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

Claim 13:
14. The self-propelled apparatus according to claim 12, wherein
regarding the first scoring parameter a, a parameter value corresponding to a relatively large absolute value of the angular velocity is greater than or equal to a parameter value corresponding to a relatively small absolute value of the angular velocity;
regarding the second scoring parameter b, a parameter value corresponding to a distance value within a specific range is greater than or equal to a parameter value corresponding to another distance value;
regarding the third scoring parameter c, a parameter value corresponding to a relatively large area that the recognizable obstacle occupies in the image is greater than or equal to a parameter value corresponding to a relatively small area that the recognizable obstacle occupies in the image;
regarding the fourth scoring parameter d, the closer the position of the recognizable obstacle in the image to a center of the image is, the greater a parameter value is; or
regarding the fifth scoring parameter e, a parameter value corresponding to a case that the fill light is not turned on is greater than or equal to a parameter value corresponding to a case that the fill light is turned on.