Automatic conveying production line control method and system for tire processing

Abstract

The invention relates to the technical field of automatic production control, in particular to an automatic conveying production line control method and system for tire processing. Current and voltage of conveying equipment are collected, conveying power consumption of a conveying path is calculated according to the tire conveying amount, and the energy consumption rate of the conveying path is analyzed by referring to the length and speed of a conveying belt; and calculating a path energy consumption ratio to obtain path energy consumption distribution data. According to the invention, through the energy consumption analysis of the conveying equipment, the high-energy-consumption area is accurately identified, and the refined management of the path load is realized. The conveying task is dynamically adjusted according to the load balancing coefficient, local overload or resource idleness is reduced, and the stability of the conveying system is improved. And in combination with the tension change trend of the conveying belt, a track correction mode is optimized, and conveying deviation caused by tension fluctuation is reduced. On the basis of conveying path load prediction, the conveying rate and the equipment throughput capacity are matched, conveying flow regulation and control are optimized, the blockage or no-load problem is reduced, and the overall operation efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automated production control, and particularly to a control method and system for an automatic conveying production line for tire processing. Background Art

[0002] The technical field of automated production control involves the automated regulation and management of production processes in industrial production through computer control systems, sensor networks, actuators, etc. The core content of this technical field involves production monitoring based on sensor data collection and analysis, equipment scheduling and optimization based on computer control, production data transmission and interaction based on the Internet of Things and communication protocols. The overall technical field covers aspects such as the construction of intelligent manufacturing systems, automated assembly line control, optimization and adaptive adjustment of production process parameters, collaborative operation of industrial robots, detection and adjustment of production process anomalies, etc. Its key technologies include automatic control of production lines based on programmable logic controllers, real-time monitoring and data collection based on industrial computers, quality inspection and defect identification based on computer vision, and production decision optimization based on artificial intelligence algorithms.

[0003] Among them, the control method for an automatic conveying production line for tire processing refers to the transmission and regulation of tires between various processing operations in the tire manufacturing process through an automatic conveying system and computer control methods. This method covers the conveying path planning of tires on the production line, tire position detection and information collection based on sensors, start-stop and operating parameter setting of conveying equipment based on computer control, production data interaction and control instruction transmission based on network communication protocols, tire workpiece classification and status monitoring based on image recognition. Specifically, a motor-driven conveying device is used to carry tires, an encoder and an optoelectronic sensor are used to obtain the operating state of the conveyor belt, an industrial control computer analyzes the conveying data and performs logical judgments, an actuator adjusts the conveyor belt speed and running trajectory, and a network module realizes data synchronization and remote monitoring between the production management system and the control terminal to ensure the continuity of the tire processing process and the precise control of the conveying system.

[0004] The load status of the conveying path depends on static preset rules and cannot be precisely adjusted according to the real-time changes in the load during the actual production process. As a result, high-load paths may be overloaded for a long time, while the resource utilization rate of low-load paths is insufficient, affecting the conveying efficiency. The energy consumption of the conveying equipment cannot be accurately quantified, making it difficult to consider the energy consumption distribution during the conveying task allocation. This may lead to the continuous operation of high-energy consumption paths, increasing the production cost. The adjustment method of the conveying trajectory is relatively single and does not combine the trend of tension change for precise correction. This may cause the accumulation of conveying trajectory deviation, resulting in tire accumulation or operation deviation during the conveying process, affecting the continuity of the processing technology. The load changes of the conveying path cannot be effectively predicted, making it difficult to adjust the conveying tasks in a timely manner. This leads to frequent occurrences of path congestion or resource idleness, reducing the production efficiency. The allocation method of the conveying tasks is relatively fixed and does not dynamically adjust the load balance between the conveying paths, resulting in a strong rigidity in the system operation. It cannot flexibly adapt to the changes in different production rhythms, making it difficult to improve the overall conveying efficiency. Summary of the Invention

[0005] To solve the technical problems existing in the prior art, an embodiment of the present invention provides a control method and system for an automatic conveying production line for tire processing. The technical solutions are as follows:

[0006] A control method for an automatic conveying production line for tire processing includes the following steps:

[0007] S1: Collect the current, voltage, and tire conveying volume of the conveying equipment to calculate the conveying power consumption of the conveying path. Refer to the conveyor belt length and speed to obtain the energy consumption rate of the conveying path, and calculate the energy consumption ratio of the conveying power consumption and the energy consumption rate to obtain the path energy consumption distribution data;

[0008] S2: Extract the energy consumption ratio in the path energy consumption distribution data, evaluate the load status of the conveying equipment, calculate the path load balance coefficient, and redistribute the tire conveying ratio of the conveying path to obtain the conveying task allocation result;

[0009] S3: Invoke the tire conveying ratio in the conveying task allocation result to obtain the tension change of the conveyor belt, analyze the trend of trajectory deviation caused by the tension change, correct the deviation step length, and obtain the tire deviation correction data;

[0010] S4: Invoke the load data, conveying interval time, and equipment throughput capacity of each conveying path after the deviation step length correction in the tire deviation correction data to predict the load changes of the conveying path in the future time period and obtain the load change analysis result;

[0011] S5: Adjust the tire feeding order according to the load changes in the future time period in the load change analysis result, and correct the conveying speed, conveying interval time, and trajectory to generate a tire conveying control instruction.

[0012] As a further solution of the present invention, the path energy consumption distribution data includes the conveying path power consumption, the conveyor belt energy consumption rate, and the path energy consumption ratio; the conveying task allocation result includes the path load balancing coefficient, the tire conveying ratio, and the conveying task allocation; the tire offset correction data includes the change in the conveying path load, the change in the conveyor belt tension, and the offset correction step size; the load change analysis result includes the conveying path load data, the conveying interval time, the equipment throughput capacity, and the load change trend in the future time period; the tire conveying control instruction includes the adjustment of the tire placement order, the adjustment of the conveying rate, the adjustment of the conveying interval time, and the adjustment of the trajectory correction.

[0013] As a further solution of the present invention, the specific steps for collecting the current and voltage of the conveying equipment and calculating the conveying power consumption of the conveying path, obtaining the energy consumption rate of the conveying path by referring to the conveyor belt length and speed, and calculating the energy consumption ratio of the conveying power consumption and the energy consumption rate to obtain the path energy consumption distribution data are as follows:

[0014] S101: Obtain the operating parameters of the conveying equipment, collect the current, voltage, and operating time data within a specified time, calculate the instantaneous power at each time point, construct a sequence of the power change of the conveying equipment, analyze the mean value and the fluctuation range of the sequence, and generate the power characteristic parameters of the conveying equipment;

[0015] S102: Based on the power characteristic parameters of the conveying equipment and combined with the tire conveying volume on the conveying path, calculate the conveying power consumption at each time point, and cumulatively calculate the energy consumption value under the conveying volume, obtain the energy consumption fluctuation range of the conveying path in multiple time periods, analyze the average energy consumption level of the conveying path, and obtain the energy consumption of the conveying path for the conveying volume;

[0016] S103: Call the energy consumption of the conveying path for the conveying volume, extract the conveyor belt length and speed of the conveying equipment, calculate the energy consumption rate of the conveying path, and calculate the energy consumption ratio based on the energy consumption rate and the conveying power consumption, map the energy consumption ratio to the conveying path, and obtain the path energy consumption distribution data.

