World coordinates of geometric center line of pruned plane was acquired by combination of Ultrasonic sensor and CCD camera. 超声波传感器和摄像机组合可获得修剪平面几何中心线的绝对坐标。
Also the system motion scheme and the various components of the robot are analyzed, such as the frame, the motor, the steering gear, the ultrasonic sensor and the CCD camera. 选择了系统运动方案,并对机器人各个构成部分进行了分析选择,包括车架部分、运动执行机构、舵机、超声传感器、CCD摄像头等。