与所述第一次清扫方向垂直。
第一清扫方向获取方式不做具体限定，例如，可以是系统内根据不同的待清扫区域预先设定的清扫方向、人为设定的清扫方向或者系统根据一定的要求判定出的第一清扫方向。第一清扫方向的具体方向不做具体限定，用户可自己限定或者系统根据某一设定条件自行确定。在本实施例中，第一清扫方向不是某一个单一的方向而是指清扫设备在第一次清扫中折返运动的整体行进方向。例如，清扫设备在第一次清扫中开始向南或向北行进，过程中会出现向北和/或向南的一次或多次折返，则第一清扫方向可理解为南北方向。同理，第二清扫方向也不是某一个单一的方向，而是是指清扫设备在第二次清扫中折返运动的整体行进方向。例如，清扫设备在第二次清扫中开始向东或向西行进，过程中会出现向西和/或向东的一次或多次折返，则第二清扫方向可理解为东西方向。
沿第一清扫方向以折返的方式对待清扫区域进行第一次清扫也即以S型的清扫路径或者之字型的清扫路径对待清扫区域进行第一次清扫，或者可以理解为扫地机清扫至待清扫区域边界时，180°转弯或者掉头继续对待清扫区域清扫，转弯的形状或者转弯跨过的路径长度不做具体限定。
基于清扫参数满足条件，清扫参数和满足条件在此不做具体限定，例如参数可以是清扫时间、清扫次数或者折返次数，则相应的满足条件即是清扫时间满足设定时间、清扫次数满足条件或者折返次数满足条件。例如可以设定总清扫时间，若沿第一清扫方向以折返的方式对待清扫区域进行第一次清扫的时间小于总清扫时间，则清扫参数满足条件，可以进行第二次清扫。
基于清扫参数满足条件这样的结果可以是本公开保护的技术方案保护的方法给出的判定结果，也可以是接收这样一个判定结果，也即上述判定步骤可以是本清扫方法包括的判定步骤，也可以不包括该判定步骤而是接收判定结果。
第二次清扫方向与第一次清扫方向垂直，且第二次清扫同样以折返的方式对待清扫区域进行清扫，因此第一次清扫路径和第二次清扫路径会对待清扫区域形成井字形的清扫路径，或者可以理解为两次清扫会对待清扫区域形成拉网式的清扫路径，以满足在进行第二 次清扫时能高效、无遗漏的对待清扫区域进行清扫。
由此可见，在满足清扫参数的条件下也即一定的触发条件下，会触发扫地机进行第二次清扫。设定了触发第二次清扫的条件，用户可根据自己的需要设定触发第二次清扫的条件，以满足用户在不同条件下对待清扫区域的多样性选择，以给用户较好的体验。由于第一清扫方向和第二清扫方向垂直且以折返的方式对待清扫区域进行清扫，避免扫地机对待清扫区域的机械重复的清扫造成待清扫区域的遗漏，也即本公开提供的清扫方法满足在触发第二次清扫时能高效、无遗漏的对待清扫区域进行清扫。
在其他一些实施方式中，所述沿第二清扫方向以折返的方式对所述待清扫区域进行第二次清扫之前，还包括：
获取清扫参数；确定所述清扫参数是否满足设定条件。
在本实施例中设定了触发第二次清扫的条件，用户可根据自己的需要设定触发第二次清扫的条件，以满足用户在不同条件下对待清扫区域的多样性选择，以给用户较好的体验。
在其他一些实施方式中，所述获取清扫参数包括：获取所述待清扫区域进行所述第一次清扫所需的时间和对所述待清扫区域进行清扫的重复次数中的至少一个。
在本实施例中，参数选择为待清扫区域进行第一次清扫时间是为了带给用户较佳的使用体验，防止扫地机工作太长时间影响用户生活以及心情。总清扫时间可为系统设定值，也即根据大数据获得的用户能接受的扫地机在某个区域工作的总时间，或者用户根据自己的需要设定的总时间。
在本实施例中，参数选择为重复清扫次数能满足对该待清扫区域清洁度的需要，比如，一般情况下清扫3次能满足用户对清洁度的需要，则重复次数可默认为3次或者用户设定为3次。重复清扫次数可以为系统默认设定值，或者用户根据自己的需要自己设定的值。
在其他一些实施方式中，所述清扫参数满足条件包括：对所述待清扫区域进行所述第一次清扫所需的时间和对所述待清扫区域进行清扫的重复次数中的至少一个满足条件。例如，第一次清扫时间满足条件也即第一次清扫时间低于设定的总清扫时间，对于较小的待清扫区域，第一次清扫时间会小于总清扫时间，这时会触发第二次清扫；对于较大的待清扫区域，第一次清扫时间会大于总清扫时间，这时不会触发第二次清扫。对所述待清扫区域进行清扫的重复次数满足条件也即对待清扫区域进行清扫的重复次数大于1，当对待清扫区域进行清扫的重复次数小于等于1时，不会触发第二次清扫；当对待清扫区域进行清扫的重复次数大于1时，会触发第二次清扫。不同的条件以满足用户在不同条件下对待清扫区域的多样性选择，以给用户较好的体验。
