| 摘要 |
<p>In an automatic system for mounting wheels w on vehicles S on a production line, the output of first cameras 18, 20 is used to determine the approximate co-ordinates of the centre of the wheel hub. The wheel mounting robot 28 is then positioned so that second cameras 38, 40 located on the robot 28 are located symmetrically about the approximate centre of the wheel hub to produce the largest images of the wheel hub. The positions of the wheel hub bolts are determined from the output of the second cameras 38, 40 and these are used to calculate the centre of the wheel hub and the rotational and steering angles of the wheel to allow the wheel to be correctly mounted. <IMAGE></p> |
