Full-automatic tire nailing machine control system based on image positioning

Abstract

The invention relates to the technical field of adjustment control, in particular to a full-automatic tire nailing machine control system based on image positioning, which comprises a scanning detection unit for acquiring a still image and a plane image of a tire; the clamping control unit controls the clamping device to determine the initial posture corresponding to the axis where the nail burying hole is located; the nailing control unit drives the nailing device to move according to the nailing sequence to adjust the rotation angle; the image analysis unit determines the axis and the axis grade of the nail burying hole; the motion planning unit determines the nailing sequence, and the nailing procedure is carried out according to a first nailing mode and a second nailing mode; the detecting and adjusting unit detects and determines whether the position deviation meets the fine positioning requirement or not, primary deviation adjustment is conducted according to the deviation condition, fine positioning is conducted, the angular point deviation value is detected, whether the relative position of the nail embedding opening and the nail embedding hole meets the nail embedding requirement or not is judged, and the adjusting mode of the nail embedding device is determined. According to the invention, a corresponding nailing mode is adopted according to the axis grade, so that the nailing positioning accuracy is improved.

Description

Technical Field

[0001] The invention relates to the technical field of adjustment and control, and in particular to a control system of a fully automatic tire nailing machine based on image positioning. Background Art

[0002] When driving on icy and snowy roads, the grip of vehicle tires is significantly reduced, so installing anti-skid studs becomes an important means to improve vehicle safety. However, the traditional manual studding method has problems such as low efficiency, poor precision and high risk. To solve these problems, fully automatic tire studding machines came into being. They use automated equipment to achieve precise studding, improving production efficiency and safety. The control system of the fully automatic tire studding machine is the core part of the equipment, which involves multiple key technologies and components.

[0003] Chinese Patent Publication No.: CN116728536A discloses an automatic nailing machine for anti-skid tires and a method for using the same, comprising a left rail assembly and a right rail assembly, a nailing rail assembly and a camera rail assembly, a tire side pressure rail assembly, a tire rotation drive device, a nailing device, an image scanning device, a left wheel self-centering pressing piece and a right wheel self-centering pressing piece. When the tire is sent to the clamping station, the left rail assembly, the right rail assembly, the tire side pressure rail assembly, and the tire rotation drive device cooperate to realize automatic centering and clamping of the tire, and then the image scanning device scans the outer circumference of the rotating tire to collect data, and the control system controls the nailing component to control the nailing device to move and adjust the rotation angle along the rolling surface and the left and right transition arc surfaces of the tire to meet the requirements of safe, efficient and accurate nailing and planting of anti-skid nails on the tire; it can be seen that the automatic nailing machine for anti-skid tires and the method for using the same have the following problems:

[0004] During the studding process, studding position deviation is likely to occur due to tire rotation and movement and angle adjustment of the studding device. Summary of the invention

[0005] To this end, the present invention provides a tire fully automatic studding machine control system based on image positioning, which is used to overcome the problem of studding position deviation that is prone to occur during the studding process due to tire rotation and movement and angle adjustment of the studding device in the prior art.

[0006] To achieve the above object, the present invention provides a control system for a fully automatic tire nailing machine based on image positioning, comprising:

[0007] A scanning detection unit, which is connected to the scanning device, is used to obtain a still image of the tire through the scanning device to detect the curvature of the tread, and scan the outer circumference of the tire to obtain a plane image of the tire tread;

[0008] A clamping control unit, which is connected to a clamping device, is used to control the clamping device to clamp a tire and lift it to a detection position, drive the tire to rotate according to initial parameters, and determine the initial attitude corresponding to the axis where the nail-embedded hole is located;

[0009] A nail-inserting control unit, which is connected to a nail-inserting device, is used to drive the nail-inserting device to move along the rolling surface and the left and right transition arc surfaces of the tire according to the nail-inserting sequence, adjust the rotation angle of the nail-inserting device, and control the nail-inserting device to descend and implant anti-slip nails;

