Method, device, electronic equipment and medium for determining profile of tire component before winding

Abstract

Embodiments of the present disclosure provide a method and device for determining the profile of a tire component before winding, electronic equipment and medium, relating to the field of tire manufacturing. The method comprises: determining a scanning parameter value according to a preset scanning parameter; based on the scanning parameter value, controlling the winding machine to move along a direction perpendicular to the center axis of the tire blank, and performing planar scanning on the surface of the tire blank through the distance measuring sensor placed on the winding machine to obtain planar scanning initial profile data; determining the moving track of the rotation center of the winding machine when performing planar scanning according to the preset scanning parameter, the scanning parameter value and the planar scanning initial profile data; controlling the winding machine to move according to the moving track, and performing curved surface scanning on the tire blank through the distance measuring sensor to obtain curved surface scanning actual profile data; determining the profile curve of the tire blank after curved surface scanning according to the moving track and the curved surface scanning actual profile data, and taking the curved surface scanning profile curve as the outer profile of the tire blank.

Description

Technical Field

[0001] This disclosure relates to the field of tire manufacturing technology, and more specifically, to a method, apparatus, electronic device, and medium for determining the contour of a tire component before winding. Background Technology

[0002] Tire components mainly include the tread, base, belt layers, and airtight layers. Tire winding is a crucial step in tire manufacturing. Tire winding involves wrapping and pressing rubber strips of a specific shape around the surface of the tire carcass to create tire components that meet target specifications. Currently, tire component winding suffers from low precision and unevenness after winding. Therefore, accurately obtaining the true shape of the tire carcass's outer contour before winding directly affects the quality of tire winding.

[0003] Currently, the main method for obtaining tire blank contour data before tire component winding is manual measurement, followed by line laser scanning. Due to the elastic properties of rubber, manual measurement results in large errors and is cumbersome. Furthermore, the mechanical device using line laser scanning is more complex to install and requires strict control over the intensity of on-site lighting during actual use.

[0004] Therefore, how to quickly and accurately determine the outer contour of the tire blank has become an urgent problem to be solved. Summary of the Invention

[0005] This disclosure provides a method, apparatus, electronic device, and medium for determining the contour of a tire component before winding. By controlling the winding machine to move in a plane and curve, a distance sensor placed on the winding machine can perform planar scanning and curved surface scanning of the tire blank, thereby obtaining the actual outer contour of the tire blank and improving the recognition efficiency of the outer contour of the tire blank.

[0006] In a first aspect, embodiments of this disclosure provide a method for determining the contour of a tire component before winding, the method comprising:

[0007] Obtain preset scanning parameters and determine scanning parameter values ​​based on the preset scanning parameters. The scanning parameter values ​​include the left side value, the right side value, and the height value of the plane scan.

[0008] Based on the scanning parameter values, the winding machine is controlled to move along a direction perpendicular to the center axis of the tire blank, and the surface of the tire blank is scanned in a plane by a distance sensor placed on the winding machine to obtain the initial contour data of the plane scan. The distance sensor is placed on the head of the winding machine.

[0009] Based on the preset scanning parameters, scanning parameter values, and initial contour data of the planar scanning, determine the movement trajectory of the rotation center of the winding machine during planar scanning;

[0010] The winding machine is controlled to move along the movement trajectory, and the tire blank is scanned by a distance sensor to obtain the actual contour data of the surface scan.

[0011] Based on the movement trajectory and the actual contour data of the surface scan, the contour curve of the embryo after surface scan is determined, and the surface scan contour curve is used as the outer contour of the embryo cross section.

[0012] Secondly, embodiments of this disclosure provide a contour determining device for a tire component before winding, the device comprising:

[0013] The acquisition module is used to acquire preset scanning parameters and determine the scanning parameter values ​​based on the preset scanning parameters. The scanning parameter values ​​include the left side value, the right side value, and the height value of the plane scan.

[0014] The first control module is used to control the winding machine to move in a direction perpendicular to the center axis of the tire blank based on the scanning parameter value, and to perform planar scanning on the surface of the tire blank by means of a distance sensor placed on the winding machine to obtain the initial contour data of the planar scanning. The distance sensor is placed on the head of the winding machine.

[0015] The first determining module is used to determine the movement trajectory of the rotation center of the winding machine during planar scanning based on preset scanning parameters, scanning parameter values ​​and initial contour data of planar scanning.

[0016] The second control module is used to control the winding machine to move according to the movement trajectory, and to perform surface scanning on the tire blank through the distance sensor to obtain the actual contour data of the surface scan.

[0017] The second determining module is used to determine the contour curve of the embryo after surface scanning based on the movement trajectory and the actual contour data of surface scanning, and to obtain the surface scanning contour curve, which is used as the outer contour of the embryo's cross-section.

[0018] In a third-party context, this disclosure provides an electronic device including a processor and a memory interconnected thereto; the memory is used to store a computer program; the processor is configured to execute, when the computer program is invoked, the method provided by any possible implementation of the above-described method for determining the contour of a tire component before winding.

[0019] Fourthly, embodiments of this disclosure provide a computer-readable storage medium storing a computer program that is executed by a processor to implement the method provided in any possible implementation of the above-described method for determining the contour of a tire component before winding.

[0020] Fifthly, embodiments of this disclosure provide a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the method provided in any possible implementation of the above-described method for determining the contour of a tire component before winding.

[0021] The beneficial effects of the technical solutions provided in this disclosure are:

[0022] In this embodiment, preset scanning parameters are obtained, and scanning parameter values ​​are determined based on these preset scanning parameters. The winding machine is controlled to move along a direction perpendicular to the central axis of the tire blank according to the set scanning parameter values, so that the distance sensor placed on the head of the winding machine can perform planar scanning on the tire blank to obtain initial contour data of the planar scanning. Then, based on the preset scanning parameters, scanning parameter values, and initial contour data of the planar scanning, the movement trajectory of the rotation center of the winding machine during planar scanning is determined. The winding machine is then controlled to move along the movement trajectory, and the distance sensor placed on it is driven to perform curved surface scanning on the tire blank to obtain actual contour data of the curved surface scanning. Based on the movement trajectory and the actual contour data of the curved surface scanning, the contour curve after the curved surface scanning of the tire blank is determined to obtain the curved surface scanning contour curve, which is the outer contour of the cross-section of the tire blank. Through the embodiments of this disclosure, a distance measuring sensor driven by a winding machine can perform planar scanning and curved surface scanning to acquire contour data. Then, based on the acquired contour data and other parameters, the outer contour of the tire blank cross-section can be determined. This not only improves the speed of determining the outer contour of the tire blank, but also improves the accuracy of determining the outer contour of the tire blank through preliminary planar scanning and further curved surface scanning. On the one hand, it avoids the problems of large errors and cumbersome processes in manual measurement in the prior art. On the other hand, the method of directly placing the distance measuring sensor on the head of the winding machine for scanning is simple to install. Compared with the installation method of the mechanical device for line laser scanning in the prior art, the installation method is simple and flexible, and improves efficiency. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments of this disclosure will be briefly introduced below.

