Patent ID: 11880967
Assignee: BEIJING ROBOROCK TECHNOLOGY CO., LTD.
Field: Control (Instruments)
Classification: CPC G  A | IPC A  G

Claim 3:
4. The method according to claim 1, wherein
the scoring the image according to the scoring rule comprises: scoring the image through one or more of following scoring parameters:
a first scoring parameter a, characterizing an angular velocity of the self-propelled apparatus when the image is collected;
a second scoring parameter b, characterizing a distance between the self-propelled apparatus and the recognizable obstacle when the image is collected;
a third scoring parameter c, characterizing a size of an area that the recognizable obstacle occupies in the image;
a fourth scoring parameter d, characterizing a position of the recognizable obstacle in the image; and
a fifth scoring parameter e, characterizing whether a fill light is turned on when the image is collected.