Tire carrying control method, control device, control system and electronic equipment

Abstract

The embodiment of the invention provides a tire carrying control method, a tire carrying control device, a tire carrying control system and electronic equipment. The control method comprises the following steps: acquiring relevant parameters of the tire loading and unloading device and relevant parameters of a tire; according to the obtained relevant parameters of the tire loading and unloading device and the relevant parameters of the tire, position information of loading or unloading the tire by the tire loading and unloading device is calculated and determined through an algorithm; and sending the position information of loading or unloading the tire to the tire loading and unloading device, so that the tire loading and unloading device completes loading or unloading of the tire according to the position information of loading or unloading the tire. According to the control method, the production speed of the X-ray flaw detection engineering tire can be increased, and the debugging time and the labor cost in the tire carrying process can be saved.

Description

Technical Field

[0001] The present invention relates to a control method for a handling device, and in particular to a control method and a control device for tire handling applied to an automobile production line. Background Art

[0002] With the stable development of economy and the improvement of people's living standards, cars have become one of the common means of transportation for people to go out. People have always attached great importance to safe travel, and tires are an important part of safe driving. They are not only related to the handling performance of the vehicle, but also to the life safety of the people on the vehicle. Therefore, the quality inspection of finished tires can timely discover the internal structural defects of tires and prevent unqualified tires from leaving the factory, which can improve the quality of tires leaving the factory. Tire handling is a necessary link for tire quality inspection.

[0003] With the rapid development of modern industrial automation technology, many manual production and processing work areas have been replaced by industrial machines. Tire handling in automobile production lines, as a physically heavy, repetitive and tedious task, has gradually been replaced by industrial machines. However, most industrial machines used for handling use manual step-by-step program teaching methods. Operators need to teach the spatial paths they need to pass through one by one by operating the machine. In the early stage of equipment production, production needs to be frequently interrupted and repeated manual teaching is required, which affects the speed of production.

[0004] At present, in the use of X-ray flaw detection of engineering tires, due to the wide variety of tires, a tire company has dozens or even more than a hundred tire specifications, and each tire specification is divided into a variety of pattern styles according to different performance requirements. After the equipment is installed and debugged, it is necessary to manually complete the teaching one by one at different workstations according to different specifications and different patterns.

[0005] Since each tire requires many positions to be taught, the teaching of each category of tires requires a lot of time, and satisfactory results can only be achieved after repeated manual confirmation. In practice, the usual teaching time is about one hour for each category. In this way, the equipment cannot achieve full automation and full production effects in the first few weeks or even months of operation. The OEE index of the equipment is low, and the accumulation of tires to be inspected indirectly affects the upstream production efficiency. Summary of the invention

[0006] In view of this, the embodiments of the present invention provide a tire handling control method, a control device, a control system and an electronic device to increase the production speed of X-ray flaw detection engineering tires and save debugging time and labor costs during tire handling.

[0007] A tire handling control method provided according to an embodiment of the present invention comprises:

[0008] Obtain relevant parameters of the tire loading and unloading device and relevant parameters of the tire;

[0009] According to the obtained relevant parameters of the tire loading and unloading device and the relevant parameters of the tire, the position information of the tire loading and unloading device for loading or unloading the tire is determined by algorithm calculation;

[0010] The position information of the loaded or unloaded tire is sent to the tire loading and unloading device, so that the tire loading and unloading device completes the loading or unloading of the tire according to the position information of the loaded or unloaded tire.

[0011] A tire handling control device provided according to an embodiment of the present invention includes:

[0012] A parameter acquisition device, used to acquire relevant parameters of the tire loading and unloading device and relevant parameters of the tire;

[0013] The position processing device is used to determine the position information of the tire loading or unloading device for loading or unloading the tire through algorithm calculation according to the relevant parameters of the tire loading and unloading device and the relevant parameters of the tire acquired by the parameter acquisition device.

[0014] According to an embodiment of the present invention, a control system for tire handling is provided, the control system mainly comprises a tire loading and unloading device and a processor, wherein:

[0015] The processor is used to obtain relevant parameters of the tire loading and unloading device and relevant parameters of the tire; according to the relevant parameters of the tire loading and unloading device and the relevant parameters of the tire, the position information of the tire loading and unloading device for loading or unloading the tire is determined by algorithm calculation;

[0016] The loading device is used to receive the position information of the loaded or unloaded tire and complete the loading or unloading of the tire according to the loaded or unloaded tire position information.

[0017] It can be seen from the above scheme that since the embodiment of the present invention obtains the common indicators of teaching through the processor, it not only solves the problem of frequent interruption of production and repeated manual teaching during the transportation process in the transmission method, but also the processor determines the positioning position that originally required manual teaching through algorithm calculation, saving a lot of debugging time and labor costs, and also preventing errors and differences in manual teaching, thereby greatly improving the efficiency of tire transportation and detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above characteristics, technical features, advantages and implementation methods of the present invention will be further described below in a clear and understandable manner through the description of preferred embodiments and in conjunction with the accompanying drawings, wherein:

[0019] Figure 1is a schematic diagram of an example application scenario in which various methods described herein may be implemented according to an embodiment of the present invention;

[0020] Figure 2 is a structural schematic diagram of tire positions of an embodiment of a control method of the present invention;

[0021] Figure 3 is a flow chart of an embodiment of the control method of the present invention;

[0022] Figure 4 is a schematic structural diagram of an embodiment of a control device of the present invention;

[0023] Figure 5 is a structural schematic diagram of tire positions of another embodiment of the control method of the present invention;

[0024] Figure 6 is a structural schematic diagram of tire positions of another embodiment of the control method of the present invention;

[0025] Figure 7 is a flow chart of another embodiment of the control method of the present invention;

[0026] Figure 8 is a block diagram of an exemplary electronic device that can be used to implement an embodiment of the present invention.