[0024] Figure 1 A schematic flowchart illustrating a method for determining the contour of a tire component before winding, provided in an embodiment of this disclosure;

[0025] Figure 2 This is a schematic diagram of the outer contour curve of a tire blank cross section provided in an embodiment of the present disclosure;

[0026] Figure 3 A distance measuring sensor and a schematic diagram of the rotation center position are provided for embodiments of this disclosure;

[0027] Figure 4 A schematic diagram of a planar scanning profile curve and a curved surface scanning profile curve provided for embodiments of this disclosure;

[0028] Figure 5 This is a partially enlarged schematic diagram of a ranging sensor and the position of its rotation center, provided as an embodiment of the present disclosure.

[0029] Figure 6 This is a schematic diagram of a contour determination device for tire components before winding, provided in an embodiment of the present disclosure.

[0030] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0031] The embodiments of this disclosure are described below with reference to the accompanying drawings. It should be understood that the embodiments described below with reference to the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of this disclosure, and do not constitute a limitation on the technical solutions of the embodiments of this disclosure.

[0032] To make the objectives, technical solutions, and advantages of this disclosure clearer, the embodiments of this disclosure will be described in further detail below with reference to the accompanying drawings.

[0033] First, the technical terms used in this disclosure will be introduced and explained:

[0034] 1. Tire winding machine: A tire winding machine is a specialized piece of equipment used for tire production. It is mainly used to wind materials such as rubber, fabric, and steel wire according to specific process requirements to form the tire's skeleton structure (such as the carcass and belt layers). The tire winding process refers to using rubber strips, fiber fabric, or steel wire fabric of specific shapes to wind onto a forming drum or mold at a preset angle and tension to form the tire's layered structure.

[0035] 2. Forming Drum: The forming drum is the core component of a tire winding machine (or tire forming machine), used to support and shape the tire's skeleton structure (such as the carcass, belt layers, etc.). It acts as a temporary mold during tire manufacturing, using rotation and expansion to tightly bond multiple layers of materials (rubber, cord fabric, steel wire, etc.) together, ultimately forming the uncured "green tire." The functions of the forming drum are as follows:

[0036] Supporting materials: load-bearing components such as tire carcass cord, inner liner, and steel wire rings.

[0037] Contouring: By changing the shape of the drumhead, ensure that the tire's geometry (such as diameter and width) meets the design requirements.

[0038] Interlayer pressing: Applying pressure during the winding process to ensure a tight bond between the rubber and the fabric, preventing air bubbles or delamination.

[0039] Adaptable to different specifications: The adjustable design makes it compatible with a variety of tire sizes (such as passenger car tires and truck tires).

[0040] 3. Laser rangefinder: A laser rangefinder is a non-contact, high-precision measuring device based on optical principles. It calculates the distance to a target object by emitting a laser beam and analyzing the reflected signal. The rangefinder used in this embodiment can be a laser rangefinder.

[0041] To improve the winding quality of tire components, it is necessary to obtain the true shape of the tire blank's outer contour beforehand. In related technologies, the outer contour of the tire blank is mainly obtained through manual measurement and line laser scanning. Manual measurement suffers from large errors and a high workload. Line laser scanning is difficult to use due to the complex installation of the mechanical device and the high requirements for ambient lighting. To quickly and accurately determine the outer contour of the tire blank, this disclosure provides a method for determining the contour of tire components before winding. By controlling the winding machine to perform planar and curved movements, a distance sensor placed on the winding machine can perform planar and curved surface scanning of the tire blank, thereby obtaining the actual outer contour of the tire blank and improving the recognition efficiency of the tire blank's outer contour.

[0042] The following description of several exemplary embodiments illustrates the technical solutions of this disclosure and the technical effects produced by these solutions. It should be noted that the following embodiments can be referenced, learned from, or combined with each other. Identical terms, similar features, and similar implementation steps in different embodiments will not be repeated.

[0043] The method for determining the contour of the tire component before winding in this embodiment can be executed by a server or a terminal device. The server can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server or server cluster providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms. The aforementioned networks can include, but are not limited to, wired networks and wireless networks. Wired networks include local area networks (LANs), metropolitan area networks (MANs), and wide area networks (WANs). Wireless networks include Bluetooth, Wi-Fi, and other networks that enable wireless communication. The terminal device can be a smartphone (such as an Android phone, iOS phone, etc.), tablet computer, laptop computer, digital broadcast receiver, MID (Mobile Internet Device), PDA (Personal Digital Assistant), desktop computer, in-vehicle terminal (e.g., in-vehicle navigation terminal), smart speaker, smartwatch, etc. The terminal device and the server can be directly or indirectly connected via wired or wireless communication, but are not limited to these methods. The specific requirements can be determined based on the actual application scenario, and are not limited here.

[0044] This disclosure provides a method for determining the contour of a tire component before winding, such as... Figure 1 As shown, Figure 1 This is a flowchart illustrating a method for determining the contour of a tire component before winding, as provided in an embodiment of this disclosure. The method includes the following steps:

[0045] Step S101: Obtain preset scanning parameters and determine scanning parameter values ​​based on the preset scanning parameters, wherein the scanning parameter values ​​include the left side value of the plane scan, the right side value of the plane scan, and the plane scan height value;

[0046] Step S102: Based on the scanning parameter values, control the winding machine to move along a direction perpendicular to the center axis of the tire blank, and perform planar scanning on the surface of the tire blank by means of a distance sensor placed on the winding machine to obtain the initial contour data of the planar scanning, wherein the distance sensor is placed on the head of the winding machine.

[0047] Step S103: Determine the movement trajectory of the rotation center of the winding machine during planar scanning based on the preset scanning parameters, scanning parameter values, and initial contour data of planar scanning.

[0048] Step S104: Control the winding machine to move according to the movement trajectory, and use the distance sensor to scan the surface of the tire blank to obtain the actual contour data of the surface scan.

[0049] Step S105: Based on the movement trajectory and the actual contour data of the surface scan, determine the contour curve of the embryo after surface scan, obtain the surface scan contour curve, and use the surface scan contour curve as the outer contour of the embryo cross section.

[0050] Optionally, scanning parameter values ​​can be determined by preset scanning parameters, and the winding machine can be configured according to these values. The scanning parameter values ​​include the left side value, the right side value, and the scanning height value.