在其他一些实施方式中，所述对所述待清扫区域进行所述第一次清扫所需的时间满足条件，包括：对所述待清扫区域进行所述第一次清扫所需时间小于阈值。在本实施例中阈值即为总清扫时间，总清扫时间可为系统设定值，也即根据大数据获得的用户能接受的扫地机在某个区域工作的总时间，或者用户根据自己的需要设定的总时间。在本实施例中，参数选择为待清扫区域进行第一次清扫时间是为了带给用户较佳的使用体验，防止扫地机工作太长时间影响用户生活以及心情。
在其他一些实施方式中，所述对所述待清扫区域进行清扫的重复次数满足条件，包括：对所述待清扫区域进行清扫的重复次数大于1。在本实施例中，参数选择为重复清扫次数能满足对该待清扫区域清洁度的需要，比如，一般情况下清扫3次能满足用户对清洁度的需要，则重复次数可默认为3次或者用户设定为3次。
根据本公开的第二个方面，本公开还提供一个清扫装置，该装置包括第一清扫模块和第二清扫模块。第一清扫模块，用于沿第一清扫方向以折返的方式对待清扫区域进行第一次清扫；第二清扫模块，用于基于清扫参数满足条件，沿第二清扫方向以折返的方式对所述待清扫区域进行第二次清扫，其中所述第二次清扫方向与所述第一次清扫方向垂直。
该清扫装置具有与上述方法同样的技术效果，在此不再赘述。
根据本公开的第三个方面，本公开还提供一种扫地机，所述扫地机用于执行如上任意实施例提供的方法。该扫地机具有与上述方法同样的技术效果，在此不再赘述。
根据本公开的第四个方面，本公开还提供一种计算机可读介质，其上存储有计算机可读指令，所述计算机可读指令使得扫地机执行如上任意一实施例提供的方法，具有与该方法相同的技术效果，在此不再赘述。
根据本公开的第五个方面，本公开还提供一种清扫设备，包括：处理器；以及存储器，用于存储可执行指令，其中，所述处理器用于，通过执行所述存储器存储的可执行指令，使所述清扫设备执行如上任意一实施例提供的方法，具有与该方法相同的技术效果，在此不再赘述。
应当理解的是，本公开的上述具体实施方式仅仅用于示例性说明或解释本公开的原理，而不构成对本公开的限制。因此，在不偏离本公开的精神和范围的情况下所做的任何修改、等同替换、改进等，均应包含在本公开的保护范围之内。此外，本公开所附权利要求旨在涵盖落入所附权利要求范围和边界、或者这种范围和边界的等同形式内的全部变化和修改例。
本公开实施例方法中的步骤可以根据实际需要进行顺序调整、合并和删减。

Claims (10)

  1. 一种清扫方法，其特征在于，包括：
    沿第一清扫方向以折返的方式对待清扫区域进行第一次清扫；
    基于清扫参数满足条件，沿第二清扫方向以折返的方式对所述待清扫区域进行第二次清扫，其中所述第二次清扫方向与所述第一次清扫方向垂直。
  2. 根据权利要求1所述的清扫方法，其特征在于，所述沿第二清扫方向以折返的方式对所述待清扫区域进行第二次清扫之前，还包括：
    获取清扫参数；
    确定所述清扫参数是否满足设定条件。
  3. 根据权利要求2所述的清扫方法，其特征在于，所述获取清扫参数包括：获取所述待清扫区域进行所述第一次清扫所需的时间和对所述待清扫区域进行清扫的重复次数中的至少一个。
  4. 根据权利要求3所述的清扫方法，其特征在于，所述清扫参数满足条件包括：
    对所述待清扫区域进行所述第一次清扫所需的时间和对所述待清扫区域进行清扫的重复次数中的至少一个满足条件。
  5. 根据权利要求4所述的清扫方法，其特征在于，所述对所述待清扫区域进行所述第一次清扫所需的时间满足条件，包括：对所述待清扫区域进行所述第一次清扫所需时间小于阈值。
  6. 根据权利要求4所述的清扫方法，其特征在于，所述对所述待清扫区域进行清扫的重复次数满足条件，包括：
    对所述待清扫区域进行清扫的重复次数大于1。
  7. 一种清扫装置，其特征在于，包括：
    第一清扫模块，用于沿第一清扫方向以折返的方式对待清扫区域进行第一次清扫；
    第二清扫模块，用于基于清扫参数满足条件，沿第二清扫方向以折返的方式对所述待清扫区域进行第二次清扫，其中所述第二次清扫方向与所述第一次清扫方向垂直。
  8. 一种扫地机，其特征在于，所述扫地机用于执行如权利要求1-6任意一项所述方法。
  9. 一种计算机可读介质，其特征在于，其上存储有计算机可读指令，所述计算机可读指令使得扫地机执行如权利要求1-6任意一项提供的方法。
  10. 一种清扫设备，其特征在于，包括：处理器；以及存储器，用于存储可执行指令，其中，所述处理器用于，通过执行所述存储器存储的可执行指令，使所述清扫设备执行如 权利要求1-6任意一项提供的方法。
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