[0027] The reference numerals are as follows:

[0028] 110: Tire 120: Tire carrier 130: Processor

[0029] 131: parameter acquisition device 132: position processing device 140: tire loading and unloading device

[0030] 141: Turntable 142: Tire loading fork 143: Tire unloading fork

[0031] 144: Tire loading fork control device 145: Tire unloading fork control device 150: Tire placement device

[0032] 420: parameter acquisition unit 4201: first parameter acquisition unit 4202: second parameter acquisition unit 430: position processing unit 4301: first position determination unit 4302: second position determination unit R: tire outer diameter r: tire inner diameter r': support arm radius

[0033] L: Support arm distance E: Support arm lowest position D: Bottom

[0034] X: support arm position t: setting of support arm to tire mouth A: distance from center point of support arm spacing to tire center of wheel B: distance of support arm of tire mounting fork C: distance from center point of support arm spacing to wheel F: distance from center point of lowest half tire where tire does not hit bottom 800: electronic device 801: computing unit 802: read-only memory (ROM) 803: random access memory 804: bus 805: input / output (I / O) interface (RAM)

[0035] 806: input unit 807: output unit 808: storage unit

[0036] 809: Communication unit

[0037] S301: Obtaining relevant parameters of the tire loading and unloading device and relevant parameters of the tire

[0038] S302: According to the relevant parameters of the tire loading and unloading device and the relevant parameters of the tire obtained in step S301, the position information of loading or unloading of the tire loading and unloading device is determined by algorithm calculation.

[0039] S303: Sending the loading or unloading position information of the tire loading and unloading device to the tire loading and unloading device, so that the tire loading and unloading device controls its tire loading arm tire loading fork or tire unloading arm tire unloading fork to load or unload the tire according to the loading or unloading position information determined in step S302.

[0040] S701: Obtaining relevant parameters of the tire loading and unloading device

[0041] S702: Obtaining tire related parameters

[0042] S703: Determine the extension position of the tire loading and unloading arm or tire unloading arm of the tire loading and unloading device into the tire according to the acquired parameters of the tire loading and unloading device and the tire parameters.

[0043] S704: Determine the lifting position of the tire loading fork or the tire unloading fork of the tire loading and unloading device by inserting the tire according to the obtained relevant parameters of the tire bearing device and the relevant parameters of the tire through algorithm calculation.

[0044] S705: The tire loading or unloading is completed according to the tire loading fork of the tire loading arm or the tire unloading fork of the tire unloading device being inserted into the extended position and the raised position of the tire. DETAILED DESCRIPTION

[0045] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0046] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0047] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments". Relevant definitions of other terms will be given in the description below. It should be noted that the concepts of "first", "second", etc. mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0048] It should be noted that the modifications of "one" and "multiple" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more". The names of the messages or information exchanged between the multiple devices in the embodiments of the present disclosure are only for illustrative purposes and are not used to limit the scope of these messages or information.

[0049] Figure 1 A schematic diagram showing an example application scenario in which various methods described herein may be implemented according to an exemplary embodiment of the present disclosure, specifically, Figure 1 The schematic diagram of the scene of the tire loading and unloading device carrying tires is shown. Figure 1In the tire handling process shown, the tire loading fork 142 and the tire loading fork control device 144 in the tire loading and unloading device 140 are used to carry the tire 110 originally placed on the tire supporting device 120 to the tire placing device 150 in the new position; similarly, the tire unloading fork 143 and the tire unloading fork control device 145 in the tire loading and unloading device 140 are used to carry the tire 110 placed on the tire placing device 150 after inspection to the new tire supporting device. In the specific handling process of this embodiment, the processor 130 obtains the common indicators of teaching and determines the position of loading and unloading tires through algorithm calculation, and then the tire loading and unloading device 140 loads or unloads the tire according to the calculated position information of the tire loading and unloading device 140. This embodiment calculates the common indicators of teaching by the processor 130, which not only solves the problem of frequent interruption of production and repeated manual teaching in the handling process of the traditional method, but also the processor 130 determines the positioning position that originally required manual teaching through algorithm calculation, saving a lot of debugging time and labor costs, and greatly improving the handling and inspection efficiency of tires.

[0050] Figure 2 FIG. 1 is a schematic diagram showing the position of the tire loading and unloading device 140 and the related parameters of the tire 110. Figure 1 Described together, the tire carrying device 120 is the starting position for transporting the tire to the tire detection device with X-ray image, and optionally, it can be a loading and unloading vehicle for transporting tires, or various vehicles coupled to the intelligent system.

[0051] like Figure 2 As shown, the tire 110 has different specifications and different patterns, and its parameters mainly include the inner diameter r and the outer diameter R of the tire. The size data of the inner diameter and the outer diameter of the tire can be obtained from a manufacturing execution system (MES) system.

[0052] Combination Figure 1 The tire loading and unloading device 140 includes a turntable 141, a tire loading fork 142, a tire unloading fork 143, and a tire loading fork control device 144 and a tire unloading fork control device 145. In obtaining the common indicators of manual teaching, specifically, the relevant parameters of the tire loading fork support arm and the tire unloading fork support arm are mainly obtained as follows:

[0053] Radius r' of the support arm;

[0054] The distance L between the support arms;

[0055] The set distance t from the support arm to the sub-mouth;

[0056] Minimum height E of support arm.