[0051] In one optional embodiment, obtaining preset scanning parameters and determining scanning parameter values ​​based on the preset scanning parameters includes: obtaining preset scanning parameters, wherein the preset scanning parameters include the left width of the tire blank, the right width of the tire blank, the scanning radius, a first offset of the laser emission point of the distance sensor relative to the rotation center of the winding machine in the horizontal direction, a second offset of the laser emission point of the distance sensor relative to the rotation center of the winding machine in the vertical direction, and a first safety distance between the head of the winding machine and the surface of the tire blank, the scanning radius being the distance between the center of the forming drum and the surface of the tire blank, the forming drum being used to support the tire blank; establishing a planar rectangular coordinate system with the center of the forming drum as the origin, wherein the center of the forming drum coincides with the center of the tire blank; determining the difference between the left width of the tire blank and the first offset as the left-side value of the planar scanning; determining the difference between the right width of the tire blank and the first offset as the right-side value of the planar scanning; and determining the sum of the scanning radius, the first safety distance, and the second offset as the planar scanning height value.

[0052] Optionally, the preset scanning parameters include the left width of the tire blank, the right width of the tire blank, the scanning radius, the first offset of the laser emission point of the distance sensor relative to the rotation center of the winding machine in the horizontal direction, the second offset of the laser emission point of the distance sensor relative to the rotation center of the winding machine in the vertical direction, and the first safe distance between the head of the winding machine and the surface of the tire blank.

[0053] The following combination Figure 2 and Figure 3 The above preset scanning parameters are explained.

[0054] in, Figure 2 This is a schematic diagram of the outer contour curve of a tire blank cross section provided in an embodiment of the present disclosure, such as... Figure 2 As shown, a Cartesian coordinate system is established with the center of the forming drum as the origin. Preset scanning parameters include the left width of the tire blank (x_left), the right width of the tire blank (x_right), and the scanning radius R. Here, the left width (x_left) and the right width (x_right) are the leftmost and rightmost abscissas of the laser sensor, respectively. The forming drum supports the tire blank, and the scanning radius R is the distance between the center of the forming drum and the surface of the tire blank.

[0055] Figure 3 A schematic diagram of a ranging sensor and the position of a rotation center is provided for an embodiment of this disclosure, as shown below. Figure 3 As shown, the center of rotation is the location of the winding machine head, and the laser emission point is the location of the distance sensor. Figure 3 The offset x_offset of the laser emission point relative to the rotation center in the x-direction, as shown in the diagram, is the first offset. The offset y_offset of the laser emission point relative to the rotation center is the second offset. Figure 3 In this context, y_offset is the negative of the second offset, and L_safer, the safe distance between the laser emission point and the surface of the embryo, is the first safe distance.

[0056] Based on the obtained preset scanning parameters, the scanning parameter values ​​are determined. The specific process is as follows:

[0057] like Figure 2 As shown, a Cartesian coordinate system is established with the center of the forming drum as the origin, where the center of the forming drum coincides with the center of the tire blank. The scanning parameter values ​​are determined using the following formula:

[0058]

[0059] Wherein, X_left is the left side value of the planar scan, which is the difference between the left width of the embryo and the first offset; X_right is the right side value of the planar scan, which is the difference between the right width of the embryo and the first offset; Y is the height value of the planar scan, which is the sum of the scan radius, the first safety distance and the second offset, where y_offset is the negative number corresponding to the second offset.

[0060] After determining the scanning parameter values ​​as described above, in an optional embodiment, based on the scanning parameter values, the winding machine is controlled to move in a direction parallel to the center axis of the tire blank, and the surface of the tire blank is scanned in a plane using a distance sensor placed on the winding machine. This includes: sending a first scanning command to the winding machine control system corresponding to the winding machine, wherein the first scanning command contains the scanning parameter values; and, upon receiving the first scanning command, moving in a direction perpendicular to the center axis of the tire blank, and scanning the surface of the tire blank in a plane using a distance sensor placed on the winding machine according to the scanning parameter values ​​contained in the first scanning command.

[0061] Optionally, based on the scanning parameter values, the executing entity can send a first scanning command to the winding machine control system corresponding to the winding machine. When the winding machine control system receives the first scanning command, it controls the winding machine to move according to the parameters and moving direction indicated by the first scanning command, that is, to move according to the trajectory set by the scanning parameter values, and drives the distance sensor placed on the winding machine head to perform the first planar scan of the tire blank, thereby obtaining the initial contour data of the planar scan of the outer contour of the tire blank cross section.

[0062] The first scanning command indicates a direction of movement perpendicular to the midline of the embryo, such as... Figure 2 As shown, the central axis of the tire blank coincides with the y-axis, and the direction perpendicular to the central axis of the tire blank is the x-axis of the coordinate system. That is, the winding machine moves parallel to the x-axis during its movement. Specifically, the winding machine can be configured to move from left to right along the x-axis during the first planar scan, and correspondingly, to move from right to left along the x-axis during the subsequent second curved surface scan. Alternatively, the winding machine can be configured to move from right to left along the x-axis during the first planar scan, and correspondingly, to move from left to right along the x-axis during the subsequent second curved surface scan. It is understood that this disclosure does not limit the scope of the embodiments.

[0063] To obtain a more accurate outer contour of the tire blank, further processing can be performed based on the aforementioned initial contour data obtained from planar scanning. In an optional embodiment, the movement trajectory of the rotation center of the winding machine during planar scanning is determined according to preset scanning parameters, scanning parameter values, and initial contour data from planar scanning. This includes: determining the contour curve of the tire blank after planar scanning based on preset scanning parameters, scanning parameter values, and initial contour data from planar scanning, thereby obtaining a planar scanning contour curve; and determining the movement trajectory of the rotation center of the winding machine during planar scanning based on the planar scanning contour curve.

[0064] Optionally, the initial contour curve corresponding to the tire blank can be calculated based on preset scanning parameters, scanning parameter values, and initial contour data of planar scanning. This initial contour curve is denoted as the planar scanning contour curve. Then, the movement trajectory of the rotation center of the winding machine during planar scanning is calculated based on this planar scanning contour curve. This movement trajectory represents the coordinate points in the coordinate system corresponding to the planar movement of the rotation center. Detailed calculation processes are described later and will not be repeated here.

[0065] Based on the determined movement trajectory, a corresponding instruction is sent to the control system of the wrapping machine to control the wrapping machine to move along the movement trajectory. In an optional embodiment, controlling the wrapping machine to move along the movement trajectory includes: sending a second scanning instruction to the wrapping machine control system corresponding to the wrapping machine, wherein the second scanning instruction contains the movement trajectory; and, upon receiving the second scanning instruction, moving the wrapping machine along a trajectory consistent with the movement trajectory path.

[0066] Optionally, a second scanning command containing movement trajectory information can be sent to the control system of the winding machine. When the control system receives the second scanning command, it controls the winding machine to move according to the coordinates indicated by the movement trajectory, driving the distance sensor to perform a second curved surface scan of the tire blank, obtaining actual contour data of the curved surface scan of the outer contour of the tire blank's cross-section. This actual contour data is a curve formed by the actual laser value between the laser center point of the distance sensor and the surface of the tire blank.