[0017] As a further solution of the present invention, the specific steps for extracting the energy consumption ratio in the path energy consumption distribution data, evaluating the load status of the conveying equipment, calculating the path load balancing coefficient, and reallocating the tire conveying ratio of the conveying path to obtain the conveying task allocation result are as follows:

[0018] S201: Based on the path energy consumption distribution data, call the energy consumption ratio of the conveying path, analyze the load status of each path, calculate the path load balancing coefficient, and compare the load balancing coefficient ranges of all paths to obtain the path load balancing coefficient set;

[0019] S202: Screen the paths with load balancing coefficients not exceeding the load balancing threshold according to the set of path load balancing coefficients, extract the number of tires in the current conveyor task queue, calculate the adjustment ratio of the number of tires corresponding to each path, determine the adjustment value of the tire conveyor volume for each path, and obtain the tire number adjustment result;

[0020] S203: Reallocate the conveyor tasks based on the tire number adjustment result, correct the conveyor task queue for each path to ensure that the tire conveyor volume conforms to the adjustment ratio, and obtain the conveyor task allocation result.

[0021] As a further solution of the present invention, the specific steps for calling the tire conveyor ratio in the conveyor task allocation result, obtaining the tension change of the conveyor belt, analyzing the trajectory deviation trend caused by the tension change, correcting the deviation step, and obtaining the tire deviation correction data are as follows:

[0022] S301: Call the tire number adjustment ratio in the conveyor task allocation result, calculate the load change amount of each conveyor path, analyze the tension change of the conveyor belt in the corresponding conveyor equipment according to the load change amount, extract the tension change interval of each path, and obtain the conveyor path tension change data;

[0023] S302: Based on the conveyor path tension change data, analyze the influence of the tension change on the stability of the conveyor trajectory, calculate the trajectory deviation trend caused by the tension change, extract the trajectory deviation direction and deviation amplitude, and calculate the deviation adjustment range by combining the tension distribution differences of multiple paths to obtain the conveyor path trajectory deviation trend;

[0024] S303: Call the conveyor path trajectory deviation trend, calculate the deviation correction step, and adjust the conveyor speed and lateral deviation angle of the tires according to the amplitude and direction of the trajectory deviation trend, correct the real-time position and running trajectory of the tires in the conveyor path, and obtain the tire deviation correction data.

[0025] As a further solution of the present invention, for calculating the load change amount of each conveyor path, the formula is used:

[0026]

[0027] where, ΔF i represents the load change amount of conveyor path i, M ij represents the tire conveyor mass of conveyor path i at time t j , M ij-1 represents the tire conveyor mass of conveyor path i at time t j-1 , Δt j represents the time interval between two adjacent time points t j and t j-1 , V ijRepresents the conveyor belt speed at time t for path i, V j at, V ij-1 Represents the conveyor belt speed at time t for path i j-1 at, γ j Represents time t j at the load adjustment coefficient.

[0028] As a further solution of the present invention, for calculating the trajectory deviation trend caused by the change in tension, the formula is adopted:

[0029]

[0030] where, Δθ i represents the change amount of the trajectory deviation angle at the conveying path i, T ij represents the tension value at the conveying path i at time t j at, T ij-1 represents the tension value at the conveying path i at time t j-1 at, β ij represents the conveyor belt inclination angle at the conveying path i at time t j at, β ij-1 represents the conveyor belt inclination angle at the conveying path i at time t j-1 at, FR j represents the frictional resistance of the conveyor belt at path j, d ij represents the lateral offset distance of the belt surface at the conveying path i at time t j at, M i represents the total mass of the tires at the conveying path i, g represents the acceleration due to gravity, R i represents the trajectory radius of the conveying path i.

[0031] As a further solution of the present invention, the specific steps for predicting the load change in the future time period of the conveying path and obtaining the load change analysis result by calling the load data, conveying interval time, and equipment throughput capacity of each conveying path after the offset step correction in the tire offset correction data are as follows:

[0032] S401: According to the tire offset correction data, call the load data of multiple monitoring nodes of each corrected conveying path, combine the conveying interval time and the throughput capacity of the target processing equipment, calculate the change in the conveying flow of each path, and obtain the conveying path flow change data;

[0033] S402: Based on the conveying path flow change data, combine the conveying rate of the conveyor belt in the current conveying equipment, calculate the change amount of the path load in the future time period, analyze the load change amplitude of each path, and compare the load distribution of the conveying path before and after the trajectory offset correction to obtain the conveying path load change trend;

[0034] S403: Invoke the load change trend of the conveying path, evaluate the impact of trajectory correction on the conveying capacity of the conveying equipment, calculate the conveying capacity adjustment value, construct the conveying capacity adjustment curve, and obtain the load change analysis result.

[0035] As a further solution of the present invention, the specific steps of adjusting the tire delivery order according to the future load change in the load change analysis result, and correcting the conveying speed, conveying interval time and trajectory to generate the tire conveying control instruction are as follows:

[0036] S501: Judge whether the path is in an idle state according to the load change analysis result, adjust the tire delivery order, calculate the real-time load value of each conveying path, and obtain the load state of the conveying path;

[0037] S502: Based on the load state of the conveying path, invoke the paths in the unassigned conveying task queue with a load not exceeding the load threshold to perform task allocation, optimize the load balance of the conveying path, and obtain the path load optimization result;

[0038] S503: Invoke the path load optimization result, associate the rotational speed of the conveyor belt drive motor, calculate the conveyor belt conveying speed that needs to be adjusted, and synchronously adjust the path load, conveying interval time and trajectory correction to generate the tire conveying control instruction.

[0039] An automatic conveying production line control system for tire processing, the system includes:

[0040] A conveying path energy consumption calculation module, which obtains the operating parameters of the conveying equipment, collects the current, voltage and operating time of the conveying equipment, calculates the instantaneous power and accumulates it to obtain the conveying power consumption, extracts the conveyor belt length and speed to calculate the energy consumption rate, maps the energy consumption rate to the conveying path and partitions it, calculates the conveying distance energy consumption of each partition, and generates path energy consumption distribution data;

[0041] A path load balancing module, based on the path energy consumption distribution data, extracts the energy consumption ratio of each path, evaluates the load state of the conveying equipment, calculates the path load balancing coefficient, determines the paths with an equilibrium coefficient not exceeding the equilibrium threshold, reallocates the current path tire conveying ratio, and generates the conveying task allocation result;

[0042] A trajectory deviation prediction module, which invokes the conveying ratio in the conveying task allocation result, obtains the tension change of the conveyor belt, analyzes the trajectory deviation trend caused by the tension change, corrects the deviation step length, and obtains the tire deviation correction data;

[0043] A load change analysis module, according to the load data, conveying interval time and equipment throughput capacity of each conveying path after the deviation step length is corrected in the tire deviation correction data, predicts the load change of the conveying path in the future time period, and obtains the load change analysis result;

[0044] The conveying control instruction generation module calls the future load changes in the load change analysis result to adjust the tire delivery sequence, selects a path with a load not exceeding the load threshold, re-plans the tire conveying task, and generates a tire conveying control instruction.