[0057] The turntable 141 of the tire loading and unloading device 140 is used to realize the alternating operation of the tire loading fork 142 and the tire unloading fork 143. The tire loading fork control device 144 and the tire unloading fork control device 145 of the tire loading and unloading device 140 are used to control the movement of the tire loading fork 142 and the tire unloading fork 143, specifically, to control the forward and backward movement of the tire loading fork and the tire unloading fork device, and the lifting and lowering of the tire loading fork and the tire unloading fork support arm. The tire loading and unloading device 140 includes a processor for calculating the extension and lifting position of the tire loading fork or the tire unloading fork when loading and unloading the tire.

[0058] Figure 3 A schematic diagram showing a method for carrying a tire according to an embodiment of the present disclosure is shown. Figure 1 The specific process of handling tires mainly includes the following steps:

[0059] Step S301 : obtaining relevant parameters of the tire loading and unloading device 140 and relevant parameters of the tire 110 .

[0060] The processor 130 includes an indicator parameter acquisition device 131 for acquiring relevant parameters of the tire loading and unloading device 140 and relevant parameters of the tire 110 .

[0061] The relevant parameters of the tire loading and unloading device 140 mainly include the radius of the tire loading fork support arm and the tire unloading fork support arm of the tire loading and unloading device 140, the spacing of the support arms, the set distance from the support arm to the sub-port, and the minimum height of the support arm. The above-mentioned relevant parameters of the tire loading and unloading device 140 can be fixed values; or according to the design of the tire loading and unloading device 140 of different manufacturers, the above-mentioned relevant parameters can also be variable. Regardless of the relevant parameters of the tire loading and unloading device 140 with fixed values ​​or the relevant parameters of the tire loading and unloading device 140 with variable values, the indicator parameter acquisition device 131 can optionally store the acquired relevant parameters.

[0062] The relevant parameters of the tire 110 mainly include the tire outer diameter, tire inner diameter and other relevant parameters of the tire 110. Specifically, according to different tire specifications and different patterns, the above-mentioned relevant parameters of the tire 110 are variable. Specifically, the data of these variables can come from the manufacturing execution system (MES system), and the index parameter acquisition device 131 can pre-store the above-mentioned tire variable parameters from the manufacturing execution system, and can also receive the tire variable parameters sent by the manufacturing execution system through a network connection.

[0063] Step S302: According to the relevant parameters of the tire loading and unloading device 140 and the relevant parameters of the tire 110 obtained in step S301, the position information of the tire loading and unloading device 140 for loading or unloading the tire is determined through algorithm calculation.

[0064] Specifically, the processor 130 also includes a position processing unit 132, which is used to determine the position information required for loading or unloading the tire through algorithm calculation. The position information can be the loading position information of the loaded tire 110, such as determining the position where the tire loading fork of the tire loading and unloading device 140 is inserted into the tire, specifically including the extended position where the tire loading fork is inserted into the tire and the lifted position where the tire loading fork is inserted into the tire. The position information can also be the unloading position information when unloading the tire 110, such as determining the position where the tire unloading fork of the tire loading and unloading device 140 is inserted into the tire, specifically including the extended position where the tire unloading fork is inserted into the tire and the lifted position where the tire unloading fork is inserted into the tire. When the tire loading fork and the tire unloading fork are inserted into and leave the tire 110, they need to maintain a certain distance from the sub-mouth of the tire 110. This distance can ensure that the inserted tire does not touch the tire and ensure the tire handling efficiency.

[0065] Specifically, the position processing unit 132 specifically processes the position information of the tire loading and unloading device 140 for loading or unloading the tire by an algorithm according to the relevant parameters of the tire loading and unloading device 140 and the relevant parameters of the tire 110 obtained in step S301, wherein the algorithm may be a geometric analysis algorithm. The position to be taught calculated by the algorithm includes at least one of the following:

[0066] In the process of delivering the tire to the tire placing device 150, the tire loading fork is in the extended position and the raised position when the tire 110 is loaded from the tire carrying device 120;

[0067] The tire loading and unloading device 140 places the tire 110 on the placing device 150 to place the tire fork in the lowered position, wherein the placing device 150 may be a device with an X-ray machine;

[0068] The extended position of the tire removal fork and the raised position of the tire removal fork during the process of removing the tire from the tire placement device 150; or

[0069] The tire loading and unloading device 140 is in the lowered position of the tire unloading fork when unloading the tire 110 onto the carrying device 120 , wherein the carrying device 120 may be a loading and unloading trolley for transporting the tire 110 .

[0070] S303: Sending the position information of the tire loading or unloading of the tire to the tire loading and unloading device 140, so that the tire loading and unloading device 140 controls its tire loading fork to load the tire according to the position information of the loaded tire determined in step S302; or controls its tire unloading fork to unload the tire according to the position information of the unloaded tire determined in step S302.

[0071] The tire loading fork and tire unloading fork of the tire loading and unloading device 140 can be mechanical devices with the same structure.

[0072] The processor 130 may be located in the tire loading and unloading device 140 . For example, the tire loading fork 142 and the tire unloading fork 143 of the tire loading and unloading device 140 may be equipped with an electronic chip having a processing function, such as the processor 130 .

[0073] Among them, the above-mentioned processor 130 is independently arranged outside the tire loading and unloading device 140. For example, the tire loading fork 142 and the tire unloading fork 143 of the tire loading and unloading device 140 are equipped with an electronic chip with processing function for receiving the position information sent by the processor 130. According to the position information, the tire loading and unloading device 140 controls the tire loading fork or the tire unloading fork to perform relevant loading or unloading of the tire.