[0067] Based on the movement trajectory and the actual contour data of the surface scan, the contour curve of the embryo after surface scan can be calculated, and the surface scan contour curve is the true outer contour of the embryo cross section.

[0068] Through the embodiments of this disclosure, a distance measuring sensor driven by a winding machine can perform planar scanning and curved surface scanning to acquire contour data. Based on the acquired contour data and other parameters, the true outer contour of the tire blank cross-section can be determined. This not only improves the speed of determining the outer contour of the tire blank, but also improves the accuracy of determining the outer contour of the tire blank through preliminary planar scanning and further curved surface scanning. On the one hand, it avoids the problems of large errors and cumbersome processes in manual measurement in the prior art. On the other hand, the method of directly placing the distance measuring sensor on the head of the winding machine for scanning is simple to install. Compared with the installation method of the mechanical device for line laser scanning in the prior art, the installation method is simple and flexible, and improves efficiency.

[0069] The following is a detailed explanation of how to determine the above-mentioned movement trajectory.

[0070] In one optional embodiment, based on preset scanning parameters, scanning parameter values, and initial contour data of the planar scan, the contour curve of the embryo after planar scanning is determined, resulting in the planar scan contour curve, including:

[0071] The coordinates of each point in the planar scan contour curve are determined using the following formula:

[0072]

[0073] Where X_Base represents a one-dimensional array consisting of the x-coordinates of each point in the planar scan contour curve;

[0074] Y_Base represents a one-dimensional array consisting of the ordinates of each point in the planar scan contour curve;

[0075] Flat_X is a one-dimensional array of values ​​in the X direction of the initial contour data of the planar scan. Each value in the X direction is set by a preset distance between the left and right values ​​of the planar scan.

[0076] Flat_L is a one-dimensional array consisting of the actual laser values ​​in the Y direction of the initial contour data of the planar scan. The values ​​in Flat_X correspond to the actual laser values ​​in Flat_L.

[0077] x_offset is the first offset, where the first offset is the horizontal distance between the laser emission point of the ranging sensor and the rotation center of the winding machine.

[0078] y_offset is a negative number corresponding to the second offset, where the second offset is the distance in the vertical direction between the laser emission point of the ranging sensor and the rotation center of the winding machine;

[0079] Y represents the plane scan height value;

[0080] The preset scanning parameters include the first offset x_offset and the negative number y_offset corresponding to the second offset. The scanning parameter values ​​include the plane scanning height value Y. The initial contour data of the plane scanning includes Flat_X and Flat_L.

[0081] Remove outliers from each coordinate in the planar scan profile curve obtained by the above formula, and perform polynomial fitting on each coordinate after removing outliers to obtain the planar scan profile curve.

[0082] Optionally, after the first planar scan, the ranging sensor obtains the planar scan contour data. The ranging sensor transmits the planar scan contour data to the control system of the winding machine. The planar scan contour data is denoted as Flat_X and Flat_L. Flat_X and Flat_L are both one-dimensional arrays. Flat_X is the value at intervals of 5 mm (i.e., the left side value of the planar scan) to X_right (i.e., the right side value of the planar scan). Flat_L is the actual laser value corresponding to each horizontal coordinate position in Flat_X.

[0083] Then, the coordinate values ​​of the outer contour curve of the embryo's cross-section are calculated using Flat_X and Flat_L, represented by X_Base and Y_Base. The curve formed by X_Base and Y_Base is the planar scan contour curve. X_Base represents a one-dimensional array of the abscissas of each point in the planar scan contour curve, and Y_Base represents a one-dimensional array of the ordinates of each point in the planar scan contour curve. The coordinates of each point in this planar scan contour curve can be determined using the following formula:

[0084]

[0085] Where x_offset is the first offset mentioned above, y_offset is the negative number corresponding to the second offset mentioned above, and Y is the plane scan height value mentioned above, which will not be elaborated here.

[0086] The preset scanning parameters include the first offset x_offset and the negative number y_offset corresponding to the second offset, and the scanning parameter values ​​include the plane scanning height value Y.

[0087] After removing outliers from X_Base and Y_Base, the curve function f1(x) can be obtained using polynomial fitting, which is the outer contour curve function of the embryo cross-section obtained by planar scanning (i.e., the planar scan contour curve mentioned above). Figure 4 As shown, the plane scanning profile curve is Figure 4 The curve formed by the first scan point.

[0088] Through the embodiments of this disclosure, the planar scanning contour curve after the first planar scan of the embryo can be calculated based on the actual laser value measured by the ranging sensor, as well as the preset scanning parameters and scanning parameter values, laying the foundation for obtaining a more accurate outer contour curve in the future.

[0089] In one optional embodiment, determining the movement trajectory of the winding machine's rotation center during planar scanning based on the planar scanning profile curve includes:

[0090] The coordinates of any point in the trajectory can be determined using the following formula:

[0091]

[0092] Where x_axis is the x-coordinate of any point;

[0093] y_axis is the y-coordinate of any point;

[0094] x_base is the x-coordinate of the contour point corresponding to the arbitrary point, where the contour point is a point on the planar scan contour curve corresponding to the arbitrary point;

[0095] y_base is the ordinate of the contour point corresponding to any given point;

[0096] Laser_range_mid is the second safety distance between the winding machine head and the surface of the tire blank;

[0097] y_offset is a negative number corresponding to the second offset, where the second offset is the distance in the vertical direction between the laser emission point of the ranging sensor and the rotation center of the winding machine;

[0098] θ is the angle of the contour point corresponding to any given point, where the angle θ of the contour point is determined by the slope of the straight line connecting the two points that are adjacent to the contour point on the left and right.

[0099] r_base is the angle value corresponding to θ;

[0100] r_axis is the angle value at any given point.

[0101] Optionally, having obtained the planar scanning profile curve as described above, the coordinates of the winding machine's rotation center during planar scanning can be calculated based on the coordinate values ​​of this curve. These coordinates form the aforementioned movement trajectory, denoted as X_Axis, Y_Axis, and R_Axis. Taking one point as an example, its coordinates are denoted as x_axis, y_axis, and r_axis. The coordinates of any given point can be determined using the following formula:

[0102]

[0103] Where x_axis is the x-coordinate of any point; y_axis is the y-coordinate of any point; x_base is the value in the array X_Base and y_base is the value in the array Y_Base, where X_Base represents a one-dimensional array composed of the x-coordinates of each point in the planar scan contour curve; Y_Base represents a one-dimensional array composed of the y-coordinates of each point in the planar scan contour curve; and y_offset is the negative number corresponding to the second offset.