[0045] The beneficial effects brought by the technical solution provided in the embodiment of the present invention at least include:

[0046] In the present invention, through the energy consumption analysis of the conveying equipment, high-energy consumption areas are accurately identified, and refined management of path load is achieved. According to the load balance coefficient, the conveying task is dynamically adjusted to reduce local overload or resource idleness, and the stability of the conveying system is improved. Combining the change trend of the conveyor belt tension, the trajectory correction method is optimized to reduce the conveying deviation caused by tension fluctuation. Based on the prediction of the load on the conveying path, the conveying rate is matched with the throughput capacity of the equipment, the conveying flow control is optimized, the problems of blockage or no-load are reduced, and the overall operation efficiency is improved. The load status of the conveying path is monitored in real time, and the conveying task is dynamically adjusted in association with the rotational speed of the drive motor, making the task allocation more flexible, improving the conveying efficiency and reducing the energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0048] Figure 1 is the flowchart of the method of the present invention;

[0049] Figure 2 is the system module diagram of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0050] The following describes the technical solutions in the present invention with reference to the drawings.

[0051] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "example" in the present invention should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Exactly speaking, the use of the word "example" is intended to present concepts in a specific way. In addition, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one of the two.

[0052] In the embodiments of the present invention, "image" and "picture" can sometimes be used interchangeably. It should be noted that when the difference is not emphasized, their intended meanings are the same. "Of", "corresponding", and "corresponding to" can sometimes be used interchangeably. It should be noted that when the difference is not emphasized, their intended meanings are the same.

[0053] In the embodiments of the present invention, sometimes a subscript such as W1 may be written in a non-subscript form such as W1. When the difference is not emphasized, their intended meanings are the same.

[0054] To make the technical problems, technical solutions, and advantages to be solved by the present invention clearer, the following will be described in detail with reference to the accompanying drawings and specific embodiments.

[0055] Please refer to Figure 1 , the present invention provides a technical solution: a control method for an automatic conveying production line for tire processing, including the following steps:

[0056] S1: Obtain the operating parameters of the conveying equipment, collect the current, voltage, and operating time data within a specified time, calculate the instantaneous power of the conveying equipment, calculate the conveying power consumption of the current conveying path according to the tire conveying volume on the conveying path, extract the conveyor belt length and speed of the conveying equipment, calculate the energy consumption rate of the conveying path, calculate the energy consumption ratio of the conveying path according to the energy consumption rate and the conveying power consumption, map the energy consumption ratio to the conveying path, and obtain the path energy consumption distribution data;

[0057] S2: Analyze the load status of the conveying equipment according to the path energy consumption distribution data, calculate the path load balance coefficient, compare the conveying power consumption of each conveying path, determine the path with the load balance coefficient not exceeding the load balance threshold, extract the number of tires in the current conveying task queue, calculate the adjustment ratio of the number of tires, and reallocate the conveying tasks according to the adjustment ratio to obtain the conveying task allocation result;

[0058] S3: Invoke the adjustment ratio of the number of tires from the conveying task allocation result, calculate the load change amount of each conveying path after reallocation, obtain the change in the tension of the conveyor belt in the corresponding conveying equipment, analyze the impact of the tension change on the stability of the conveying trajectory and the trend of trajectory deviation caused by the tension change, determine the offset correction step size in combination with the deviation trend, and obtain the tire offset correction data;

[0059] S4: Call the load data, conveying interval time, and throughput capacity of the target processing equipment of multiple monitoring nodes on each conveying path after correcting the tire trajectory correction data. Combine the conveying flow rate change and the conveying speed of the conveyor belt in the current conveying equipment to predict the load change of the conveying path in the future time period. Compare the load distribution of the conveying path before and after the path trajectory deviation correction, evaluate the impact of the trajectory correction on the conveying capacity of the conveying equipment, and obtain the load change analysis result;

[0060] S5: Judge whether the conveying path is in an idle state according to the load change analysis result, adjust the tire placement order, call the path with a load not exceeding the load threshold in the unassigned conveying task queue to execute task allocation, associate the rotational speed of the conveyor belt drive motor, calculate the conveying speed that needs to be adjusted, synchronously adjust the path load, conveying interval time, and trajectory correction, and generate a tire conveying control instruction.

[0061] The path energy consumption distribution data includes the conveying path power consumption, the conveyor belt energy consumption rate, and the path energy consumption ratio. The conveying task allocation result includes the path load balance coefficient, the tire conveying ratio, and the conveying task allocation. The tire offset correction data includes the load change amount of the conveying path, the conveyor belt tension change, and the offset correction step size. The load change analysis result includes the conveying path load data, the conveying interval time, the equipment throughput capacity, and the load change trend in the future time period. The tire conveying control instruction includes the adjustment of the tire placement order, the adjustment of the conveying speed, the adjustment of the conveying interval time, and the adjustment of the trajectory correction.

[0062] Collect the current and voltage of the conveying equipment and the tire conveying volume to calculate the conveying power consumption of the conveying path. Refer to the conveyor belt length and speed to obtain the energy consumption rate of the conveying path, and calculate the energy consumption ratio of the conveying power consumption and the energy consumption rate. The specific steps to obtain the path energy consumption distribution data are as follows:

[0063] S101: Obtain the operating parameters of the conveying equipment, collect the current, voltage, and operating time data within a specified time, calculate the instantaneous power at each time point, construct a power change sequence of the conveying equipment, analyze the mean value and fluctuation range of the sequence, and generate the power characteristic parameters of the conveying equipment;

[0064] Obtain the operating parameters of the conveying equipment, including current, voltage, and operating time data. For the current and voltage data, first preprocess the collected data, convert the original data into time series data, and remove outliers. Calculate the instantaneous power at each time point within the acquisition time. The instantaneous power is calculated using P = U × I, where P represents the instantaneous power, U represents the voltage, and I represents the current. All data is indexed by timestamp to ensure the consistency of the time points for power calculation. After power calculation, construct the power change sequence of the conveying equipment, normalize the sequence, and perform statistical analysis on it. The statistical analysis content includes mean calculation, standard deviation calculation, and fluctuation range calculation. The mean calculation is to take the average after accumulating the power data at all time points. The standard deviation calculation is to divide the sum of the squared deviations between the power value at each time point and the mean by the number of time points and then take the square root. The fluctuation range calculation is the difference between the maximum and minimum values of the power data. Obtain the power characteristic parameters of the conveying equipment, including power mean, power fluctuation range, power change trend, etc. If the power change rate exceeds the set threshold within a certain time period, mark this time period as an abnormal fluctuation segment and further analyze the reasons for the abnormal fluctuation. For example, whether the instantaneous increase in power is related to the start-stop state of the equipment or is affected by external load changes. Finally, output the power characteristic parameters of the conveying equipment, including data such as mean, fluctuation range, and abnormal fluctuation time periods.