[0074] like Figure 1 and Figure 2 As shown, the processor 130 calculates the positioning position that originally required manual teaching by executing relevant algorithms in the programmable controller, and the tire loading and unloading device 140 loads or unloads the tire according to the determined positioning information. This not only solves the problem that the existing tire transmission equipment needs to frequently interrupt production and repeatedly teach manually in the early stage of production, but also saves a lot of debugging time and labor costs, greatly improving the efficiency of tire transportation. Furthermore, the processor 130 can calculate the positioning information more accurately by executing relevant algorithms in the programmable controller, thereby avoiding the errors and differences caused by manual teaching.

[0075] Figure 4 A schematic diagram of the structure of the processor of the embodiment of the present disclosure is shown, wherein a tire is loaded as an example, combined with Figure 1 and Figure 2 The processor 410 is mainly used to determine the extended position of the tire mounting fork or tire removal fork inserted into the tire and the lifted position of the tire mounting fork or tire removal fork inserted into the tire. The processor 410 specifically includes:

[0076] The parameter acquisition unit 420 at least includes a first parameter acquisition unit 4201 and a second parameter acquisition unit 4202 . The first parameter acquisition unit 4201 is used to acquire relevant parameters of the tire loading and unloading device 140 , and the second parameter acquisition unit 4202 is used to acquire relevant parameters of the tire 110 .

[0077] The position processing unit 430 includes at least a first position determining unit 4301 and a second position determining unit 4302. The first position determining unit 4301 is used to determine the extended position of the tire loading and unloading fork of the tire loading and unloading device inserted into the tire through algorithm calculation according to the relevant parameters of the tire loading and unloading device 140 obtained by the first parameter obtaining unit 4201 and the relevant parameters of the tire 110 obtained by the second parameter obtaining unit 4202. The second position determining unit 4302 is used to determine the lifting position of the tire loading and unloading fork of the tire loading and unloading device inserted into the tire through algorithm calculation according to the relevant parameters of the tire unloading device 140 obtained by the first parameter obtaining unit 4201 and the relevant parameters of the tire 110 obtained by the second parameter obtaining unit 4202.

[0078] Combined with the above Figure 2 Together, the related parameters of the tire loading and unloading device 140 obtained by the first parameter acquisition unit 4201 mainly include the support arm radius r', the support arm spacing L, the set distance t from the support arm to the sub-port, and the minimum height E of the support arm, etc. of the tire loading and unloading fork 142 or the tire unloading device 143. The above-mentioned related parameters of the tire loading and unloading device 140 can be fixed values; or according to the design of different tire unloading devices, the above-mentioned related parameters can also be variable. Regardless of the related parameters of the tire loading and unloading device with fixed values ​​or the related parameters of the tire loading and unloading device with variable values, the first parameter acquisition unit 4201 can store the obtained related parameters.

[0079] The second parameter acquisition unit 4202 acquires the relevant parameters of the tire 110, mainly including the tire outer diameter R, the tire inner diameter r and other relevant parameters of the tire 110. Specifically, according to different tire specifications and different patterns, the above-mentioned relevant parameters of the tire 110 are variable. Specifically, the data of these variables can come from the manufacturing execution system (MES system), and the second parameter acquisition unit 4202 can pre-store the above-mentioned tire variable parameters from the manufacturing execution system, and can also receive the tire variable parameters sent by the manufacturing execution system through a network connection.

[0080] like Figure 5 FIG. 1 is a schematic diagram of determining the extended position of the tire loading and unloading fork or tire unloading fork of the tire loading and unloading device 140 inserted into the tire according to an embodiment of the present invention, combined with Figure 2 and Figure 4 Specifically, the first position determination unit 4301 determines the extended position of the tire loading and unloading fork or tire unloading fork of the tire loading and unloading device inserted into the tire 110 through an algorithm according to the obtained relevant parameters of the tire loading and unloading device 140 and the relevant parameters of the tire 110. The algorithm may be a geometric analysis algorithm. Figure 5As shown, the first position determination unit 4301 calculates the distance A from the center point of the support arm spacing to the tire center by the Pythagorean theorem. Specifically, the value of A obtained by the Pythagorean theorem of formula (1) is:

[0081]

[0082] Wherein c = rt-r'; b = 0.5L; Substitute the values ​​of c and b into the above formula (1) to obtain the value of A in formula (2), and the value of A is:

[0083]

[0084] The bottom of the tire carrying device 120 or the tire placing device 150 is taken as a reference plane, for example, the bottom of a tire loading and unloading trolley or an X-ray machine is taken as a reference plane, wherein A and the outer diameter R of the tire are equal to the sum of the lowest height E of the support arm and the position value X of the support arm, that is, the value of A in formula (2) is substituted into the following formula (3), and the position value X of the support arm can be calculated, that is, the extended position of the tire loading fork or the tire unloading fork is obtained:

[0085]

[0086] Wherein, X is the extended position of the tire loading fork or tire unloading fork, R is the outer diameter of the tire, r is the inner diameter of the tire, E is the minimum height of the support arm, L is the support arm spacing; r' is the support arm radius, and t is the set distance from the support arm to the sub-opening.

[0087] like Figure 6 FIG. 1 is a schematic diagram of determining the position of the tire loading fork or tire unloading fork of the tire loading and unloading device 140 inserted into the tire according to an embodiment of the present invention, combined with Figure 3 and Figure 4 To describe together, specifically, the second position determining unit 4302 determines the lifting position of the tire loading fork or tire unloading fork of the tire loading and unloading device 140 inserted into the tire through an algorithm according to the obtained relevant parameters of the tire loading device 140 and the relevant parameters of the tire 110.

