Cleaning method and apparatus, equipment, cleaner and computer readable medium thereof

A cleaning method and apparatus, a sweeper, and a computer-readable medium. The method comprises: by means of turning back along a first cleaning direction, performing first cleaning on a region to be cleaned; and on the basis of cleaning parameters meeting a condition, performing second cleaning on the region by means of turning back along a second cleaning direction, wherein the second cleaning direction is perpendicular to the first cleaning direction. Hence, when the cleaning parameters i.e. certain trigger conditions are met, the sweeper will be triggered to perform second cleaning. Since the first cleaning direction is perpendicular to the second cleaning direction and the region is cleaned by means of turning back, the region is efficiently cleaned without omitting any spots. Meanwhile, conditions for triggering second cleaning are set, and users may set the conditions for triggering second cleaning according to their own needs, so as to satisfy the diverse selections of the users at a region to be cle