WO2021203780A1 - 图像查看方法、终端及清洁机 - Google Patents

图像查看方法、终端及清洁机 Download PDF

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Publication number
WO2021203780A1
WO2021203780A1 PCT/CN2021/070154 CN2021070154W WO2021203780A1 WO 2021203780 A1 WO2021203780 A1 WO 2021203780A1 CN 2021070154 W CN2021070154 W CN 2021070154W WO 2021203780 A1 WO2021203780 A1 WO 2021203780A1
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WO
WIPO (PCT)
Prior art keywords
obstacle
image
identification information
viewing
client
Prior art date
Application number
PCT/CN2021/070154
Other languages
English (en)
French (fr)
Inventor
吴震
张瑞敏
丛一鸣
胡志颖
Original Assignee
北京石头世纪科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京石头世纪科技股份有限公司 filed Critical 北京石头世纪科技股份有限公司
Priority to US17/918,083 priority Critical patent/US20230157507A1/en
Priority to EP21784242.6A priority patent/EP4134772A4/en
Publication of WO2021203780A1 publication Critical patent/WO2021203780A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • 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
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G05D1/0016—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the operator's input device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G05D1/0038—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
    • G05D1/2247—
    • G05D1/243—
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
    • G06F3/04817—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance using icons
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
    • G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • 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
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • G05D2105/10—
    • G05D2107/40—
    • G05D2109/10—
    • G05D2111/10—
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/24—Indexing scheme for image data processing or generation, in general involving graphical user interfaces [GUIs]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20112—Image segmentation details
    • G06T2207/20132—Image cropping
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30261—Obstacle

Definitions

  • the present disclosure relates to the technical field of image processing, and in particular to an image viewing method, terminal and cleaning machine.
  • the cleaning robot or cleaning machine can effectively avoid obstacles encountered during the cleaning process, and display the avoidance results on the map of the application, such as the location of the obstacles.
  • the user views the map through the application, he cannot intuitively see what obstacles the cleaning robot or cleaning machine avoids, which leads to a bad user experience.
  • an image viewing method is provided, which is applied to a terminal, and a client matching a cleaning machine is installed on the terminal.
  • the method includes: receiving an operation instruction for viewing the obstacle through the client; and in response to the operation instruction for viewing the obstacle, sending a viewing request for the obstacle, the viewing request carries identification information, and the identification information is The identification information used to uniquely identify the image of the obstacle or the identification information used to uniquely identify the obstacle; receive the image of the obstacle identified by the identification information; and control the display of the image of the obstacle through the client.
  • receiving an operation instruction for viewing an obstacle through the client includes: receiving a click operation instruction for a corresponding icon of an obstacle through the client; or receiving an operation instruction for an obstacle through the client The touch operation instruction of the corresponding icon.
  • controlling the display of the image of the obstacle by the client includes: displaying the image of the obstacle by the client in a display area where a corresponding icon of the obstacle is located.
  • an image viewing method is also provided, which is applied to a cleaning machine.
  • the method includes: receiving a viewing request for an obstacle, the viewing request carrying identification information, the identification information being the identification information used to uniquely identify the image of the obstacle or the identification information used to uniquely identify the obstacle;
  • the image of the obstacle identified by the identification information is selected from an obstacle image library; the image of the obstacle identified by the identification information is fed back.
  • the method further includes: while feeding back the image of the obstacle identified by the identification information, at the same time feeding back at least one of the following related information of the obstacle: the type of the obstacle, the confidence level, and The number of times the cleaner has avoided obstacles.
  • the method further includes: after selecting the image of the obstacle identified by the identification information from the obstacle image library, crop the image of the obstacle, and correspondingly, the feedback is
  • the image of the obstacle identified by the identification information includes: feeding back the cropped image.
  • the method further includes: receiving a viewing request for the original image of the cropped image; and in response to the viewing request for the original image, feeding back the obstacle image identified by the identification information .
  • the method further includes: pre-storing one or more images in the obstacle image library before selecting the image of the obstacle identified by the identification information from the obstacle image library , Where each image represents a corresponding obstacle; and each image is assigned with identification information for uniquely identifying the image.
  • the method further includes: before selecting the image of the obstacle identified by the identification information from the obstacle image library, pre-store one or more images and one or more identifiers in the In the obstacle image library, each image represents a corresponding obstacle, and each identifier is associated with a corresponding image and is used to uniquely identify the obstacle represented by the image.
  • a terminal is also provided, and a client matching the cleaner is installed on the terminal.
  • the terminal includes a receiving module, a sending module, and a display control module.
  • the receiving module is used to receive an operation instruction for viewing obstacles through the client;
  • the sending module is used to send a viewing request for the obstacle in response to the operation instruction for viewing the obstacle, and the viewing request carries identification information
  • the identification information is the identification information used to uniquely identify the image of the obstacle or the identification information used to uniquely identify the obstacle;
  • the receiving module is also used to receive the image of the obstacle identified by the identification information; display control The module is used to control the display of the image of the obstacle through the client.
  • the receiving module is further configured to receive, through the client, a click operation instruction for the corresponding icon of the obstacle; or, through the client, receive a touch operation instruction for the corresponding icon of the obstacle .
  • the display control module is further configured to display the obstacle image in the display area where the corresponding icon of the obstacle is located by the client.