[0065] S102: Based on the power characteristic parameters of the conveying equipment and combined with the tire conveying volume on the conveying path, calculate the conveying power consumption at each time point, and cumulatively calculate the energy consumption value under the conveying volume to obtain the energy consumption fluctuation range of the conveying path in multiple time periods, analyze the average energy consumption level of the conveying path, and obtain the energy consumption of the conveying path for the conveying volume.

[0066] Based on the power characteristic parameters of the conveying equipment and combined with the tire conveying volume on the conveying path, first obtain the tire conveying volume data at each time point on the conveying path. The tire conveying volume data is from the sensor detection of the conveying equipment. Record the number of tires passing through the conveying path at each time point and calculate the conveying volume per unit time. Calculate the conveying power consumption. The conveying power consumption is calculated using E t = P t ×Δt for calculation, where E t represents the conveying power consumption at this time point, and P tRepresents the instantaneous power at this time point, Δt represents the time interval. The total energy consumption value is obtained by cumulatively calculating the power consumption during all time points. Meanwhile, the energy consumption fluctuation range of the conveying path within multiple time periods is calculated. The energy consumption fluctuation range is calculated as the difference between the maximum and minimum energy consumption values. And the average energy consumption level of the conveying path is calculated. The average energy consumption level is calculated by dividing the total energy consumption value of all time points by the number of time periods. Determine whether the energy consumption in a certain time period is abnormal. If the energy consumption in a certain time period is higher than 1.2 times the average value of the entire time period, then mark this time period as a high energy consumption period and analyze the reasons for the high energy consumption period, such as whether the conveying volume has increased significantly or whether the power characteristics have changed. Finally, obtain the energy consumption of the conveying volume of the conveying path and generate an energy consumption data table for each time point.

[0067] S103: Invoke the energy consumption of the conveying volume of the conveying path, extract the conveyor belt length and speed of the conveying equipment, calculate the energy consumption rate of the conveying path, and calculate the energy consumption ratio based on the energy consumption rate and the conveying power consumption. Map the energy consumption ratio to the conveying path to obtain the path energy consumption distribution data;

[0068] Invoke the energy consumption of the conveying volume of the conveying path, extract the conveyor belt length and speed of the conveying equipment. First, obtain the conveyor belt length data, which is from the equipment calibration information, and obtain the conveyor belt speed data, which is from the measurement of the equipment sensor. Calculate the energy consumption rate of the conveying path. The energy consumption rate is calculated using R = E / L, where R represents the energy consumption rate, E represents the total energy consumption of the conveying path, and L represents the length of the conveying path. Calculate the conveying power consumption at each time point. The conveying power consumption is calculated by dividing the energy consumption per unit time by the conveyor belt speed, that is, P s = E t / v for calculation, where P s represents the conveying power consumption, E t represents the energy consumption at a certain time point, and v represents the conveyor belt speed. Calculate the energy consumption ratio. The energy consumption ratio is calculated as the ratio of the conveying power consumption at each time point to the average conveying power consumption of the entire time period. If the energy consumption ratio at a certain time point is greater than 1.3, then mark this time point as a high energy consumption ratio point, analyze the distribution of the high energy consumption ratio points, map the energy consumption ratio to the conveying path, form the path energy consumption distribution data, generate the energy consumption ratio data for each time point of the conveying path, and output the path energy consumption distribution map.

[0069] Extract the energy consumption ratio from the path energy consumption distribution data, evaluate the load status of the conveying equipment, calculate the path load balance coefficient, and re - allocate the tire conveying ratio of the conveying path. The specific steps to obtain the conveying task allocation result are as follows:

[0070] S201: Based on the path energy consumption distribution data, call the energy consumption ratio of the conveying path, analyze the load status of each path, calculate the path load balancing coefficient, compare the range of the load balancing coefficients of all paths, and obtain the path load balancing coefficient set;

[0071] Based on the path energy consumption distribution data, call the conveying power consumption of the conveying path. First, obtain the energy consumption data of each path at different time points and arrange them in time series. Calculate the average conveying power consumption of each path at the same time point, extract the load status of each path, and the calculation of the load status is based on the ratio of the energy consumption data to the conveying volume data. Calculate the path load balancing coefficient. The load balancing coefficient is calculated by dividing the instantaneous conveying power consumption of each path by the conveying volume at the corresponding time point of the path to ensure that the path load balancing coefficient can be used for horizontal comparison of different paths. After the load balancing coefficients of all paths are calculated, count the maximum value, minimum value, mean value, and standard deviation of the load balancing coefficients, and divide the load balancing coefficients of all paths into intervals. The load balancing coefficients are divided into four intervals according to the statistical distribution: the first interval is the path where the load balancing coefficient is less than the mean minus the standard deviation, the second interval is the path where the load balancing coefficient is between the mean minus the standard deviation and the mean, the third interval is the path where the load balancing coefficient is between the mean and the mean plus the standard deviation, and the fourth interval is the path where the load balancing coefficient is greater than the mean plus the standard deviation. Finally, obtain the path load balancing coefficient set and output the load balancing status data of each path.

[0072] S202: According to the path load balancing coefficient set, filter out the paths whose load balancing coefficients do not exceed the load balancing threshold, extract the number of tires in the current conveying task queue, calculate the tire quantity adjustment ratio corresponding to each path, determine the tire conveying volume adjustment value of the path, and obtain the tire quantity adjustment result;

[0073] According to the path load balancing coefficient set, filter out the paths whose load balancing coefficients do not exceed the load balancing threshold. The load balancing threshold is set based on the mean of the path load balancing coefficient set plus a set tolerance value, and this tolerance value can be set to 20% of the mean. After filtering, retain the paths whose load balancing coefficients are less than this threshold. Obtain the number of tires in the current conveying task queue. The way to obtain the number of tires is based on the current conveying queue of each path. Extract the total number of tires currently conveyed by each path and calculate the tire quantity adjustment ratio corresponding to each path. The tire quantity adjustment ratio is calculated by dividing the load balancing coefficient of each path by the mean of the load balancing coefficients of the filtered paths. Determine the tire conveying volume adjustment value of the path. The tire conveying volume adjustment value is calculated by multiplying the total tire quantity by the adjustment ratio and rounding down to ensure that the conveying adjustment value is an integer. Obtain the tire quantity adjustment result and generate the adjusted conveying volume data table for each path.

