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。

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。