  • a cleaning machine includes: a receiving module for receiving a viewing request for an obstacle, the viewing request carries identification information, and the identification information is identification information used to uniquely identify the image of the obstacle or used to uniquely identify the obstacle The identification information of the object; the selection module, which selects the image of the obstacle identified by the identification information from the obstacle image library; the feedback module, which is used to feed back the image of the obstacle identified by the identification information.
  • the feedback module is further configured to feed back at least one of the following related information about the obstacle while feeding back the image of the obstacle identified by the identification information: the type of the obstacle and the confidence And the number of times the cleaner has avoided obstacles.
  • the cleaning machine further includes: a cropping module for selecting the image of the obstacle identified by the identification information from the obstacle image library through the selecting module. Perform cropping; accordingly, the feedback module is specifically used to feed back the cropped image.
  • the receiving module is further configured to receive a request for viewing the original image of the cropped image; the feedback module is further configured to respond to the request for viewing the original image and feedback The image of the obstacle identified by the identification information.
  • an image viewing device including a processor and a memory, wherein the memory stores computer program instructions, and the computer program instructions are executed before being executed by the processor.
  • non-transitory computer-readable storage medium storing computer program instructions that, when executed by a processor, execute the image described in any of the previous embodiments. View method.
  • FIG. 1 shows a schematic diagram of the flow interaction of an image viewing method according to an embodiment of the present disclosure
  • FIG. 2 shows a schematic diagram of the implementation process of an image viewing method on the terminal side according to an embodiment of the present disclosure
  • FIG. 3 shows a schematic diagram 1 of the implementation process of the image viewing method on the side of the cleaning machine according to an embodiment of the present disclosure
  • FIG. 4 shows the second schematic diagram of the implementation process of the image viewing method on the side of the cleaning machine according to the embodiment of the present disclosure
  • FIG. 5 shows a schematic diagram of the composition structure of a terminal according to an embodiment of the present disclosure
  • Fig. 6 shows a schematic diagram of the composition structure of a cleaning machine according to an embodiment of the present disclosure.
  • Fig. 1 shows a schematic diagram of flow interaction for implementing an image viewing method according to an embodiment of the present disclosure.
  • the process of implementing an image viewing method includes information interaction between a terminal installed with a client and a cleaning machine. Specifically, first, the client installed on the terminal receives an operation instruction for viewing the obstacle from the user; then, in response to the operation instruction for viewing the obstacle, the terminal sends a viewing request for the obstacle with identification information to the cleaning machine; After receiving the viewing request for the obstacle, the cleaning machine selects the image of the obstacle identified by the identification information from the obstacle image library; feeds back the image of the obstacle identified by the identification information to the terminal; finally the terminal passes The client controls the display of the image of the obstacle.
  • Fig. 2 shows a schematic diagram of an implementation process of a terminal-side image viewing method according to an embodiment of the present disclosure.
  • the image viewing method is applied to a terminal, and a client matching the cleaning machine is installed on the terminal.
  • the method includes: operation 201, receiving an operation instruction for viewing obstacles through the client; operation 202, in response to the operation instruction for viewing obstacles, sending a viewing request for the obstacle, the viewing request carries identification information; operation 203, receiving The image of the obstacle identified by the identification information; operation 204, the display of the image of the obstacle is controlled through the client.
  • the view operation instruction may be a click operation instruction or a touch operation instruction.
  • operation 201 includes: receiving, through the client, a click operation instruction for the corresponding icon of the obstacle; or, through the client, receiving a touch operation instruction for the corresponding icon of the obstacle.
  • the terminal receives the operation of viewing the obstacle through the client instruction.
  • the terminal in response to the operation instruction for viewing the obstacle, the terminal sends a viewing request for the obstacle carrying identification information to instruct the cleaning machine to select an image of the obstacle identified by the identification information from the obstacle image library.
  • the identification information is identification information used to uniquely identify an obstacle image or identification information used to uniquely identify an obstacle.
  • the cleaning machine when the cleaning machine receives a viewing request carrying identification information for an obstacle, it can directly select the obstacle identified by the identification information from the obstacle image library according to the identification information of the image used to uniquely identify the obstacle. image.
  • the cleaning machine when the cleaning machine receives a viewing request carrying identification information for an obstacle, it can also directly select the obstacle identified by the identification information from the obstacle image library according to the identification information used to uniquely identify the obstacle image.
  • the position of the obstacle in the image is marked in a manner that can be recognized by the user, for example, a rectangular frame is marked around the obstacle.
  • the terminal can directly display the obstacle image in the specific display area where the corresponding icon of the obstacle is located through the client terminal.
  • the specific display area where the corresponding icon of the obstacle is located may be a display area containing the corresponding icon of the obstacle, or a specific display area located in the upper left corner, lower left corner, upper right corner, or lower right corner of the corresponding icon of the obstacle. .
  • an operation instruction for viewing obstacles from a user is received through a client installed on a terminal; then, in response to an operation instruction for viewing obstacles, an obstacle-oriented operation instruction is sent to the cleaning machine.
  • Fig. 3 shows a schematic diagram 1 of the implementation process of the image viewing method on the side of the cleaning machine according to an embodiment of the present disclosure.
  • an image viewing method is applied to a cleaning machine, and includes: operation 301, receiving a viewing request for an obstacle, the viewing request carries identification information; operation 302, from an obstacle image library The image of the obstacle identified by the identification information is selected; operation 303, the image of the obstacle identified by the identification information is fed back.
  • the cleaning machine can parse the viewing request to obtain identification information.
  • the identification information is identification information used to uniquely identify an obstacle image or identification information used to uniquely identify an obstacle.