[0074] S203: Reallocate the conveying tasks based on the tire quantity adjustment result, correct the conveying task queue for each path to ensure that the tire conveying volume conforms to the adjustment ratio, and obtain the conveying task allocation result;

[0075] Reallocate the conveying tasks based on the tire quantity adjustment result, obtain the current conveying task queues for all paths, calculate the change in the conveying volume for each path before and after the adjustment, correct the conveying task queue for each path to ensure that the tire conveying volume in the adjusted conveying task queue conforms to the adjustment ratio. The correction method is to gradually adjust using the difference between the conveying volume before adjustment and the conveying volume after adjustment. When adjusting, first reduce the tire quantity on the path where the conveying volume exceeds the adjustment value, and then supplement the path with insufficient conveying volume, so that the load balance coefficients of each path after adjustment tend to be balanced. At the same time, calculate the load balance coefficient of the adjusted path and compare it with the original load balance coefficient to determine whether the load balance after adjustment is improved. If the maximum load balance coefficient after adjustment is less than the maximum load balance coefficient before adjustment, and the standard deviation of the load balance coefficient after adjustment is less than the standard deviation before adjustment, it is determined that the adjustment is effective. Finally, obtain the conveying task allocation result and output the data of the adjusted conveying task queue.

[0076] Call the tire conveying ratio in the conveying task allocation result, obtain the change in the tension of the conveyor belt, analyze the trend of trajectory deviation caused by the change in tension, correct the deviation step size, and the specific steps to obtain the tire deviation correction data are as follows:

[0077] S301: Call the tire quantity adjustment ratio in the conveying task allocation result, calculate the load change amount of each conveying path, analyze the change in the tension of the conveyor belt in the corresponding conveying equipment based on the load change amount, extract the tension change interval of each path, and obtain the conveying path tension change data;

[0078] Calculate the load change amount of each conveying path using the formula:

[0079]

[0080] where, ΔF i represents the load change amount of conveying path i, M ij represents the tire conveying mass of conveying path i at time t j M ij-1 represents the tire conveying mass at time t j-1 Δt j represents the time interval between two adjacent time points t j and t j-1 , V ij represents the conveyor belt speed of path i at time t j V ij-1 represents the conveyor belt speed of path i at time t j-1 γj Represents the time t j The load adjustment coefficient at this point, ∑ represents the summation operation over all time points, and |·| represents the absolute value calculation;

[0081] Detailed formula explanation and calculation derivation process:

[0082] Parameter description:

[0083] ΔF i : The load change amount of the conveying path i (unit: kg / s).

[0084] M ij : The tire conveying mass of the conveying path i at time t j (unit: kg), which is obtained by real-time acquisition of the weighing sensor of the conveying path.

[0085] M ij-1 : The tire conveying mass of the conveying path i at time t j-1 (unit: kg), which is obtained from the data of the weighing sensor at the previous time point.

[0086] Δt j : The time interval between two adjacent time points t j and t j-1 (unit: s), which is obtained from the time record data of the conveying system and is usually a fixed interval.

[0087] V ij : The conveyor belt speed of path i at time t j (unit: m / s), which is measured by the speed sensor on the conveying equipment.

[0088] V ij-1 : The conveyor belt speed of path i at time t j-1 (unit: m / s), which is obtained from the speed data at the previous time point.

[0089] γ j : The load adjustment coefficient at time t j (unitless), which is used to correct the non-linear relationship between the conveying load and the conveying speed change, and its value is set according to the load response characteristics of the conveying equipment.

[0090] ∑: The summation operation is performed on all time points j to calculate the total load change of the conveying path over a period of time.

[0091] |·|: Absolute value calculation to ensure that the load change amount is always non-negative.

[0092] Calculation steps and specific examples:

[0093] 1. Monitoring data acquisition

[0094] Collect the following data (unit: kg, s, m / s) through the sensors of the conveying system, as shown in Table 1:

[0095] Table 1 Monitoring data of load change in the conveying path

[0096]

[0097] 2. Calculate the load change at a single time point

[0098] Calculate the load change at time t = 10s:

[0099]

[0100] Calculate the load change at time t = 20s:

[0101]

[0102] Calculate the load change at time t = 30s:

[0103]

[0104] 3. Calculate the total load change in the conveying path

[0105]

[0106] The results show that the total calculated load change ΔF i = 12.0522 kg / s, indicating the load fluctuation range of the conveying path during this period. The larger the value, the greater the load change, which may cause fluctuations in the conveyor belt tension and requires further analysis of its impact on the stability of the conveying system. Next, this value can be used to evaluate the load balance of the conveying equipment and optimize the conveying task allocation to reduce the load change amplitude.

[0107] S302: Based on the tension change data of the conveying path, analyze the impact of tension change on the stability of the conveying trajectory, calculate the trajectory deviation trend caused by the tension change, extract the trajectory deviation direction and deviation amplitude, and calculate the deviation adjustment range by combining the tension distribution differences of multiple paths to obtain the trajectory deviation trend of the conveying path;

[0108] Calculate the trajectory deviation trend caused by the tension change using the formula:

[0109]

[0110] where Δθ i represents the change in the trajectory deviation angle at the conveying path i, T ij represents the tension value of the conveying path i at time t j and T ij-1Represents the tension value of the conveying path i at time t j-1 at, β ij Represents the conveyor belt inclination angle of the conveying path i at time t j at, β ij-1 Represents the conveyor belt inclination angle of the conveying path i at time t j-1 at, F rj Represents the frictional resistance of the conveyor belt at path j, d ij Represents the lateral offset distance of the belt surface of the conveying path i at time t j at, M i Represents the total mass of the tires at the conveying path i, g represents the acceleration due to gravity, R i Represents the trajectory radius of the conveying path i, ∑ represents the summation operation over all time points, |·| represents the absolute value calculation;

[0111] Detailed explanation of the formula and calculation derivation process

[0112] Parameter description:

[0113] Δθ i : The change in the trajectory offset angle at the conveying path i (unit: °), representing the offset of the conveying path trajectory caused by the tension change.

[0114] T ij : The tension value of the conveying path i at time t j at (unit: N), obtained by monitoring with the tension sensor of the conveying equipment.

[0115] T ij-1 : The tension value at time t j-1 at (unit: N), obtained from the tension sensor data of the previous time point.

[0116] β ij : The conveyor belt inclination angle of the conveying path i at time t j at (unit: °), measured by a goniometer or an inclination sensor.

[0117] β ij-1 : The conveyor belt inclination angle at time t j-1 at (unit: °), obtained from the goniometric data of the previous time point.

[0118] FR j : The frictional resistance of the conveyor belt at path j (unit: N), obtained through the frictional force calculation formula FR = μ·N, where μ is the friction coefficient between the conveyor belt and the tire, and N is the normal pressure.

[0119] d ij : The lateral offset distance of the belt surface of the conveying path i at time t jThe lateral offset distance of the belt surface at [location] (unit: m) is obtained by detecting with a lateral position sensor of the conveyor belt.

[0120] M i : The total mass of the tires at conveyor path i (unit: kg), which is monitored and obtained by a weighing sensor on the conveyor path.

[0121] g: The acceleration due to gravity (unit: 9.81 m / s²), representing the acceleration of the Earth's gravitational force.

[0122] R i : The radius of the trajectory of conveyor path i (unit: m), which is calculated from the geometric layout of the conveyor path.

[0123] Σ: Perform a summation operation over all time points j to calculate the total change in the trajectory offset angle of the conveyor path over a period of time.

[0124] |·|: Calculate the absolute value to ensure that the trajectory offset angle is always non - negative.