[0088] Combination Figure 2 and Figure 4 Specifically, the second position determination unit 4302 determines the lifting position of the tire loading and unloading fork or tire unloading fork of the tire loading and unloading device inserted into the tire through an algorithm according to the obtained relevant parameters of the tire loading and unloading device 140 and the relevant parameters of the tire 110. The algorithm may be a geometric analysis algorithm, such as Figure 6 As shown, the second position determination unit 4302 calculates the distance A from the center point of the support arm spacing to the tire center by the Pythagorean theorem. Specifically, the value of A obtained by the Pythagorean theorem of formula (1) is:

[0089]

[0090] Wherein c = r-r'; b = 0.5L; the values ​​of c and b are substituted into the above formula (1) to obtain the value of A in formula (4), and the value of A is:

[0091]

[0092] Wherein, the bottom of the tire carrying device 120 or the tire placing device 150 is taken as a reference plane, for example, the bottom of the tire loading and unloading trolley or the X-ray machine is taken as a reference plane, and the sum of the above distance A, the outer diameter R of the tire, and the lowest position F of the tire without hitting the bottom is equal to the sum of the lowest height E of the support arm and the position value X2 of the support arm. That is, according to the value of A in formula (4) substituted into the following formula (5), the position value X2 of the support arm can be calculated, that is, the lifting position of the tire loading fork or tire unloading fork is obtained:

[0093]

[0094] like Figure 7 FIG. 1 is a flow chart of a method for determining the extended position and the lifted position of the tire loading and unloading fork or tire unloading fork of a tire loading and unloading device according to an embodiment of the present invention. Figures 3 to 6 , the method flow chart includes the following steps:

[0095] Step S701: Obtain relevant parameters of the tire loading device 140;

[0096] Combination Figure 4 Together, the first parameter acquisition unit 4201 acquires the relevant parameters of the tire loading device 140, mainly including the support arm radius r', the support arm spacing L, the set distance t from the support arm to the sub-port, and the minimum height E of the support arm of the tire loading fork 142 and the tire unloading fork 143. The above-mentioned relevant parameters of the tire loading device 140 can be fixed values; or according to the design of different tire loading devices, the above-mentioned relevant parameters can also be variable. Regardless of the relevant parameters of the tire loading device with fixed values ​​or the relevant parameters of the tire loading device with variable values, the first parameter acquisition unit 4201 can store the acquired relevant parameters.

[0097] Step 702: Obtain relevant parameters of the tire 110;

[0098] Combination Figure 4Together, the second parameter acquisition unit 4202 acquires the relevant parameters of the tire 110, mainly including the tire outer diameter R, the tire inner diameter r and other relevant parameters of the tire 110. Specifically, according to different tire specifications and different patterns, the above-mentioned relevant parameters of the tire 110 are variable. Specifically, the data of these variables can come from the manufacturing execution system (MES system), and the second parameter acquisition unit 4202 can pre-store the above-mentioned tire variable parameters from the manufacturing execution system, and can also receive the tire variable parameters sent by the manufacturing execution system through a network connection.

[0099] Step S703: determining the extended position of the tire loading fork or tire unloading fork of the tire loading and unloading device for inserting into the tire according to the acquired relevant parameters of the tire loading device 140 and the relevant parameters of the tire 110.

[0100] Combination Figure 5 , wherein the first position determination unit 4301 determines the extended position of the tire loading fork or tire unloading fork of the tire loading and unloading device inserted into the tire through an algorithm according to the obtained relevant parameters of the tire loading device 140 and the relevant parameters of the tire 110. The algorithm may be a geometric analysis algorithm, such as Figure 5 As shown, the first position determination unit 4301 calculates the distance A from the center point of the support arm spacing to the tire center by the Pythagorean theorem. Specifically, the value of A obtained by the Pythagorean theorem of the following formula (1) is as shown:

[0101]

[0102] Wherein c = rt-r'; b = 0.5L; Substitute the values ​​of c and b into the above formula (1) to obtain the value of A in formula (2), and the value of A is:

[0103]

[0104] The bottom of the tire carrying device 120 or the tire placing device 150 is taken as a reference plane, for example, the bottom of a tire loading and unloading trolley or an X-ray machine is taken as a reference plane. According to the fact that the sum of A and the outer diameter R of the tire is equal to the sum of the lowest height E of the support arm and the position value X of the support arm, the position value X of the support arm can be calculated by substituting the value of A in formula (2) into the following formula (3), that is, the extended position of the tire loading fork or tire unloading fork is obtained:

[0105]

[0106] Wherein, X is the extended position of the tire loading fork or tire unloading fork, R is the outer diameter of the tire, r is the inner diameter of the tire, E is the minimum height of the support arm, L is the support arm spacing; r' is the support arm radius, and t is the set distance from the support arm to the sub-opening.

[0107] Step S704: Determine the lifting position of the tire loading and unloading fork or tire unloading fork of the tire loading and unloading device for inserting into the tire according to the acquired relevant parameters of the tire loading and unloading device 140 and relevant parameters of the tire 110.

[0108] Combination Figure 6 , wherein the second position determination unit 4302 determines the lifting position of the tire loading fork or tire unloading fork of the tire loading and unloading device inserted into the tire through an algorithm according to the obtained relevant parameters of the tire loading device 140 and the relevant parameters of the tire 110. Specifically, the second position determination unit 4302 calculates the distance A from the center point of the support arm spacing to the center of the tire through the Pythagorean theorem. Specifically, the value of A obtained through the Pythagorean theorem of formula (1) is:

[0109]

[0110] Wherein c = r-r'; b = 0.5L; the values ​​of c and b are substituted into the above formula (1) to obtain the value of A in formula (4), and the value of A is:

[0111]

[0112] Wherein, the bottom of the tire bearing device 120 or the tire placing device 150 is taken as a reference plane, for example, the bottom of a tire loading and unloading trolley or an X-ray machine is taken as a reference plane, and the sum of the distance A from the center point of the support arm spacing to the center of the tire, the outer diameter R of the tire, and the lowest position F where the tire does not hit the bottom is equal to the sum of the lowest height E of the support arm and the position value X2 of the support arm. That is, by substituting the value of A in formula (4) into the following formula (5), the position value X2 of the support arm can be calculated, that is, the lifting position of the tire loading fork or tire unloading fork can be obtained:

[0113]

[0114] Step S705: The tire loading or unloading is completed according to the extended position and the lifted position of the tire loading fork or the tire unloading fork of the tire loading and unloading device.