[0104] Laser_range_mid is the second safety distance between the winding machine head and the surface of the tire blank; wherein, the aforementioned first safety distance and the second safety distance are fixed values ​​preset based on the winding process, and the first safety distance and the second safety distance are not equal. The first safety distance L_safer is the safety distance during the first planar scan (e.g., scanning from left to right along the x-axis), and Laser_range_mid is the safety distance during the second curved surface scan (e.g., scanning from right to left along the x-axis).

[0105] θ is the angle of the contour point corresponding to any given point, where the angle θ of the contour point is determined by the slope of the straight line connecting the two points adjacent to the left and right of the contour point; r_base is the angle value corresponding to θ; and r_axis is the angle value of any given point.

[0106] like Figure 5 The diagram shows a magnified view of the laser emission point, rotation center, and the embryo. Laser_range_mid in Figure 5 represents the second safety distance. As shown, the x-coordinate of the rotation center is obtained by adding the distances of three parts: the first part is the x-coordinate of the contour point; the second part is the sum of the second safety distance and the second offset multiplied by the sine value sinθ; and the third part is the first offset multiplied by the cosine value cosθ. The y-coordinate of the rotation center is determined by the following three parts: the first part is the y-coordinate of the contour point; the second part is the sum of the second safety distance and the second offset multiplied by the cosine value cosθ; and the third part is the first offset multiplied by the sine value sinθ. The y-coordinate of the rotation center is obtained by adding the first and second parts and then subtracting the third part.

[0107] The coordinates of the movement trajectory can be obtained through the above method. The coordinates of the movement trajectory are then transmitted to the control system of the winding machine, which in turn controls the winding machine to move along the movement trajectory, thereby driving the distance measuring sensor to perform a second surface scan of the tire blank.

[0108] The following provides a detailed explanation of how to determine the true outer contour of the surface scanning profile curve, i.e., the cross-section of the embryo.

[0109] In one optional embodiment, the contour curve of the embryo after surface scanning is determined based on the movement trajectory and the actual contour data of the surface scan, thereby obtaining the surface scan contour curve, including:

[0110] The coordinates of any point in the surface scan profile curve can be determined using the following formula:

[0111]

[0112] Where x_base_end is the x-coordinate of any point;

[0113] y_base_end is the y-coordinate of any point;

[0114] x_axis is the x-coordinate of the trajectory point corresponding to any point, where the trajectory point is a point on the movement trajectory corresponding to any point;

[0115] y_axis is the y-coordinate of the trajectory point corresponding to any given point;

[0116] L is the actual distance between the laser emission point of the ranging sensor and the surface of the tire blank when the ranging sensor moves to the trajectory point corresponding to that arbitrary point;

[0117] y_offset is a negative number corresponding to the second offset, where the second offset is the distance in the vertical direction between the laser emission point of the ranging sensor and the rotation center of the winding machine;

[0118] θ is the angle of the contour point corresponding to the arbitrary point, where the contour point is a point on the planar scan contour curve corresponding to the arbitrary point, and the angle θ of the contour point is determined by the slope of the straight line connecting the two points adjacent to the left and right of the contour point.

[0119] r_base_end is the angle value corresponding to θ;

[0120] r_axis is the angle value at any given point.

[0121] Optionally, after the ranging sensor performs a second surface scan on the tire blank, the actual laser value of each point is stored in data L. Based on this data L, the coordinate values ​​of the outer contour of the tire blank cross section (i.e., the surface scan contour curve mentioned above) are calculated and denoted as X_Base_end, Y_Base_end, and R_Base_end. Taking any point as an example, the coordinates are denoted as x_base_end, y_base_end, and r_base_end. The calculation formula is as follows:

[0122]

[0123] The above calculation formula is based on Figure 5 The positional relationships shown are derived from the reverse derivation of trigonometric functions.

[0124] Where x_base_end is the x-coordinate of any point; y_base_end is the y-coordinate of any point; x_axis is the x-coordinate of the trajectory point corresponding to any point, where the trajectory point is a point on the movement trajectory corresponding to any point; y_axis is the y-coordinate of the trajectory point corresponding to any point; y_offset is the negative number corresponding to the second offset; θ is described above and will not be repeated here.

[0125] The curve formed by the coordinate points obtained in the above manner is the surface scanning contour curve, which is the outer contour of the actual embryo cross-section. For example... Figure 4 As shown, the curve formed by the second scan point is the surface scan profile curve.

[0126] Through the embodiments disclosed herein, the actual laser value measured by the ranging sensor and the coordinates of the moving trajectory can be used to deduce the true outer contour of the tire blank cross section based on the positional relationship between the laser center point and the rotation center. This avoids the need for manual measurement and line laser scanning to detect the outer contour, improving the difficulty and efficiency of determining the outer contour of the tire blank. This lays the foundation for the subsequent winding of the tire blank by the winding machine, thereby improving the winding accuracy of the tire and ensuring the symmetry of the tire.

[0127] The following example illustrates in detail the entire process of determining the true outer contour of the embryo's cross-section.

[0128] The user, through the execution entity in this embodiment of the disclosure, inputs all the parameter values ​​required for scanning: such as Figure 2 As shown, the input parameter values ​​include the left width of the embryo (x_left), the right width of the embryo (x_right), and the scan radius R, as well as... Figure 3 As shown, the input parameter values ​​include the offset x_offset of the laser emission point relative to the rotation center in the x direction and the offset y_offset in the y direction; the input parameter values ​​also include the minimum detection distance Laser_min, the maximum detection distance Laser_max, the laser center value Laser_range_mid (i.e., the second safety distance mentioned above), and a safety distance value L_safer between the winding head and the tire blank (i.e., the first safety distance mentioned above).

[0129] The winding machine performs the first scan of the tire blank, namely a planar scan. The specific steps are as follows:

[0130] The executing entity transmits three parameters—the left position (X_left), the right position (X_right), and the Y position (Y) of the planar scan—to the control system of the winding machine. This control system then drives the winding head to perform the first scan using the distance sensor. The distance sensor continuously emits pulses in the x-direction, such as... Figure 2 and Figure 3 As shown, where:

[0131]

[0132] The execution unit reads the first scan data Flat_X and Flat_L from the control system of the winding machine. Flat_X and Flat_L are both one-dimensional arrays. Flat_X is the value of X_left to X_right every 5 mm interval, and Flat_L is the actual laser value of each horizontal coordinate position in the corresponding Flat_X.

[0133] The coordinate values ​​of the outer contour curve of the tire blank cross section are calculated using Flat_X and Flat_L, and are represented by X_Base and Y_Base, where X_Base and Y_Base are both one-dimensional arrays. The specific calculation formula is as follows:

[0134]

[0135] After handling outliers in X_Base and Y_Base, a polynomial fitting method is used to obtain the curve function f1(x), which is the outer contour curve function of the embryo cross-section obtained by planar scanning (i.e., the planar scan contour curve), such as... Figure 4 As shown, the plane scanning profile curve is Figure 4 The curve formed by the first scan point.