  • the cleaning machine saves the image of the obstacle in the obstacle image library in advance.
  • the cleaning machine may assign an image (such as an identification code) to uniquely identify the image every time an image is saved, and then assign the identification information to the image.
  • the coordinates of the corresponding obstacle in the image are sent to the client in real time.
  • the cleaning machine can quickly select from the obstacle image library according to the identification information used to uniquely identify the obstacle image The obstacle image identified by the identification information.
  • the cleaning machine when saving the image of the obstacle, directly stores the image of the obstacle and the identification information for uniquely identifying the obstacle in the obstacle image library. In this way, during image viewing, the cleaning machine selects the image of the obstacle identified by the identification information from the obstacle image library according to the identification information used to uniquely identify the obstacle.
  • the cleaning machine when feeding back the obstacle image identified by the identification information, may also feed back at least one of the following related information of the obstacle: the type of the obstacle, the confidence level, and the number of times the cleaning machine has avoided the obstacle.
  • Fig. 4 shows the second schematic diagram of the implementation process of the image viewing method on the side of the cleaning machine according to the embodiment of the present disclosure.
  • an image viewing method is applied to a cleaning machine, and includes: operation 401, receiving a viewing request for an obstacle, the viewing request carries identification information; operation 402, from an obstacle image library Select the image of the obstacle identified by the identification information; operation 403, crop the image of the obstacle; operation 404, feed back the cropped image.
  • the cleaning machine may parse the viewing request to obtain identification information.
  • the identification information is identification information used to uniquely identify an obstacle image or identification information used to uniquely identify an obstacle.
  • the cleaning machine saves the image of the obstacle in the obstacle image library in advance.
  • the cleaning machine may assign an image (such as an identification code) to uniquely identify the image every time an image is saved, and combine the identification information with The coordinates of the corresponding obstacle in the image are sent to the client in real time.
  • an image such as an identification code
  • the cleaning machine can quickly select from the obstacle image library according to the identification information used to uniquely identify the obstacle image The obstacle image identified by the identification information.
  • the cleaning machine when saving the image of the obstacle, directly stores the image of the obstacle and the identification information for uniquely identifying the obstacle in the obstacle image library. In this way, during image viewing, the cleaning machine selects the image of the obstacle identified by the identification information from the obstacle image library according to the identification information used to uniquely identify the obstacle.
  • the image of the obstacle fed back by the cleaning machine may be cropped, where the principle of cropping is to include at least the obstacle.
  • the cleaning machine feeds back to the terminal client is the cropped image. Since the cropped image has a smaller file size than the complete obstacle image itself (ie, the original image), real-time feedback can be better achieved, thereby effectively improving the user experience.
  • an interface for the user to choose to view the original image of the obstacle saved by the cleaning machine is preset on the terminal client.
  • the method further includes: the cleaning machine further receives a request for viewing the original image of the cropped image; in response to the request for viewing the original image, feeding back the information identified by the identification information Obstacle image.
  • the present disclosure through the information interaction between the client installed on the terminal and the cleaning machine, it is possible to display the obstacle image in real time through the client based on the user's operation of viewing the obstacle. As a result, the user can intuitively see what the obstacle is avoided by the cleaning machine, thereby effectively improving the user experience.
  • the terminal 50 includes a receiving module 501, a sending module 502, and a display control module 503.
  • the receiving module 501 is configured to receive an operation instruction for viewing obstacles through the client;
  • the sending module 502 is configured to send a viewing request for the obstacle in response to the operation instruction for viewing the obstacle, and the viewing request carries Identification information, where the identification information is identification information used to uniquely identify an obstacle image or identification information used to uniquely identify an obstacle;
  • the receiving module 501 is also used to receive the image of the obstacle identified by the identification information;
  • the control module 503 is configured to control the display of the image of the obstacle through the client.
  • the receiving module 501 is specifically configured to receive, through the client, a click operation instruction on the corresponding icon of an obstacle; or, through the client, receive a touch operation instruction on the corresponding icon of the obstacle.
  • the display control module 503 is specifically configured to display the image of the obstacle in a specific display area where the corresponding icon of the obstacle is located through the client.
  • the cleaning machine 60 includes: a receiving module 601 for receiving a viewing request for an obstacle, and the viewing request carries identification information, and the identification information is identification information used to uniquely identify an image of the obstacle or Identification information used to uniquely identify the obstacle; the selection module 602 selects the obstacle image identified by the identification information from the obstacle image library; the feedback module 603 is used to feed back the obstacle image identified by the identification information.
  • the feedback module 603 is further configured to feed back at least one of the following related information about the obstacle while feeding back the obstacle image identified by the identification information: obstacle type, confidence level, and The number of times the cleaner has avoided obstacles.
  • the cleaning machine 60 further includes: a cropping module 604, which is used to select the obstacle image identified by the identification information from the obstacle image library through the selection module, The obstacle image is cropped; correspondingly, the feedback module 603 is specifically used to feed back the cropped obstacle image.
  • a cropping module 604 which is used to select the obstacle image identified by the identification information from the obstacle image library through the selection module, The obstacle image is cropped; correspondingly, the feedback module 603 is specifically used to feed back the cropped obstacle image.
  • the receiving module 601 is further configured to receive a request for viewing the original image of the cropped image; the feedback module 603 is further configured to respond to the request for viewing the original image and feed back The image of the obstacle identified by the identification information.
  • the disclosed device and method may be implemented in other ways.
  • the device embodiments described above are merely illustrative.