[0115] Specifically, the tire loading and unloading fork of the tire loading and unloading device 140 is inserted into the extended position and the lifted position of the tire and sent to the tire loading and unloading device, and the tire loading and unloading device 140 controls its tire loading and unloading fork according to the extended position and the lifted position to load or unload the tire.

[0116] In the embodiment of the present invention, the controller directly determines the extended position and the lifted position of the tire loading fork or tire unloading fork inserted into the tire through the above-mentioned algorithm, which solves the problem that the original equipment needs to frequently interrupt production for repeated manual teaching in the early stage of production. It can effectively improve the production speed of X-ray flaw detection engineering tires, save a lot of debugging time and labor costs, and prevent errors and differences caused by manual teaching.

[0117] The exemplary embodiment of the present disclosure also provides an electronic device, comprising: at least one processor; and a memory connected to the at least one processor in communication. The memory stores a computer program that can be executed by the at least one processor, and the computer program is used to cause the electronic device to perform the method according to the embodiment of the present disclosure when executed by the at least one processor.

[0118] The exemplary embodiments of the present disclosure also provide a non-transitory computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor of a computer, is used to cause the computer to perform the method according to the embodiments of the present disclosure.

[0119] The exemplary embodiments of the present disclosure further provide a computer program product, including a computer program, wherein when the computer program is executed by a processor of a computer, the computer is used to enable the computer to perform the method according to the embodiments of the present disclosure.

[0120] refer to Figure 8 , a block diagram of an electronic device 800 that can be used as a server or client of the present disclosure will now be described, which is an example of a hardware device that can be applied to various aspects of the present disclosure. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0121] like Figure 8 As shown, the electronic device 800 includes a computing unit 801, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 802 or a computer program loaded from a storage unit 808 into a random access memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the device 800 can also be stored. The computing unit 801, the ROM 802, and the RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0122] A plurality of components in the electronic device 800 are connected to the I / O interface 805, including: an input unit 806, an output unit 807, a storage unit 808, and a communication unit 809. The input unit 806 may be any type of device capable of inputting information to the electronic device 800, and the input unit 806 may receive input digital or character information, and generate key signal inputs related to user settings and / or function control of the electronic device. The output unit 807 may be any type of device capable of presenting information, and may include, but is not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 804 may include, but is not limited to, a disk, an optical disk. The communication unit 809 allows the electronic device 800 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and may include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver, and / or a chipset, such as a Bluetooth™ device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0123] The computing unit 801 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 801 performs the various methods and processes described above. For example, in some embodiments, methods S202-S203, S40 to S405 may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 808. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 800 via ROM 802 and / or communication unit 809. In some embodiments, the computing unit 801 may be configured to execute methods S301-S303, S701 to S705 by any other appropriate means (e.g., by means of firmware).

[0124] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0125] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0126] As used in this disclosure, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and / or device (e.g., disk, optical disk, memory, programmable logic device (PLD)) for providing machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal for providing machine instructions and / or data to a programmable processor.

[0127] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0128] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0129] A computer system may include clients and servers. Clients and servers are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship to each other.

[0130] The embodiment of the present invention proposes a tire handling control method, a control device, a control system and an electronic device. The control method comprises: obtaining relevant parameters of a tire loading and unloading device and relevant parameters of a tire; determining position information of a tire loading and unloading device for loading or unloading a tire through an algorithm calculation according to the relevant parameters of the tire loading and unloading device and relevant parameters of the tire; sending the position information of the loaded or unloaded tire to the tire loading and unloading device, so that the tire loading and unloading device completes the loading or unloading of the tire according to the position information of the loaded or unloaded tire. According to the control method, not only the production speed of X-ray flaw detection engineering tires can be improved, but also the debugging time and labor costs in the process of handling tires can be saved.

[0131] The present invention is shown and described in detail above through the accompanying drawings and preferred embodiments. However, the present invention is not limited to these disclosed embodiments, and other solutions derived therefrom by those skilled in the art are also within the protection scope of the present invention.

Claims

1. A tire handling control method, characterized in that: include: Obtain relevant parameters of the tire loading and unloading device and relevant parameters of the tire; According to the obtained relevant parameters of the tire loading and unloading device and the relevant parameters of the tire, determine the position information of the tire loading and unloading device for loading or unloading the tire through algorithm calculation; The position information of the tire to be loaded or unloaded is sent so that the tire loading and unloading device completes the loading or unloading of the tire according to the position information of the tire to be loaded or unloaded.

2. The method of claim 1, wherein: The method of determining the loading or unloading position information of the tire loading and unloading device by algorithm calculation includes: Determine the extended position and the raised position of the tire loading fork of the tire loading and unloading device by algorithm calculation; or The extended position and the lifted position of the tire unloading fork of the tire loading and unloading device are determined by algorithm calculation.