[0136] Calculate the angle of each point in X_Base and Y_Base. Taking one point as an example, take the slope of the two adjacent points of that point and record it as the angle of that point. Calculate the angle of all points and record it as R_Base.

[0137] Based on the coordinate values ​​of the outer contour of the embryo's cross-section obtained from the first scan, calculate the coordinates of the rotation center corresponding to each contour point during scanning, denoted as X_Axis, Y_Axis, and R_Axis. Taking one point as an example, the coordinates are denoted as x_axis, y_axis, and r_axis, as follows: Figure 5 As shown, the formula is as follows:

[0138]

[0139] Then, based on the results of the first scan, the embryo is scanned a second time, namely a curved surface scan. The specific steps are as follows:

[0140] The executing entity transmits the results of the first scan, X_Axis, Y_Axis, and R_Axis, to the control system of the winding machine, which controls the ranging sensor to perform a second scan, acquiring the actual laser value of each point and storing it in data L, i.e., the actual contour data of the curved surface scan.

[0141] The executing unit reads the data L from the second scan from the control system of the winding machine and calculates the coordinate values ​​of the outer contour of the tire blank cross-section, denoted as X_Base_end, Y_Base_end, and R_Base_end. Taking one point as an example, the coordinates are denoted as x_base_end, y_base_end, and r_base_end, as follows. Figure 5 As shown, the calculation formula is as follows:

[0142]

[0143] The true outer contour of the embryo can be obtained through the above method, such as... Figure 4 As shown, the curve formed by the second scanning point is the true outer contour of the embryo.

[0144] Through the embodiments of this disclosure, the true outer contour of the embryo can be calculated based on two scans by the ranging sensor, thereby improving the efficiency of determining the outer contour of the embryo.

[0145] This disclosure provides a device for determining the contour of a tire component before winding, such as... Figure 6 As shown, the device 60 may include: an acquisition module 601, a first control module 602, a first determination module 603, a second control module 604, and a second determination module 605, wherein:

[0146] The acquisition module 601 is used to acquire preset scanning parameters and determine scanning parameter values ​​based on the preset scanning parameters. The scanning parameter values ​​include the left side value, the right side value, and the height value of the plane scan.

[0147] The first control module 602 is used to control the winding machine to move along a direction perpendicular to the center axis of the tire blank based on the scanning parameter value, and to perform planar scanning on the surface of the tire blank by means of a distance sensor placed on the winding machine to obtain the initial contour data of the planar scanning, wherein the distance sensor is placed on the head of the winding machine.

[0148] The first determining module 603 is used to determine the movement trajectory of the rotation center of the winding machine during planar scanning based on preset scanning parameters, scanning parameter values ​​and initial contour data of planar scanning.

[0149] The second control module 604 is used to control the winding machine to move according to the movement trajectory, and to perform surface scanning on the tire blank through the distance sensor to obtain the actual contour data of the surface scan.

[0150] The second determining module 605 is used to determine the contour curve of the embryo after surface scanning based on the movement trajectory and the actual contour data of surface scanning, and to obtain the surface scanning contour curve, and to use the surface scanning contour curve as the outer contour of the embryo's cross section.

[0151] Optionally, module 601 is used for:

[0152] Obtain preset scanning parameters, including the left width of the tire blank, the right width of the tire blank, the scanning radius, the first offset of the laser emission point of the distance sensor relative to the rotation center of the winding machine in the horizontal direction, the second offset of the laser emission point of the distance sensor relative to the rotation center of the winding machine in the vertical direction, and the first safe distance between the head of the winding machine and the surface of the tire blank. The scanning radius is the distance between the center of the forming drum and the surface of the tire blank. The forming drum is used to support the tire blank.

[0153] Establish a Cartesian coordinate system with the center of the forming drum as the origin, where the center of the forming drum coincides with the center of the embryo.

[0154] The difference between the left width of the embryo and the first offset is determined as the left side value of the planar scan;

[0155] The difference between the right side width of the embryo and the first offset is determined as the right side value of the planar scan;

[0156] The sum of the scanning radius, the first safety distance, and the second offset is determined as the planar scanning height value.

[0157] Optionally, the first determining module 603 is specifically used for:

[0158] Based on the preset scanning parameters, scanning parameter values, and initial contour data of the planar scan, the contour curve of the embryo after planar scanning is determined, and the planar scan contour curve is obtained.

[0159] Based on the planar scanning profile curve, determine the movement trajectory of the winding machine's rotation center during planar scanning.

[0160] Optionally, the first determining module 603 is specifically used for:

[0161] The coordinates of each point in the planar scan contour curve are determined using the following formula:

[0162]

[0163] Where X_Base represents a one-dimensional array consisting of the x-coordinates of each point in the planar scan contour curve;

[0164] Y_Base represents a one-dimensional array consisting of the ordinates of each point in the planar scan contour curve;

[0165] Flat_X is a one-dimensional array of values ​​in the X direction of the initial contour data of the planar scan. Each value in the X direction is set by a preset distance between the left and right values ​​of the planar scan.

[0166] Flat_L is a one-dimensional array consisting of the actual laser values ​​in the Y direction of the initial contour data of the planar scan. The values ​​in Flat_X correspond to the actual laser values ​​in Flat_L.

[0167] x_offset is the first offset, where the first offset is the horizontal distance between the laser emission point of the ranging sensor and the rotation center of the winding machine.

[0168] y_offset is a negative number corresponding to the second offset, where the second offset is the distance in the vertical direction between the laser emission point of the ranging sensor and the rotation center of the winding machine;

[0169] Y represents the plane scan height value;

[0170] The preset scanning parameters include the first offset x_offset and the negative number y_offset corresponding to the second offset. The scanning parameter values ​​include the plane scanning height value Y. The initial contour data of the plane scanning includes Flat_X and Flat_L.

[0171] Remove outliers from each coordinate in the planar scan profile curve obtained by the above formula, and perform polynomial fitting on each coordinate after removing outliers to obtain the planar scan profile curve.

[0172] Optionally, the first determining module 603 is specifically used for:

[0173] The coordinates of any point in the trajectory can be determined using the following formula:

[0174]

[0175] Where x_axis is the x-coordinate of any point;

[0176] y_axis is the y-coordinate of any point;

[0177] x_base is the x-coordinate of the contour point corresponding to the arbitrary point, where the contour point is a point on the planar scan contour curve corresponding to the arbitrary point;

[0178] y_base is the ordinate of the contour point corresponding to any given point;

[0179] Laser_range_mid is the second safety distance between the winding machine head and the surface of the tire blank;

[0180] y_offset is a negative number corresponding to the second offset, where the second offset is the distance in the vertical direction between the laser emission point of the ranging sensor and the rotation center of the winding machine;

[0181] θ is the angle of the contour point corresponding to any given point, where the angle θ of the contour point is determined by the slope of the straight line connecting the two points that are adjacent to the contour point on the left and right.