  • the division of the units is only a logical function division, and there may be other divisions in actual implementation, such as: multiple units or components can be combined, or It can be integrated into another system, or some features can be ignored or not implemented.
  • the coupling, or direct coupling, or communication connection between the components shown or discussed may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms. of.
  • the units described above as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units; they may be located in one place or distributed on multiple network units; Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • the functional units in the embodiments of the present disclosure can be all integrated into one processing unit, or each unit can be individually used as a unit, or two or more units can be integrated into one unit;
  • the unit can be implemented in the form of hardware, or in the form of hardware plus software functional units.
  • the foregoing program can be stored in a computer readable storage medium.
  • the execution includes The steps of the foregoing method embodiment; and the foregoing storage medium includes: various media that can store program codes, such as a mobile storage device, a read only memory (Read Only Memory, ROM), a magnetic disk, or an optical disk.
  • ROM Read Only Memory
  • the aforementioned integrated unit of the present disclosure is implemented in the form of a software function module and sold or used as an independent product, it may also be stored in a computer readable storage medium.
  • the computer software product is stored in a storage medium and includes several instructions for A computer device (which may be a personal computer, a server, or a network device, etc.) executes all or part of the methods described in the various embodiments of the present disclosure.
  • the aforementioned storage media include: removable storage devices, ROMs, magnetic disks, or optical disks and other media that can store program codes.
  • Another object of the embodiments of the present disclosure is to provide a remote support method and device for remotely supporting computer equipment, which are easy to use without compromising security.

Abstract

本公开提供了一种图像查看方法、终端及清洁机。首先，通过终端上安装的客户端接收来自用户的查看障碍物的操作指令；接着，响应于操作指令，向清洁机发送针对障碍物的携带有标识信息的查看请求，以指示清洁机从障碍物图像库中选取由标识信息标识的障碍物的图像；并且最后，接收由清洁机反馈的由标识信息标识的障碍物的图像，并通过客户端控制所述障碍物的图像的显示。

Description

图像查看方法、终端及清洁机
相关申请的交叉引用
本申请要求2020年4月9日提交的中国专利申请号202010275131.6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