3. The method of claim 2, wherein: The step of obtaining the extended position of the tire loading fork of the tire loading and unloading device by algorithm calculation specifically includes: Obtain the lowest height E of the tire mounting fork support arm, the distance L between the tire mounting fork support arms, the set distance t from the tire mounting fork support arm to the sub-opening, and the radius r' of the tire mounting fork support arm; Get the outer diameter R and the inner diameter r of the tire; The position value X of the tire mounting fork support arm is calculated based on the obtained minimum height E of the tire mounting fork support arm, the distance L between the tire mounting fork support arms, the set distance t from the tire mounting fork support arm to the sub-mouth, the radius r' of the tire mounting fork support arm, the outer diameter R of the tire and the inner diameter r of the tire, wherein the position value X of the tire mounting fork support arm is the extended position of the tire mounting fork of the tire loading and unloading device.

4. The method of claim 3, wherein: According to the obtained minimum height E of the tire mounting fork support arm, the distance L between the tire mounting fork support arms, the set distance t from the tire mounting fork support arm to the sub-mouth, the radius r' of the tire mounting fork support arm, the outer diameter R of the tire and the inner diameter r of the tire, the position value X of the tire mounting fork support arm is calculated by the following formula: Wherein, X is the extended position of the tire mounting fork, R is the outer diameter of the tire, r is the inner diameter of the tire, E is the lowest height of the tire mounting fork support arm, L is the distance between the tire mounting fork support arms; r' is the radius of the tire mounting fork support arm, and t is the set distance from the tire mounting fork support arm to the sub-opening.

5. The method of claim 4, wherein: Before obtaining the position value X of the tire mounting fork support arm by calculation, the value of the distance A from the center point of the tire mounting fork support arm spacing to the tire center is calculated by the following formula; 6. The method of claim 2, wherein: The step of obtaining the lifting position of the tire loading fork of the tire loading and unloading device by algorithm calculation specifically includes: Obtain the lowest height E of the tire mounting fork support arm, the distance L between the tire mounting fork support arms, the set distance t from the tire mounting fork support arm to the sub-opening, and the radius r' of the tire mounting fork support arm; Obtaining the outer diameter R and the inner diameter r of the tire; The position value X2 of the tire mounting fork support arm is obtained by calculation according to the minimum height E of the tire mounting fork support arm, the distance L between the tire mounting fork support arms, the set distance t from the tire mounting fork support arm to the sub-mouth, the radius r' of the tire mounting fork support arm, the outer diameter R of the tire, the inner diameter r of the tire, and the lowest position F at which the tire does not hit the bottom, wherein the position value X2 of the tire mounting fork support arm is the lifting position of the tire mounting fork of the tire loading and unloading device.

7. The method of claim 6, wherein: The position value X2 of the tire mounting fork support arm is calculated by the following formula:

8. The method of claim 7, wherein: Before obtaining the position value X2 of the tire mounting fork support arm by calculation, the value of the distance A from the center point of the tire mounting fork support arm spacing to the tire center is calculated by the following formula; 9. The method according to any one of claims 1 to 8, wherein obtaining tire-related parameters comprises: The inner diameter and outer diameter of the tire are obtained through a manufacturing execution system, wherein the sizes of the inner diameter and outer diameter of the tire are variables according to different specifications and different patterns.

10. A control device for tire handling, the control device comprising: A parameter acquisition device, used to acquire relevant parameters of the tire loading and unloading device and relevant parameters of the tire; The position processing device is used to determine the position information of the tire loading or unloading device for loading or unloading the tire through algorithm calculation according to the relevant parameters of the tire loading and unloading device and the relevant parameters of the tire.

11. The control device according to claim 10, wherein: The control device further comprises a sending unit for sending the position information of the loaded or unloaded tire, so that the tire loading and unloading device completes the loading or unloading of the tire according to the position information of the loaded or unloaded tire.

12. The control device according to claim 10, wherein: The position processing device is used to determine the extended position and the lifted position of the tire loading fork of the tire loading and unloading device through algorithm calculation; or the position processing device is used to determine the extended position and the lifted position of the tire unloading fork of the tire loading and unloading device through algorithm calculation.

13. A control device according to any one of claims 10 to 12, wherein: The parameter acquisition device comprises a first parameter acquisition unit, which is used to acquire the lowest height E of the tire mounting fork support arm, the distance L between the tire mounting fork support arms, the set distance t from the tire mounting fork support arm to the sub-opening, and the radius r' of the tire mounting fork support arm; The parameter acquisition device includes a second parameter acquisition unit, which is used to acquire the outer diameter R of the tire and the inner diameter r of the tire; The position processing device comprises a first position processing unit, which is used to calculate and obtain the position value X of the tire mounting fork support arm according to the acquired minimum height E of the tire mounting fork support arm, the distance L between the tire mounting fork support arms, the set distance t from the tire mounting fork support arm to the sub-mouth, the radius r' of the tire mounting fork support arm, the outer diameter R of the tire and the inner diameter r of the tire, wherein the position value X of the tire mounting fork support arm is the extended position of the tire mounting fork of the tire loading and unloading device.

14. The control device according to claim 13, wherein: The first position processing unit calculates the position value X of the tire mounting fork support arm according to the acquired minimum height E of the tire mounting fork support arm, the distance L between the tire mounting fork support arms, the set distance t from the tire mounting fork support arm to the sub-mouth, the radius r' of the tire mounting fork support arm, the outer diameter R of the tire, and the inner diameter r of the tire by the following formula: Wherein, X is the extended position of the tire mounting fork, R is the outer diameter of the tire, r is the inner diameter of the tire, E is the lowest height of the tire mounting fork support arm, L is the distance between the tire mounting fork support arms, r' is the radius of the tire mounting fork support arm, and t is the set distance from the tire mounting fork support arm to the sub-opening.