[0182] r_base is the angle value corresponding to θ;

[0183] r_axis is the angle value at any given point.

[0184] Optionally, the second determining module 605 is specifically used for:

[0185] The coordinates of any point in the surface scan profile curve can be determined using the following formula:

[0186]

[0187] Where x_base_end is the x-coordinate of any point;

[0188] y_base_end is the y-coordinate of any point;

[0189] x_axis is the x-coordinate of the trajectory point corresponding to any point, where the trajectory point is a point on the movement trajectory corresponding to any point;

[0190] y_axis is the y-coordinate of the trajectory point corresponding to any given point;

[0191] L is the actual distance between the laser emission point of the ranging sensor and the surface of the tire blank when the ranging sensor moves to the trajectory point corresponding to that arbitrary point;

[0192] y_offset is a negative number corresponding to the second offset, where the second offset is the distance in the vertical direction between the laser emission point of the ranging sensor and the rotation center of the winding machine;

[0193] θ is the angle of the contour point corresponding to the arbitrary point, where the contour point is a point on the planar scan contour curve corresponding to the arbitrary point, and the angle θ of the contour point is determined by the slope of the straight line connecting the two points adjacent to the left and right of the contour point.

[0194] r_base_end is the angle value corresponding to θ;

[0195] r_axis is the angle value at any given point.

[0196] Optionally, the first control module 602 is specifically used for:

[0197] Send a first scan command to the winding machine control system corresponding to the winding machine, wherein the first scan command includes scan parameter values;

[0198] Upon receiving the first scanning command, the winding machine moves along a direction perpendicular to the center axis of the tire blank and performs a planar scan on the surface of the tire blank using a distance sensor placed on the winding machine and according to the scanning parameter values ​​contained in the first scanning command.

[0199] Optionally, the second control module 604 is specifically used for:

[0200] Send a second scanning command to the winding machine control system corresponding to the winding machine, wherein the second scanning command includes the movement trajectory;

[0201] Upon receiving the second scanning command, the winding machine moves along a trajectory consistent with the movement path.

[0202] Through the embodiments of this disclosure, a distance measuring sensor driven by a winding machine can perform planar scanning and curved surface scanning to acquire contour data. Then, based on the acquired contour data and other parameters, the outer contour of the tire blank cross-section can be determined. This not only improves the speed of determining the outer contour of the tire blank, but also improves the accuracy of determining the outer contour of the tire blank through preliminary planar scanning and further curved surface scanning. On the one hand, it avoids the problems of large errors and cumbersome processes in manual measurement in the prior art. On the other hand, the method of directly placing the distance measuring sensor on the head of the winding machine for scanning is simple to install. Compared with the installation method of the mechanical device for line laser scanning in the prior art, the installation method is simple and flexible, and improves efficiency.

[0203] The apparatus of this disclosure embodiment can execute the method provided in this disclosure embodiment, and its implementation principle is similar, and it has corresponding technical effects. The actions performed by each module in the apparatus of each embodiment of this disclosure correspond to the steps in the method of each embodiment of this disclosure. For a detailed functional description of each module of the apparatus, please refer to the description in the corresponding method shown above, and it will not be repeated here.

[0204] This disclosure provides an electronic device (computer device / equipment / system) including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method provided in any optional embodiment of this disclosure.

[0205] In one alternative embodiment, an electronic device is provided, such as Figure 7 As shown, Figure 7 The illustrated electronic device 4000 includes a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, for example, via a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, which can be used for data interaction between the electronic device and other electronic devices, such as sending and / or receiving data. It should be noted that in practical applications, the transceiver 4004 is not limited to one type, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of this disclosure.

[0206] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with this disclosure. Processor 4001 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0207] Bus 4002 may include a pathway for transmitting information between the aforementioned components. Bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 4002 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 7 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0208] The memory 4003 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media, other magnetic storage devices, or any other medium capable of carrying or storing computer programs and capable of being read by a computer, without limitation herein.

[0209] The memory 4003 is used to store computer programs that execute embodiments of the present disclosure, and is controlled by the processor 4001 to execute them. The processor 4001 is used to execute the computer programs stored in the memory 4003 to implement the steps shown in the foregoing method embodiments.

[0210] This disclosure provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can implement the steps and corresponding content of the aforementioned method embodiments.

[0211] This disclosure also provides a computer program product, including a computer program that, when executed by a processor, can implement the steps and corresponding content of the aforementioned method embodiments.

[0212] It should be understood that although arrows indicate various operation steps in the flowcharts of the embodiments of this disclosure, the order in which these steps are implemented is not limited to the order indicated by the arrows. Unless explicitly stated herein, in some implementation scenarios of the embodiments of this disclosure, the implementation steps in each flowchart can be executed in other orders as required. Furthermore, some or all of the steps in each flowchart may include multiple sub-steps or multiple stages based on the actual implementation scenario. Some or all of these sub-steps or stages can be executed at the same time, and each sub-step or stage can also be executed at different times. In scenarios where execution times differ, the execution order of these sub-steps or stages can be flexibly configured as required, and the embodiments of this disclosure do not limit this.

[0213] The above description is only an optional implementation method for some implementation scenarios of this disclosure. It should be noted that for those skilled in the art, other similar implementation methods based on the technical concept of this disclosure without departing from the technical concept of this disclosure also fall within the protection scope of the embodiments of this disclosure.

Claims

1. A method for determining the contour of a tire component before winding, characterized in that, The method includes: Obtain preset scanning parameters and determine scanning parameter values ​​based on the preset scanning parameters, wherein the scanning parameter values ​​include the left side value of the planar scan, the right side value of the planar scan, and the planar scan height value; Based on the scanning parameter values, the winding machine is controlled to move along a direction perpendicular to the center axis of the tire blank, and the surface of the tire blank is scanned in a plane by a distance sensor placed on the winding machine to obtain initial contour data of the plane scan, wherein the distance sensor is placed on the head of the winding machine; Based on the preset scanning parameters, the scanning parameter values, and the initial contour data of the planar scanning, the movement trajectory of the rotation center of the winding machine during planar scanning is determined; The winding machine is controlled to move according to the moving trajectory, and the tire blank is scanned by the distance measuring sensor to obtain the actual contour data of the surface scan; Based on the movement trajectory and the actual contour data of the surface scan, the contour curve of the embryo after surface scan is determined, and the surface scan contour curve is obtained. The surface scan contour curve is used as the outer contour of the embryo's cross-section.