本公开涉及图像处理技术领域，尤其涉及一种图像查看方法、终端及清洁机。
背景技术
目前，在配置了摄像头之后，清洁机器人或清洁机可以有效地对清扫过程中遇到的障碍物进行避让，并将避让结果显示在应用程序的地图上，如障碍物位置等信息。但是，当用户通过应用程序查看地图的时候，并不能直观地看到清洁机器人或清洁机所躲避的障碍物到底是什么，由此导致用户体验不好。
需要说明的是，在上述背景技术部分公开的信息仅用于加强对本公开的背景的理解，因此可以包括不构成对本领域普通技术人员已知的现有技术的信息。
发明内容
根据本发明第一方面，提供了一种图像查看方法，应用于终端，所述终端上安装有与清洁机匹配的客户端。所述方法包括：通过所述客户端接收查看障碍物的操作指令；响应于查看障碍物的操作指令，发送针对障碍物的查看请求，所述查看请求中携带有标识信息，所述标识信息为用于唯一标识障碍物的图像的标识信息或用于唯一标识障碍物的标识信息；接收由所述标识信息标识的障碍物的图像；通过所述客户端控制所述障碍物的图像的显示。
根据本发明一实施方式，通过所述客户端接收查看障碍物的操作指 令，包括：通过所述客户端接收针对障碍物的对应图标的点击操作指令；或，通过所述客户端接收针对障碍物的对应图标的触摸操作指令。
根据本发明一实施方式，通过所述客户端控制所述障碍物的图像的显示，包括：通过所述客户端在障碍物的对应图标所在的显示区域显示所述障碍物的图像。
根据本发明第二方面，还提供了一种图像查看方法，应用于清洁机。所述方法包括：接收针对障碍物的查看请求，所述查看请求中携带有标识信息，所述标识信息为用于唯一标识障碍物的图像的标识信息或用于唯一标识障碍物的标识信息；从障碍物图像库中选取由所述标识信息标识的障碍物的图像；反馈由所述标识信息标识的障碍物的图像。
根据本发明一实施方式，所述方法还包括：在反馈由所述标识信息标识的障碍物的图像的同时，一并反馈障碍物的如下相关信息至少之一：障碍物的种类、置信度及清洁机已躲避障碍物的次数。
根据本发明一实施方式，所述方法还包括：在从障碍物图像库中选取由所述标识信息标识的障碍物的图像之后，对所述障碍物的图像进行裁剪，并且相应地，反馈由所述标识信息标识的障碍物的图像，包括：反馈裁剪后的图像。
根据本发明一实施方式，所述方法还包括：接收针对所述裁剪后的图像的原图的查看请求；响应于针对所述原图的查看请求，反馈由所述标识信息标识的障碍物图像。
根据本发明一实施方式，所述方法还包括：在从障碍物图像库中选取由所述标识信息标识的障碍物的图像之前，将一个或多个图像预先存储到所述障碍物图像库中，其中，每一个图像代表一个相应的障碍物；并且为每一个图像分配一个用于唯一标识该图像的标识信息。
根据本发明一实施方式，所述方法还包括：在从障碍物图像库中选取由所述标识信息标识的障碍物的图像之前，将一个或多个图像和一个或多个标识符预先存储到所述障碍物图像库中，其中，每一个图像代表一个相应的障碍物，并且每一个标识符与一个相应的图像相关联并用于唯一标识该图像所代表的障碍物。
根据本发明第三方面，还提供了一种终端，所述终端上安装有与清 洁机匹配的客户端。所述终端包括接收模块、发送模块和显示控制模块。接收模块，用于通过所述客户端接收查看障碍物的操作指令；发送模块，用于响应于查看障碍物的操作指令，发送针对障碍物的查看请求，所述查看请求中携带有标识信息，所述标识信息为用于唯一标识障碍物的图像的标识信息或用于唯一标识障碍物的标识信息；所述接收模块，还用于接收由所述标识信息标识的障碍物的图像；显示控制模块，用于通过所述客户端控制所述障碍物的图像的显示。
根据本发明一实施方式，所述接收模块，还用于通过所述客户端接收针对障碍物的对应图标的点击操作指令；或，通过所述客户端接收针对障碍物的对应图标的触摸操作指令。
根据本发明一实施方式，所述显示控制模块，还用于通过所述客户端在障碍物的对应图标所在的显示区域显示所述障碍物图像。
根据本发明第四方面，又提供了一种清洁机。所述清洁机包括：接收模块，用于接收针对障碍物的查看请求，所述查看请求中携带有标识信息，所述标识信息为用于唯一标识障碍物图像的标识信息或用于唯一标识障碍物的标识信息；选取模块，从障碍物图像库中选取由所述标识信息标识的障碍物的图像；反馈模块，用于反馈由所述标识信息标识的障碍物的图像。
根据本发明一实施方式，所述反馈模块，还用于在反馈由所述标识信息标识的障碍物的图像的同时，一并反馈障碍物的如下相关信息至少之一：障碍物的种类、置信度及清洁机已躲避障碍物的次数。
根据本发明一实施方式，所述清洁机还包括：裁剪模块，用于在通过选取模块从障碍物图像库中选取由所述标识信息标识的障碍物的图像之后，对所述障碍物的图像进行裁剪；相应地，所述反馈模块，具体用于反馈裁剪后的图像。
根据本发明一实施方式，所述接收模块，还用于接收针对所述裁剪后的图像的原图的查看请求；所述反馈模块，还用于响应于针对所述原图的查看请求，反馈由所述标识信息标识的障碍物的图像。
根据本公开的又一方面，还提供了一种图像查看装置，包括处理器和存储器，其中，所述存储器存储有计算机程序指令，所述计算机程 序指令在由所述处理器执行时执行在前面任一个实施例中描述的图像查看方法。
根据本公开的又一方面，还提供了一种非瞬时性计算机可读存储介质，存储有计算机程序指令，所述计算机程序指令在由处理器执行时执行在前面任一个实施例中描述的图像查看方法。
需要理解的是，本公开的教导并不需要实现上面所述的全部有益效果，而是特定的技术方案可以实现特定的技术效果，并且本公开的其他实施方式还能够实现上面未提到的有益效果。
附图说明
通过参考附图阅读下文的详细描述，本公开的示例性实施方式的上述以及其他目的、特征和优点将变得易于理解。在附图中，以示例性而非限制性的方式示出了本公开的若干实施方式。
在附图中，相同或对应的标号表示相同或对应的部分。
图1示出了根据本公开实施例实现图像查看方法的流程交互示意图；
图2示出了根据本公开实施例终端侧的图像查看方法的实现流程示意图；
图3示出了根据本公开实施例清洁机侧的图像查看方法的实现流程示意图一；
图4示出了根据本公开实施例清洁机侧的图像查看方法的实现流程示意图二；