[0125] Calculation steps and specific examples:

[0126] 1. Monitoring data acquisition

[0127] Collect the following data (unit: N, °, m, kg) through the sensors of the conveyor system, as shown in Table 2:

[0128] Table 2 Monitoring data of the conveyor path trajectory offset

[0129]

[0130] 2. Calculate the change in the trajectory offset angle at a single time point

[0131] Calculate the trajectory offset at time t = 10 s:

[0132]

[0133] Calculate the trajectory offset at time t = 20 s:

[0134]

[0135] Calculate the trajectory offset at time t = 30 s:

[0136]

[0137] 3. Calculate the total change in the trajectory offset angle of the conveyor path

[0138]

[0139] The total change in the calculated trajectory offset angle Δθ i= 0.11°, which represents the deviation angle of the conveying path caused by the change in tension during this period. This result indicates that parameters such as the tension change on the conveying path, the inclination angle of the conveyor belt, the friction force, and the lateral offset affect the deviation amplitude of the trajectory. Further analyzing the fluctuation of these parameters helps to adjust the conveying trajectory to reduce the deviation error and improve the conveying stability.

[0140] S303: Call the deviation trend of the conveying path trajectory, calculate the deviation correction step size, and adjust the conveying speed and lateral deviation angle of the tire according to the amplitude and direction of the trajectory deviation trend, correct the real-time position and running trajectory of the tire in the conveying path, and obtain the tire deviation correction data;

[0141] Call the deviation trend of the conveying path trajectory, calculate the deviation correction step size. The deviation correction step size is calculated by dividing the maximum deviation amplitude by the correction time interval. Adjust the conveying speed and lateral deviation angle of the tire according to the amplitude and direction of the trajectory deviation trend. The adjustment of the conveying speed uses the size of the deviation angle as the weight, and the weight is calculated by dividing the absolute value of the deviation angle by the absolute value of the maximum deviation angle of all paths. The adjustment of the lateral deviation angle is based on the trajectory deviation direction. If it deviates to the right, the speed of the left conveyor belt is reduced; if it deviates to the left, the speed of the right conveyor belt is reduced. Calculate the real-time position of the tire in the adjusted conveying path. The real-time position is calculated by multiplying the adjusted conveying speed by the conveying time, and correct the running trajectory. Finally, obtain the tire trajectory correction data and output the corrected trajectory data of all paths.

[0142] Call the load data, conveying interval time, and equipment throughput capacity of each conveying path after the offset step correction in the tire offset correction data, predict the load change in the future time period of the conveying path, and the specific steps to obtain the load change analysis result are as follows:

[0143] S401: According to the tire offset correction data, call the load data of multiple monitoring nodes of each corrected conveying path, and combine the conveying interval time and the throughput capacity of the target processing equipment to calculate the conveying flow change of each path, and obtain the conveying path flow change data;

[0144] Call the load data of multiple monitoring nodes on each corrected conveyor path according to the tire trajectory correction data. First, obtain the tire conveyor data of each path at different monitoring nodes, and synchronize the data of all monitoring nodes in terms of time. Calculate the instantaneous conveyor flow of each path at each time point in combination with the conveyor interval time. The conveyor flow is calculated by dividing the number of tires passing through in each time interval by the time interval. Calculate the throughput capacity of the target processing equipment. The throughput capacity is calculated by the number of tires that the processing equipment can handle per unit time, and compare it with the conveyor flow of each conveyor path to determine whether the conveyor flow exceeds the equipment throughput capacity. If the conveyor flow in a certain time period is greater than 1.2 times the throughput capacity, it is determined that congestion may occur in this time period, and this time period is marked as a high-load period. Calculate the change in conveyor flow at all time points. The change in conveyor flow is calculated by the difference in conveyor flow between adjacent time points, and calculate the mean and standard deviation of the flow change. Finally, obtain the conveyor path flow change data and output the conveyor flow data table at each time point.

[0145] S402: Based on the conveyor path flow change data, combined with the conveyor speed of the conveyor belt in the current conveyor equipment, calculate the path load change amount in the future time period, analyze the load change amplitude of each path, and compare the conveyor path load distribution before and after the trajectory deviation correction to obtain the conveyor path load change trend;

[0146] Based on the conveyor path flow change data, combined with the conveyor speed of the conveyor belt in the current conveyor equipment, obtain the speed data of the conveyor belt at each time point, and calculate the instantaneous load change amount of the conveyor path. The load change amount is calculated by the ratio of the conveyor flow to the conveyor speed. Calculate the path load change amount in the future time period. The future time period load prediction uses the flow change trend of the previous time period for linear extrapolation. Analyze the load change amplitude of each path. The load change amplitude is calculated by the difference between the maximum load value and the minimum load value, and calculate the mean and standard deviation of the load change. Compare the conveyor path load distribution before and after the trajectory deviation correction. The load distribution comparison is calculated by the difference in load data before and after correction, and calculate the change amount of the load balance coefficient of all paths. The change amount of the load balance coefficient is calculated by the change value of the load standard deviation of all paths. Finally, obtain the conveyor path load change trend and output the load change trend data of all paths.

[0147] S403: Call the conveyor path load change trend, evaluate the impact of the trajectory correction on the conveyor capacity of the conveyor equipment, calculate the conveyor capacity adjustment value, construct the conveyor capacity adjustment curve, and obtain the load change analysis result;

[0148] Call the load change trend of the conveying path, evaluate the impact of trajectory correction on the conveying capacity of the conveying equipment, calculate the conveying capacity adjustment value. The calculation of the conveying capacity adjustment value uses the average conveying flow rate after trajectory correction minus the average conveying flow rate before correction, and calculate the change rate of the conveying capacity before and after adjustment. The calculation of the change rate of the conveying capacity uses the adjustment value divided by the average conveying capacity before correction. Construct the conveying capacity adjustment curve. The construction of the adjustment curve uses the change rate of the conveying capacity at each time point as the ordinate and time as the abscissa, and calculate the trend slope of the adjustment curve. The calculation of the trend slope uses the regression analysis method to obtain the increasing or decreasing trend of the curve. Finally, obtain the load change analysis result, and output the conveying capacity adjustment curve and the analysis data table.

[0149] According to the future load change in the load change analysis result, adjust the tire delivery order, and correct the conveying rate, conveying interval time and trajectory, and the specific steps for generating the tire conveying control instruction are as follows:

[0150] S501: According to the load change analysis result, judge whether the path is in the idle state, adjust the tire delivery order, calculate the real-time load value of each conveying path, and obtain the load status of the conveying path;

[0151] According to the load change analysis result, judge whether the path is in the idle state, obtain the current load data of all conveying paths, and calculate the real-time load value of each path. The real-time load calculation uses the number of tires conveyed per unit time multiplied by the standard mass of a single tire, and compare it with the path bearing capacity. The calculation of the path bearing capacity uses the maximum load capacity of the conveyor belt multiplied by the safety factor. If the real-time load value of a certain path is lower than 20% of the path bearing capacity, it is determined that the path is in the idle state, adjust the tire delivery order. The adjustment of the tire delivery order uses the real-time load values of all paths for sorting, and preferentially deliver new tires to the path with the lowest load. At the same time, calculate the load values of each path after the delivery adjustment, and finally obtain the load status of the conveying path, and output the real-time load data of all paths.

