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通过分析比较，决定采用超声波距离传感器进行挖掘掌子面的实时识别，并在自制的试验样机上实验成功，从而为提高挖掘机器人在非结构环境下作业的局部自主程度奠定了基础。
Through the analysis and comparison, it is decided that the ultrasonic distance sensor is used to identify the face of the mining face in real time and the experiment is successful on the homemade test prototype, which lays the foundation for improving the local autonomy of the excavating robot in the unstructured environment.