图5示出了根据本公开实施例终端的组成结构示意图；
图6示出了根据本公开实施例清洁机的组成结构示意图。
具体实施方式
下面将参考若干示例性实施方式来描述本公开的原理和精神。应当理解，给出这些实施方式仅仅是为使本领域技术人员能够更好地理解进而实现本公开，而并非以任何方式限制本公开的范围。相反，提供这些实施方式是为使本公开更加透彻和完整，并能够将本公开的范围完整地传达给本领域的技术人员。
下面结合附图和具体实施例对本公开的技术方案进一步详细阐述。
图1示出了根据本公开实施例实现图像查看方法的流程交互示意图。
参考图1，根据本公开实施例，实现图像查看方法的流程包括安装有客户端的终端和清洁机之间的信息交互。具体地，首先通过终端上安装的客户端接收来自用户的查看障碍物的操作指令；接着，响应于查看障碍物的操作指令，终端向清洁机发送针对障碍物的携带有标识信息的查看请求；清洁机接收到针对障碍物的查看请求后，从障碍物图像库中选取由所述标识信息标识的障碍物的图像；反馈由所述标识信息标识的障碍物的图像至终端；最后由终端通过客户端控制所述障碍物的图像的显示。
图2示出了根据本公开实施例终端侧图像查看方法的实现流程示意图。
参考图2，根据本公开实施例，图像查看方法应用于终端，终端上安装有与清洁机匹配的客户端。该方法包括：操作201，通过客户端接收查看障碍物的操作指令；操作202，响应于查看障碍物的操作指令，发送针对障碍物的查看请求，查看请求中携带有标识信息；操作203，接收由标识信息标识的障碍物的图像；操作204，通过客户端控制所述障碍物的图像的显示。
具体地，查看操作指令可以是点击操作指令，也可以是触摸操作指令。相应的，操作201包括：通过所述客户端接收针对障碍物的对应图标的点击操作指令；或，通过所述客户端接收针对障碍物的对应图标的触摸操作指令。
具体地，当用户在用于显示清洁机的清扫地图的客户端上的某一待查看的障碍物的对应图标上执行点击操作或触摸操作时，终端即通过客户端接收到查看障碍物的操作指令。
在操作202，终端响应于查看障碍物的操作指令，发送针对障碍物的携带有标识信息的查看请求，以指示清洁机从障碍物图像库中选取由标识信息标识的障碍物的图像。具体地，标识信息为用于唯一标识障碍物图像的标识信息或用于唯一标识障碍物的标识信息。
这样，当清洁机接收到针对障碍物的携带有标识信息的查看请求时， 可以根据用于唯一标识障碍物的图像的标识信息，直接从障碍物图像库中选取由标识信息标识的障碍物的图像。可替换地，当清洁机接收到针对障碍物的携带有标识信息的查看请求时，也可以根据用于唯一标识障碍物的标识信息，直接从障碍物图像库中选取由标识信息标识的障碍物图像。具体地，在该障碍物的图像中，使用用户可识别的方式标记出障碍物在该图像中的位置，如在该障碍物四周标注一个矩形框。
在操作203～204，终端接收由清洁机反馈的由标识信息标识的障碍物图像后，可以通过客户端直接在障碍物的对应图标所在的特定显示区域显示所述障碍物的图像。作为示例，障碍物的对应图标所在的特定显示区域可以是包含障碍物的对应图标的显示区域，或是位于障碍物的对应图标的左上角、左下角、右上角或右下角的一特定显示区域。
根据本公开实施例，在图像查看方法中，首先通过终端上安装的客户端接收来自用户的查看障碍物的操作指令；接着，响应于查看障碍物的操作指令，向清洁机发送针对障碍物的携带有标识信息的查看请求，以指示清洁机从障碍物图像库中选取由所述标识信息标识的障碍物的图像；接收由清洁机反馈的由所述标识信息标识的障碍物的图像，并通过客户端控制所述障碍物的图像的显示。如此，根据本公开，通过在终端上安装的客户端与清洁机之间的信息交互，能够基于用户查看障碍物的操作，通过客户端实时显示障碍物的图像。由此，使得用户能够直观地看到清洁机所躲避的障碍物到底是什么，从而有效提升用户体验。
图3示出了根据本公开实施例清洁机侧的图像查看方法的实现流程示意图一。
参考图3，根据本公开实施例，图像查看方法，应用于清洁机，并且包括：操作301，接收针对障碍物的查看请求，查看请求中携带有标识信息；操作302，从障碍物图像库中选取由标识信息标识的障碍物的图像；操作303，反馈由标识信息标识的障碍物的图像。
在操作301，清洁机接收针对障碍物的查看请求后，可以对该查看请求进行解析，得到标识信息。具体地，标识信息为用于唯一标识障碍物图像的标识信息或用于唯一标识障碍物的标识信息。
在操作302，清洁机预先会保存障碍物的图像至障碍物图像库。
在一示例中，在保存障碍物的图像时，清洁机可以是每保存一张图像时就对应地为该图像分配一个用于唯一标识该图像的标识信息(如标识码)，并将标识信息与对应的障碍物在该图像中的坐标实时发送至客户端。这样，在进行图像查看时，即，在接收到针对障碍物的携带有标识信息的查看请求时，清洁机可以根据用于唯一标识障碍物图像的标识信息，快速地从障碍物图像库中选取由标识信息标识的障碍物图像。
在又一示例中，在保存障碍物的图像时，清洁机直接将障碍物的图像与用于唯一标识障碍物的标识信息对应存储至障碍物图像库。这样，在进行图像查看时，清洁机根据用于唯一标识障碍物的标识信息，从障碍物图像库中选取由标识信息标识的障碍物的图像。
在操作303，在反馈由标识信息标识的障碍物图像时，清洁机可以一并反馈障碍物的如下相关信息至少之一：障碍物的种类、置信度及清洁机已躲避障碍物的次数。
图4示出了根据本公开实施例清洁机侧的图像查看方法的实现流程示意图二。
参考图4，根据本公开实施例，图像查看方法，应用于清洁机，并且包括：操作401，接收针对障碍物的查看请求，查看请求中携带有标识信息；操作402，从障碍物图像库中选取由标识信息标识的障碍物的图像；操作403，对所述障碍物的图像进行裁剪；操作404，反馈裁剪后的图像。
在操作401，在接收针对障碍物的查看请求后，清洁机可以对该查看请求进行解析，得到标识信息。具体地，标识信息为用于唯一标识障碍物图像的标识信息或用于唯一标识障碍物的标识信息。
在操作402，清洁机预先会保存障碍物的图像至障碍物图像库。