[0152] S502: Based on the load status of the conveying path, call the paths in the unassigned conveying task queue with a load not exceeding the load threshold to perform task allocation, optimize the load balance of the conveying path, and obtain the path load optimization result;

[0153] Based on the load status of the conveying path, call the paths in the unassigned conveying task queue with a load not exceeding the load threshold to perform task allocation. The load threshold is calculated by adding a set tolerance value to the average value of all path load values. This tolerance value can be set to 10% of the average value. After screening out the paths that meet the threshold conditions, calculate the load adjustment ratio for each path. The load adjustment ratio is calculated by dividing the current load value of the path by the average load of the screened paths, and adjust the conveying tasks. The task adjustment is to allocate the current unassigned conveying tasks to each path according to the load adjustment ratio, calculate the load balancing coefficient of the adjusted paths. The load balancing coefficient is calculated by the standard deviation of all path load values, and compare it with the standard deviation before adjustment. If the standard deviation after adjustment is less than that before adjustment, the task allocation is effective. Finally, obtain the optimized result of the path load and output the load data of all paths after adjustment.

[0154] S503: Call the optimized result of the path load, associate with the rotational speed of the conveyor belt drive motor, calculate the conveyor belt conveying speed that needs to be adjusted, and synchronously adjust the path load, conveying interval time and trajectory correction to generate a tire conveying control instruction;

[0155] Call the optimized result of the path load, associate with the rotational speed of the conveyor belt drive motor, obtain the conveyor belt speed data of the current conveying path, and calculate the conveyor belt conveying speed that needs to be adjusted. The conveying speed adjustment is calculated by the ratio of the current path load value to the optimized load value, and synchronously adjust the path load, conveying interval time and trajectory correction. The conveying interval time adjustment is calculated by the current conveying speed change rate, and adjust the tire conveying order. The trajectory correction is calculated by the tire conveying trajectory offset before and after the load adjustment. If the trajectory offset exceeds the set threshold, adjust the tire lateral offset angle. Finally, generate a tire conveying control instruction and output the control parameters of the conveying path after adjustment.

[0156] Please refer to Figure 2 , an automatic conveying production line control system for tire processing, the system includes:

[0157] Conveying path energy consumption calculation module, obtain the operating parameters of the conveying equipment, collect the current, voltage and operating time of the conveying equipment, calculate the instantaneous power and accumulate to obtain the conveying power consumption, extract the conveyor belt length and speed to calculate the energy consumption rate, map the energy consumption rate to the conveying path and partition it, calculate the conveying distance energy consumption of each partition, and generate path energy consumption distribution data;

[0158] Path load balancing module, based on the path energy consumption distribution data, extract the energy consumption ratio of each path, evaluate the load status of the conveying equipment, calculate the path load balancing coefficient, determine the paths with the balancing coefficient not exceeding the balancing threshold, reallocate the current path tire conveying ratio, and generate a conveying task allocation result;

[0159] The trajectory deviation prediction module calls the conveying ratio in the conveying task allocation result, obtains the tension change of the conveyor belt, analyzes the trajectory deviation trend caused by the tension change, corrects the deviation step length, and obtains the tire deviation correction data;

[0160] The load change analysis module predicts the load change in the future time period of the conveying path according to the load data, conveying interval time, and equipment throughput capacity of each conveying path after the deviation step length is corrected in the tire deviation correction data, and obtains the load change analysis result;

[0161] The conveying control instruction generation module calls the future load change in the load change analysis result to adjust the tire placement order, selects the path with a load not exceeding the load threshold, re-plans the tire conveying task, and generates a tire conveying control instruction.

[0162] As mentioned above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A control method for an automatic conveying production line for tire processing, characterized in that: The following steps are involved: S1: Collect the current, voltage and tire conveying volume of the conveying equipment to calculate the conveying power consumption of the conveying path, obtain the energy consumption rate of the conveying path by referring to the length and speed of the conveyor belt, calculate the energy consumption ratio of the conveying power consumption and the energy consumption rate, and obtain the path energy consumption distribution data; S2: extracting the energy consumption ratio in the path energy consumption distribution data, evaluating the load status of the conveying equipment, calculating the path load balancing coefficient, and reallocating the tire conveying ratio of the conveying path to obtain a conveying task allocation result; S3: calling the tire conveying ratio in the conveying task allocation result, obtaining the tension change of the conveyor belt, analyzing the trajectory deviation trend caused by the tension change, correcting the deviation step length, and obtaining tire deviation correction data; S4: calling the load data, the conveying interval time, and the equipment throughput capacity of each conveying path after the offset step length correction in the tire offset correction data, predicting the load change of the conveying path in the future time period, and obtaining the load change analysis result; S5: adjusting the tire delivery sequence according to the load change in the future time period in the load change analysis result, and correcting the delivery rate, delivery interval time and trajectory, and generating a tire delivery control instruction.

2. The automatic conveying production line control method for tire processing according to claim 1, characterized in that: The path energy consumption distribution data includes the power consumption of the conveying path, the energy consumption rate of the conveyor belt, and the path energy consumption ratio; the conveying task allocation result includes the path load balancing coefficient, the tire conveying ratio, and the conveying task allocation; the tire offset correction data includes the load change of the conveying path, the tension change of the conveyor belt, and the offset correction step; the load change analysis result includes the load data of the conveying path, the conveying interval time, the equipment throughput capacity, and the load change trend in the future time period; the tire conveying control instructions include tire delivery sequence adjustment, conveying rate adjustment, conveying interval time adjustment, and trajectory correction adjustment.

3. The automatic conveying production line control method for tire processing according to claim 1, characterized in that: Collect the current, voltage, and tire conveying volume of the conveying equipment to calculate the conveying power consumption of the conveying path, obtain the energy consumption rate of the conveying path by referring to the length and speed of the conveyor belt, calculate the energy consumption ratio of the conveying power consumption and the energy consumption rate, and obtain the specific steps of the path energy consumption distribution data as follows: S101: Obtaining the operating parameters of the conveying equipment, collecting the current, voltage, and operating time data within a specified time, calculating the instantaneous power at each time point, constructing a power change sequence of the conveying equipment, analyzing the mean and fluctuation range of the sequence, and generating power characteristic parameters of the conveying equipment; S102: Based on the power characteristic parameters of the conveying equipment and the tire conveying volume on the conveying path, the conveying power consumption at each time point is calculated, and the energy consumption value under the conveying volume is accumulated and calculated, the energy consumption fluctuation range of the conveying path in multiple time periods is obtained, and the average energy consumption level of the conveying path is analyzed to obtain the conveying volume energy consumption of the conveying path; S103: Call the transport energy consumption of the transport path, extract the conveyor belt length and speed of the conveying equipment, calculate the energy consumption rate of the transport path, and calculate the energy consumption ratio based on the energy consumption rate and the transport power consumption, map the energy consumption ratio to the transport path, and obtain the path energy consumption distribution data.