15. The control device according to claim 13, wherein: The first position processing unit tire mounting fork is further used to calculate the value of the distance A from the center point of the tire mounting fork support arm spacing to the tire center by the following formula:

16. A control device as claimed in any one of claims 10 to 12, wherein: The parameter acquisition device comprises a first parameter acquisition unit for mounting a tire fork Obtain the lowest height E of the tire mounting fork support arm, the distance L between the tire mounting fork support arms, the set distance t from the tire mounting fork support arm to the sub-opening, and the radius r' of the tire mounting fork support arm; The parameter acquisition device includes a second parameter acquisition unit, which is used to acquire the outer diameter R of the tire and the inner diameter r of the tire; The position processing device includes a second position processing unit, which is used to calculate and obtain the position value X2 of the tire mounting fork support arm according to the obtained minimum height E of the tire mounting fork support arm, the distance L between the tire mounting fork support arms, the set distance t from the tire mounting fork support arm to the sub-mouth, the radius r' of the tire mounting fork support arm, the outer diameter R of the tire, the inner diameter r of the tire, and the lowest position F of the tire without hitting the bottom, wherein the position value X2 of the tire mounting fork support arm is the lifting position of the tire mounting fork of the tire loading and unloading device.

17. The control device according to claim 16, wherein: The second position processing unit is used to calculate the position value X2 of the tire mounting fork support arm by the following formula:

18. The control device according to claim 17, wherein: The second position processing unit is used to calculate the value of the distance A from the center point of the tire mounting fork support arm spacing to the tire center by the following formula:

19. A control system for tire handling, the control system mainly comprising a tire loading and unloading device and a processor, wherein the processor is used to: Acquire relevant parameters of the tire loading and unloading device and relevant parameters of the tire; determine position information of the tire loading and unloading device for loading or unloading the tire by algorithm calculation according to the acquired relevant parameters of the tire loading and unloading device and relevant parameters of the tire; The tire loading and unloading device is used to receive the position information of the loaded or unloaded tire and complete the loading or unloading of the tire according to the loaded or unloaded tire position information.

20. The control system of claim 19, wherein: The processor is used to determine the extended position and the lifted position of the tire loading fork of the tire loading and unloading device through algorithm calculation; or the processor is used to determine the extended position and the lifted position of the tire unloading fork of the tire loading and unloading device through algorithm calculation.

21. The control system of claim 20, wherein: The processor is used to calculate the extension position of the tire loading fork of the tire loading and unloading device through an algorithm, specifically comprising: Obtain the lowest height E of the tire mounting fork support arm, the distance L between the tire mounting fork support arms, the set distance t from the tire mounting fork support arm to the sub-opening, and the radius r' of the tire mounting fork support arm; Get the outer diameter R and the inner diameter r of the tire; The position value X of the tire mounting fork support arm is obtained by calculation according to the obtained minimum height E of the tire mounting fork support arm, the distance L between the tire mounting fork support arms, the set distance t from the tire mounting fork support arm to the sub-mouth, the radius r' of the tire mounting fork support arm, the outer diameter R of the tire and the inner diameter r of the tire, wherein the position value X of the tire mounting fork support arm is the extended position of the tire mounting fork of the tire loading and unloading device.

22. The control system of claim 21, wherein: The processor is used to calculate the position value X of the tire mounting fork support arm according to the obtained minimum height E of the tire mounting fork support arm, the distance L between the tire mounting fork support arms, the set distance t from the tire mounting fork support arm to the sub-opening, the radius r' of the tire mounting fork support arm, the outer diameter R of the tire, and the inner diameter r of the tire by the following formula: Wherein, X is the extended position of the tire mounting fork, R is the outer diameter of the tire, r is the inner diameter of the tire, E is the lowest height of the tire mounting fork support arm, L is the distance between the tire mounting fork support arms, r' is the radius of the tire mounting fork support arm, and t is the set distance from the tire mounting fork support arm to the sub-opening.

23. The control system of claim 22, wherein: The controller is also used for calculating the value of the distance A from the center point of the spacing between the support arms of the tire mounting fork to the center of the tire by the following formula:

24. The control system of claim 20, wherein: The controller is used to calculate the lifting position of the tire loading fork of the tire loading and unloading device through an algorithm, specifically comprising: Obtain the lowest height E of the tire mounting fork support arm, the distance L between the tire mounting fork support arms, the set distance t from the tire mounting fork support arm to the sub-opening, and the radius r' of the tire mounting fork support arm; Obtaining the outer diameter R and the inner diameter r of the tire; The position value X2 of the tire mounting fork support arm is obtained by calculation according to the obtained minimum height E of the tire mounting fork support arm, the distance L between the tire mounting fork support arms, the set distance t from the tire mounting fork support arm to the sub-mouth, the radius r' of the tire mounting fork support arm, the outer diameter R of the tire, the inner diameter r of the tire, and the lowest position F at which the tire does not hit the bottom, wherein the position value X2 of the tire mounting fork support arm is the lifting position of the tire mounting fork of the tire loading and unloading device.

25. The control system of claim 24, wherein: The controller is used to calculate the position value X2 of the tire mounting fork support arm by the following formula:

26. The control system of claim 25, wherein: The controller is also used to calculate the value of the distance A from the center point of the tire mounting fork support arm spacing to the tire center by the following formula:

27. An electronic device comprising: processor; as well as Memory for storing programs, The program includes instructions, which, when executed by the processor, cause the processor to perform the method according to any one of claims 1 to 9.

28. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-9.

29. A computer program product comprising a computer program, wherein: When the computer program is executed by a processor, the method according to any one of claims 1 to 9 is implemented.

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