在一示例中，在保存障碍物的图像时，清洁机可以是每保存一张图像时就对应地为该图像分配一个用于唯一该图像的标识信息(如标识码)，并将标识信息与对应的障碍物在该图像中的坐标实时发送至客户端。这样，在进行图像查看时，即，在接收到针对障碍物的携带有标识信息的查看请求时，清洁机可以根据用于唯一标识障碍物图像的标识信息，快速地从障碍物图像库中选取由标识信息标识的障碍物图像。
在又一示例中，在保存障碍物的图像时，清洁机直接将障碍物的图 像与用于唯一标识障碍物的标识信息对应存储至障碍物图像库。这样，在进行图像查看时，清洁机根据用于唯一标识障碍物的标识信息，从障碍物图像库中选取由标识信息标识的障碍物的图像。
在操作403～404，清洁机反馈的障碍物的图像可以是经过裁剪的，其中，裁剪的原则是至少包含障碍物。这样，清洁机反馈至终端客户端的是裁剪后的图像。由于裁剪后的图像相对完整的障碍物图像本身(即原图)而言，文件较小，因此可以更好地达到实时反馈，从而有效提升用户体验。
在本公开一实施方式中，在终端客户端上预先设置供用户选择查看清洁机所保存的障碍物原图的接口。这样，在操作404之后，所述方法还包括：清洁机进一步接收针对所述裁剪后的图像的原图的查看请求；响应于针对所述原图的查看请求，反馈由所述标识信息标识的障碍物图像。
如此，根据本公开，通过在终端上安装的客户端与清洁机之间的信息交互，能够基于用户查看障碍物的操作，通过客户端实时显示障碍物图像。由此，使得用户能够直观地看到清洁机所躲避的障碍物到底是什么，从而有效提升用户体验。
同理，类似于上文所述图像查看方法，本公开实施例还提供一种终端，终端上安装有与清洁机匹配的客户端。如图5所示，终端50包括接收模块501、发送模块502和显示控制模块503。具体地，接收模块501，用于通过客户端接收查看障碍物的操作指令；发送模块502，用于响应于查看障碍物的操作指令，发送针对障碍物的查看请求，所述查看请求中携带有标识信息，所述标识信息为用于唯一标识障碍物图像的标识信息或用于唯一标识障碍物的标识信息；接收模块501，还用于接收由所述标识信息标识的障碍物的图像；显示控制模块503，用于通过所述客户端控制所述障碍物的图像的显示。
根据本公开一实施方式，接收模块501，具体用于通过所述客户端接收针对障碍物的对应图标的点击操作指令；或，通过所述客户端接收针对障碍物的对应图标的触摸操作指令。
根据本公开一实施方式，显示控制模块503，具体用于通过所述客户 端在障碍物的对应图标所在的特定显示区域显示所述障碍物的图像。
这里需要指出的是，以上对终端实施例的描述，与前述图1和2所示的方法实施例的描述是类似的，并且具有同前述图1和2所示的方法实施例相似的有益效果，因此不做赘述。对于本公开终端实施例中未披露的技术细节，请参照本公开前述图1和2所示的方法实施例的描述而理解，并且为节约篇幅，不再赘述。
进一步地，基于上文所述图像查看方法，本公开实施例还提供一种清洁机。如图6所示，该清洁机60包括：接收模块601，用于接收针对障碍物的查看请求，查看请求中携带有标识信息，所述标识信息为用于唯一标识障碍物图像的标识信息或用于唯一标识障碍物的标识信息；选取模块602，从障碍物图像库中选取由所述标识信息标识的障碍物图像；反馈模块603，用于反馈由所述标识信息标识的障碍物图像。
根据本公开一实施方式，反馈模块603，还用于在反馈由所述标识信息标识的障碍物图像的同时，一并反馈障碍物的如下相关信息至少之一：障碍物的种类、置信度及清洁机已躲避障碍物的次数。
根据本公开一实施方式，如图6所示，清洁机60还包括：裁剪模块604，用于在通过选取模块从障碍物图像库中选取由所述标识信息标识的障碍物图像之后，对所述障碍物图像进行裁剪；相应的，反馈模块603，具体用于反馈裁剪后的障碍物图像。
根据本公开一实施方式，接收模块601，还用于接收针对所述裁剪后的图像的原图的查看请求；反馈模块603，还用于响应于针对所述原图的查看请求，反馈由所述标识信息标识的障碍物的图像。
这里需要指出的是：以上对清洁机实施例的描述，与前述图3和4所示的方法实施例的描述是类似的，并且具有同前述图3和4所示的方法实施例相似的有益效果，因此不做赘述。对于本公开清洁机实施例中未披露的技术细节，请参照本公开前述图3和4所示的方法实施例的描述而理解，并且为节约篇幅，不再赘述。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素， 或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。
在本申请所提供的几个实施例中，应该理解到，所揭露的设备和方法，可以通过其它的方式实现。以上所描述的设备实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，如：多个单元或组件可以结合，或可以集成到另一个系统，或一些特征可以忽略，或不执行。另外，所显示或讨论的各组成部分相互之间的耦合、或直接耦合、或通信连接可以是通过一些接口，设备或单元的间接耦合或通信连接，可以是电性的、机械的或其它形式的。
上述作为分离部件说明的单元可以是、或也可以不是物理上分开的，作为单元显示的部件可以是、或也可以不是物理单元；既可以位于一个地方，也可以分布到多个网络单元上；可以根据实际的需要选择其中的部分或全部单元来实现本实施例方案的目的。
另外，在本公开各实施例中的各功能单元可以全部集成在一个处理单元中，也可以是各单元分别单独作为一个单元，也可以两个或两个以上单元集成在一个单元中；上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：移动存储设备、只读存储器(Read Only Memory，ROM)、磁碟或者光盘等各种可以存储程序代码的介质。