2. The method according to claim 1, characterized in that, The step of obtaining preset scanning parameters and determining scanning parameter values ​​based on the preset scanning parameters includes: Obtain preset scanning parameters, wherein the preset scanning parameters include the left width of the tire blank, the right width of the tire blank, the scanning radius, the first horizontal offset of the laser emission point of the distance sensor relative to the rotation center of the winding machine, the second vertical offset of the laser emission point of the distance sensor relative to the rotation center of the winding machine, and the first safety distance between the head of the winding machine and the surface of the tire blank. The scanning radius is the distance between the center of the forming drum and the surface of the tire blank, and the forming drum is used to support the tire blank. Establish a Cartesian coordinate system with the center of the forming drum as the origin, wherein the center of the forming drum coincides with the center of the embryo. The difference between the left width of the embryo and the first offset is determined as the left side value of the planar scan; The difference between the right side width of the embryo and the first offset is determined as the right side value of the planar scan; The sum of the scanning radius, the first safety distance, and the second offset is determined as the plane scanning height value.

3. The method according to claim 1, characterized in that, The step of determining the movement trajectory of the winding machine's rotation center during planar scanning based on the preset scanning parameters, the scanning parameter values, and the initial contour data of the planar scan includes: Based on the preset scanning parameters, the scanning parameter values, and the initial contour data of the planar scanning, the contour curve of the embryo after planar scanning is determined, and the planar scanning contour curve is obtained. Based on the planar scanning contour curve, the movement trajectory of the rotation center of the winding machine during planar scanning is determined.

4. The method according to claim 3, characterized in that, The step of determining the contour curve of the embryo after planar scanning based on the preset scanning parameters, the scanning parameter values, and the initial contour data of the planar scan, to obtain the planar scan contour curve, includes: The coordinates of each point in the planar scan contour curve are determined using the following formula: in, This represents a one-dimensional array consisting of the x-coordinates of each point in the planar scan contour curve. This represents a one-dimensional array consisting of the ordinates of each point in the planar scan contour curve. It is a one-dimensional array of values ​​in the X direction of the initial contour data of the planar scan, wherein each value in the X direction is set by a preset distance between the left and right values ​​of the planar scan; This is a one-dimensional array consisting of the actual laser values ​​in the Y direction of the initial contour data from a planar scan. The value in The actual laser values ​​in the data have a corresponding relationship; The first offset is the distance in the horizontal direction between the laser emission point of the ranging sensor and the rotation center of the winding machine. The negative number corresponding to the second offset is the distance in the vertical direction between the laser emission point of the ranging sensor and the rotation center of the winding machine. The plane scanning height value; The preset scan parameters include the first offset. The negative number corresponding to the second offset The scanning parameter values ​​include the plane scanning height value. The initial contour data of the planar scan includes and ; Remove outliers from each coordinate in the planar scan profile curve obtained by the above formula, and perform polynomial fitting on each coordinate after removing outliers to obtain the planar scan profile curve.

5. The method according to claim 3, characterized in that, The step of determining the movement trajectory of the winding machine's rotation center during planar scanning based on the planar scanning contour curve includes: The coordinates of any point in the trajectory are determined using the following formula: in, Let x be the x-coordinate of any point; Let be the ordinate of any point; Let x be the x-coordinate of the contour point corresponding to any given point, where the contour point is a point on the planar scan contour curve corresponding to any given point; The ordinate of the contour point corresponding to any given point; This is the second safety distance between the head of the winding machine and the surface of the tire blank; The negative number corresponding to the second offset is the distance in the vertical direction between the laser emission point of the ranging sensor and the rotation center of the winding machine. Let be the angle of the contour point corresponding to any given point, where is the angle of the contour point. It is determined by the slope of the straight line connecting the two points adjacent to the contour point on the left and right; for The corresponding angle value; Let be the angle value at any given point.

6. The method according to claim 1, characterized in that, The step of determining the contour curve of the embryo after surface scanning based on the movement trajectory and the actual contour data of the surface scan, to obtain the surface scan contour curve, includes: The coordinates of any point in the surface scan profile curve are determined by the following formula: in, Let x be the x-coordinate of any point; Let be the ordinate of any point; Let x be the x-coordinate of the trajectory point corresponding to any given point, where the trajectory point is a point on the movement trajectory corresponding to any given point; The ordinate of the trajectory point corresponding to any given point; The distance between the laser emission point of the ranging sensor and the surface of the tire blank is the actual distance when the ranging sensor moves to the trajectory point corresponding to any point. The negative number corresponding to the second offset is the distance in the vertical direction between the laser emission point of the ranging sensor and the rotation center of the winding machine. The angle of the contour point corresponding to any given point, where the contour point is a point on the planar scan contour curve corresponding to the given point, and the angle of the contour point is... It is determined by the slope of the straight line connecting the two points adjacent to the contour point on the left and right; for The corresponding angle value; Let be the angle value at any given point.

7. The method according to claim 1, characterized in that, The step of controlling the winding machine to move along a direction perpendicular to the center axis of the tire blank based on the scanning parameter values, and performing a planar scan of the tire blank surface using a distance sensor placed on the winding machine, includes: Send a first scanning command to the winding machine control system corresponding to the winding machine, wherein the first scanning command includes the scanning parameter value; Upon receiving the first scanning command, the winding machine moves along a direction perpendicular to the center axis of the tire blank and performs a planar scan on the surface of the tire blank using a distance sensor placed on the winding machine and according to the scanning parameter values ​​included in the first scanning command.

8. The method according to claim 1, characterized in that, Controlling the winding machine to move according to the movement trajectory includes: A second scanning command is sent to the winding machine control system corresponding to the winding machine, wherein the second scanning command includes the movement trajectory; Upon receiving the second scanning command, the winding machine moves along a trajectory consistent with the moving trajectory path.

9. A device for determining the contour of a tire component before winding, characterized in that, The device includes: The acquisition module is used to acquire preset scanning parameters and determine scanning parameter values ​​based on the preset scanning parameters, wherein the scanning parameter values ​​include the left side value of the planar scan, the right side value of the planar scan, and the planar scan height value; The first control module is used to control the winding machine to move along a direction perpendicular to the center axis of the tire blank based on the scanning parameter value, and to perform planar scanning on the surface of the tire blank by means of a distance sensor placed on the winding machine to obtain initial contour data of the planar scanning, wherein the distance sensor is placed on the head of the winding machine; The first determining module is used to determine the movement trajectory of the rotation center of the winding machine during planar scanning based on the preset scanning parameters, the scanning parameter values, and the initial contour data of the planar scanning. The second control module is used to control the winding machine to move according to the moving trajectory, and to perform surface scanning on the tire blank through the distance measuring sensor to obtain the actual contour data of the surface scan. The second determining module is used to determine the contour curve of the embryo after surface scanning based on the movement trajectory and the actual contour data of the surface scan, to obtain the surface scan contour curve, and to use the surface scan contour curve as the outer contour of the embryo's cross-section.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the steps of the method according to any one of claims 1-8.

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