4. The automatic conveying production line control method for tire processing according to claim 1, characterized in that: The specific steps of extracting the energy consumption ratio in the path energy consumption distribution data, evaluating the load status of the conveying equipment, calculating the path load balancing coefficient, and reallocating the tire conveying ratio of the conveying path to obtain the conveying task allocation result are as follows: S201: Based on the path energy consumption distribution data, call the energy consumption ratio of the transmission path, analyze the load status of each path, calculate the path load balancing coefficient, compare the load balancing coefficient ranges of all paths, and obtain a path load balancing coefficient set; S202: Filtering paths whose load balancing coefficients do not exceed the load balancing threshold according to the path load balancing coefficient set, extracting the number of tires in the current delivery task queue, calculating the tire quantity adjustment ratio corresponding to each path, determining the tire delivery volume adjustment value of the path, and obtaining the tire quantity adjustment result; S203: reallocate the transport tasks based on the tire quantity adjustment result, correct the transport task queue of each path, ensure that the tire transport volume meets the adjustment ratio, and obtain the transport task allocation result.

5. The automatic conveying production line control method for tire processing according to claim 1, characterized in that: The specific steps of calling the tire conveying ratio in the conveying task allocation result, obtaining the tension change of the conveyor belt, analyzing the trajectory deviation trend caused by the tension change, correcting the deviation step length, and obtaining the tire deviation correction data are as follows: S301: calling the tire quantity adjustment ratio in the transport task allocation result, calculating the load change of each transport path, analyzing the tension change of the conveyor belt in the corresponding conveying equipment according to the load change, extracting the tension change interval of each path, and obtaining the tension change data of the transport path; S302: Based on the tension change data of the conveying path, analyzing the influence of the tension change on the stability of the conveying track, calculating the track deviation trend caused by the tension change, extracting the track deviation direction and deviation amplitude, calculating the deviation adjustment range in combination with the tension distribution differences of multiple paths, and obtaining the track deviation trend of the conveying path; S303: calling the conveying path trajectory deviation trend, calculating the deviation correction step, and adjusting the tire conveying speed and lateral deviation angle according to the amplitude and direction of the trajectory deviation trend, correcting the real-time position and running trajectory of the tire in the conveying path, and obtaining tire deviation correction data.

6. The automatic conveying production line control method for tire processing according to claim 1, characterized in that: To calculate the load change of each conveying path, the formula is used: Where, ΔF i Represents the load change of transport path i, M ij Represents the transport path i at time t j Tire conveying mass at ij-1 Represents the transport path i at time t j-1 The tire transport mass at Δt j Represents two adjacent time points t j With t j-1 The time interval, V ij represents path i at time t j Conveyor belt speed at ij-1 represents path i at time t j-1 The conveyor belt speed at j Represents time t j The load adjustment factor at .

7. The automatic conveying production line control method for tire processing according to claim 1, characterized in that: To calculate the trajectory deviation trend caused by tension change, the formula is used: Among them, Δθ i represents the change in trajectory deviation angle at conveying path i, T ij Represents the transport path i at time t j The tension value at T ij-1 Represents the transport path i at time t j-1 The tension value at ij Represents the transport path i at time t j The conveyor belt inclination angle at ij-1 Represents the transport path i at time t j-1 Conveyor belt inclination angle at FR j represents the friction resistance of the conveyor belt at path j, d ij Represents the transport path i at time t j The lateral displacement distance of the belt surface at i represents the total mass of the tires at the conveying path i, g represents the acceleration of gravity, R i Represents the trajectory radius of conveying path i.

8. The automatic conveying production line control method for tire processing according to claim 1, characterized in that: The specific steps of calling the load data, the conveying interval time, and the equipment throughput capacity of each conveying path after the offset step length correction in the tire offset correction data, predicting the load change of the conveying path in the future time period, and obtaining the load change analysis result are as follows: S401: calling the load data of multiple monitoring nodes of each conveying path after correction according to the tire offset correction data, and calculating the conveying flow change of each path in combination with the conveying interval time and the throughput capacity of the target processing equipment to obtain the conveying path flow change data; S402: Based on the flow change data of the conveying path, combined with the conveying rate of the conveyor belt in the current conveying equipment, the path load change amount in the future time period is calculated, the load change amplitude of each path is analyzed, and the load distribution of the conveying path before and after the trajectory offset correction is compared to obtain the load change trend of the conveying path; S403: calling the load change trend of the conveying path, evaluating the impact of the trajectory correction on the conveying capacity of the conveying equipment, calculating the conveying capacity adjustment value, constructing the conveying capacity adjustment curve, and obtaining the load change analysis result.

9. The automatic conveying production line control method for tire processing according to claim 1, characterized in that: The specific steps of adjusting the tire delivery sequence according to the future load change in the load change analysis result, and correcting the delivery rate, delivery interval time and trajectory, and generating the tire delivery control instruction are as follows: S501: judging whether the path is in an idle state according to the load change analysis result, adjusting the tire delivery sequence, calculating the real-time load value of each conveying path, and obtaining the load state of the conveying path; S502: Based on the load status of the transport path, calling the path in the unassigned transport task queue whose load does not exceed the load threshold to perform task allocation, optimize the load balance of the transport path, and obtain the path load optimization result; S503: calling the path load optimization result, associating it with the conveyor belt drive motor speed, calculating the conveyor belt conveying rate that needs to be adjusted, and synchronously adjusting the path load, conveying interval time and trajectory correction to generate a tire conveying control instruction.

10. An automatic conveying production line control system for tire processing, characterized in that: According to the automatic conveying production line control method for tire processing according to any one of claims 1 to 9, the system comprises: The transport path energy consumption calculation module obtains the operating parameters of the transport equipment, collects the current, voltage, and operating time of the transport equipment, calculates the instantaneous power and accumulates it to obtain the transport power consumption, extracts the length and speed of the conveyor belt to calculate the energy consumption rate, maps the energy consumption rate to the transport path and divides it into zones, calculates the transport distance energy consumption of each zone, and generates path energy consumption distribution data; A path load balancing module, based on the path energy consumption distribution data, extracts the energy consumption ratio of each path, evaluates the load status of the conveying equipment, calculates the path load balancing coefficient, determines the path whose balancing coefficient does not exceed the balancing threshold, reallocates the tire conveying ratio of the current path, and generates a conveying task allocation result; A track deviation prediction module calls the conveying ratio in the conveying task allocation result, obtains the tension change of the conveyor belt, analyzes the track deviation trend caused by the tension change, corrects the deviation step length, and obtains tire deviation correction data; A load change analysis module, which predicts the load change of the conveying path in the future time period according to the load data of each conveying path after the offset step length correction in the tire offset correction data, the conveying interval time, and the equipment throughput capacity, and obtains the load change analysis result; The transport control instruction generation module calls the future load change in the load change analysis result to adjust the tire delivery sequence, selects a path whose load does not exceed the load threshold, re-plans the tire transport task, and generates a tire transport control instruction.

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