或者，本公开上述集成的单元如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。基于这样的理解，本公开实施例的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机、服务器、或者网络设备等)执行本公开各个实施例所述方法 的全部或部分。而前述的存储介质包括：移动存储设备、ROM、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本公开的具体实施方式，但本公开的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本公开揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本公开的保护范围之内。因此，本公开的保护范围应以所述权利要求的保护范围为准。
本公开实施例的又一个目的是提供一种用于远程支持计算机设备的远程支持方法和装置，其易于使用而不损害安全性。

Claims (18)

  1. 一种图像查看方法，应用于终端，所述终端上安装有与清洁机匹配的客户端，所述方法包括：
    通过所述客户端接收查看障碍物的操作指令；
    响应于所述操作指令，发送针对所述障碍物的查看请求，所述查看请求中携带有标识信息，所述标识信息为用于唯一标识所述障碍物的图像的标识信息或用于唯一标识所述障碍物的标识信息；
    接收由所述标识信息标识的障碍物的图像；以及
    通过所述客户端控制所述障碍物的图像的显示。
  2. 根据权利要求1所述的方法，其中，通过所述客户端接收查看障碍物的操作指令，包括：
    通过所述客户端接收针对所述障碍物的对应图标的点击操作指令；或，通过所述客户端接收针对所述障碍物的对应图标的触摸操作指令。
  3. 根据权利要求1所述的方法，其中，通过所述客户端控制所述障碍物的图像的显示，包括：
    通过所述客户端在所述障碍物的对应图标所在的显示区域显示所述障碍物的图像。
  4. 一种图像查看方法，应用于清洁机，所述方法包括：
    接收针对障碍物的查看请求，所述查看请求中携带有标识信息，所述标识信息为用于唯一标识所述障碍物的图像的标识信息或用于唯一标识所述障碍物的标识信息；
    从障碍物图像库中选取由所述标识信息标识的障碍物的图像；以及
    反馈所述障碍物的图像。
  5. 根据权利要求4所述的方法，还包括：
    在反馈所述障碍物的图像的同时，一并反馈所述障碍物的如下相关信息至 少之一：所述障碍物的种类、置信度及所述清洁机已躲避所述障碍物的次数。
  6. 根据权利要求4或5所述的方法，还包括：在从所述障碍物图像库中选取由所述标识信息标识的障碍物的图像之后，对所述障碍物的图像进行裁剪；并且
    相应地，反馈所述障碍物的图像，包括：反馈裁剪后的图像。
  7. 根据权利要求6所述的方法，还包括：
    接收针对所述裁剪后的图像的原图的查看请求；并且
    响应于针对所述原图的查看请求，反馈由所述标识信息标识的所述障碍物的图像。
  8. 根据权利要求6所述的方法，还包括：在从所述障碍物图像库中选取由所述标识信息标识的障碍物的图像之前，
    将一个或多个图像预先存储到所述障碍物图像库中，其中，每一个图像代表一个相应的障碍物；并且
    为每一个图像分配一个用于唯一标识该图像的标识信息。
  9. 根据权利要求6所述的方法，还包括：在从所述障碍物图像库中选取由所述标识信息标识的障碍物的图像之前，
    将一个或多个图像和一个或多个标识符预先存储到所述障碍物图像库中，其中，每一个图像代表一个相应的障碍物，并且每一个标识符与一个相应的图像相关联并用于唯一标识该图像所代表的障碍物。
  10. 一种终端，其中，所述终端上安装有与清洁机匹配的客户端，并且所述终端包括：接收模块、发送模块和显示控制模块，其中
    所述接收模块，用于通过所述客户端接收查看障碍物的操作指令；
    所述发送模块，用于响应于所述操作指令，发送针对所述障碍物的查看请求，所述查看请求中携带有标识信息，所述标识信息为用于唯一标识所述障碍物的图像的标识信息或用于唯一标识所述障碍物的标识信息；
    所述接收模块，还用于接收由所述标识信息标识的障碍物的图像；并且
    所述显示控制模块，用于通过所述客户端控制所述障碍物的图像的显示。
  11. 一种清洁机，包括：
    接收模块，用于接收针对障碍物的查看请求，所述查看请求中携带有标识信息，所述标识信息为用于唯一标识所述障碍物的图像的标识信息或用于唯一标识所述障碍物的标识信息；
    选取模块，从障碍物图像库中选取由所述标识信息标识的障碍物的图像；以及
    反馈模块，用于反馈所述障碍物的图像。
  12. 根据权利要求11所述的清洁机，还包括：裁剪模块，用于在通过选取模块从障碍物图像库中选取由所述标识信息标识的障碍物的图像之后，对所述障碍物的图像进行裁剪；并且
    相应地，所述反馈模块，还用于反馈裁剪后的图像。
  13. 根据权利要求11所述的清洁机，其中，所述障碍物图像库包括一个或多个图像，其中，每一个图像代表一个相应的障碍物，并且为每一个图像分配一个用于唯一标识该图像的标识信息。
  14. 根据权利要求11所述的清洁机，其中，所述障碍物图像库包括：
    一个或多个图像，其中，每一个图像代表一个相应的障碍物；以及
    一个或多个标识符，其中，每一个标识符与一个相应的图像相关联，并且用于唯一标识该图像所代表的障碍物。
  15. 一种图像查看装置，包括处理器和存储器，其中，所述存储器存储有计算机程序指令，所述计算机程序指令在由所述处理器执行时执行根据权利要求1-3中任一项所述的方法。
  16. 一种图像查看装置，包括处理器和存储器，其中，所述存储器存储有 计算机程序指令，所述计算机程序指令在由所述处理器执行时执行根据权利要求4-9中任一项所述的方法。
  17. 一种非瞬时性计算机可读存储介质，存储有计算机程序指令，所述计算机程序指令在由处理器执行时执行根据权利要求1-3中任一项所述的方法。
  18. 一种非瞬时性计算机可读存储介质，存储有计算机程序指令，所述计算机程序指令在由处理器执行时执行根据权利要求4-9中任一项所述的方法。
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