[0010] An image analysis unit, which is connected to the scanning and detection unit, is used to analyze the obtained planar image, divide the reference line and the transverse initial line of the tire tread, detect the specific coordinate position of the center point of the nail-embedded hole in the planar image, and determine the axis level of the nail-embedded holes on the same axis according to the hole-line distance between the nail-embedded hole and the reference line;

[0011] A motion planning unit, which is connected to the image analysis unit and the clamping control unit, is used to determine the nail-inserting sequence of different axes according to the importance of the axes divided by the axis level and the number of coaxial holes, and perform the nail-inserting process on the nail-embedded holes at different axis levels according to the first nail-inserting mode and the second nail-inserting mode;

[0012] A detection and adjustment unit, which is connected to the clamping control unit and the nail-inserting control unit, is used to detect the relative position between the nail-inserting opening and the edge of the nail-embedded hole to determine whether the position deviation meets the fine positioning requirements, and perform a primary deviation adjustment according to the deviation situation; detect the corner deviation value of the nail-inserting opening from the edge of the hexagonal hole to judge whether the relative position between the nail-inserting opening and the nail-embedded hole meets the nail-inserting requirements, and determine the adjustment method of the nail-inserting device;

[0013] The initial parameters include an initial rolling speed, an initial rotation speed, and an initial rotation direction.

[0014] Further, the image analysis unit uses the center line of the tire tread as the reference line to detect the hole-line distance between the nail-embedded hole and the reference line;

[0015] If the difference value of the hole-line distances between the nail-embedded holes is less than the difference evaluation value, the image analysis unit determines that the nail-embedded holes are on the same axis, determines the axis distance of the corresponding axis according to the average hole-line distance of several nail-embedded holes on the same axis level, and determines the axis level of the nail-embedded holes on the same axis according to the size of the axis distance.

[0016] Further, the image analysis unit determines the axis distance of the corresponding axis according to the average hole-line distance of several nail-embedded holes on the same axis level;

[0017] The studding control unit controls the studding device to move to the axis in the first order of the studding sequence. The clamping control unit controls the clamping device to drive the tire to rotate to the initial attitude of the axis in the first order. The initial attitude is the position where the clamping control unit places the nearest stud hole directly below the studding opening of the studding device. The nearest stud hole is the stud hole on the current axis with the smallest distance from the horizontal initial line.

[0018] Further, the motion planning unit obtains the axis level corresponding to any axis determined by the image analysis unit.

[0019] If the stud hole has an axis level lower than the preset level, the motion planning unit studs according to the first studding mode; if the stud hole has an axis level greater than or equal to the preset level, the motion planning unit studs according to the second studding mode.

[0020] Further, in the first studding mode, for the stud holes with the same axis level, the motion planning unit controls the clamping device to rotate at the initial rotation speed and in the initial rotation direction, and performs rough positioning by moving according to the hole spacing between the stud holes between the axes.

[0021] The detection and adjustment unit detects the top edge distance and bottom edge distance between the studding opening of the studding device and the top edge and bottom edge of the hexagonal hole edge.

[0022] If one of the top edge distance and the bottom edge distance is greater than or equal to the critical edge distance, the detection and adjustment unit determines that the studding opening does not fall into the hexagonal hole edge area or overlaps with the hole edge, and does not meet the fine positioning requirements.

[0023] If both the top edge distance and the bottom edge distance are less than the critical edge distance, the detection and adjustment unit determines that the studding opening falls into the hexagonal hole edge area and meets the fine positioning requirements.

[0024] If both the top edge distance and the bottom edge distance are greater than or equal to the critical edge distance, the detection and adjustment unit determines that the position deviation between the studding opening and the stud hole exceeds the normal range.

[0025] Further, if the position deviation between the studding opening and the stud hole exceeds the normal range, the detection and adjustment unit issues a shutdown for maintenance alarm signal; if the position deviation between the studding opening and the stud hole meets the fine positioning requirements, the detection and adjustment unit performs fine positioning.

[0026] If the position deviation between the studding opening and the stud hole does not meet the fine positioning requirements, the detection and adjustment unit performs a primary deviation adjustment, determines the rotation adjustment direction and rotation adjustment duration for controlling the rotation of the clamping device in the primary deviation adjustment according to the deviation situation, controls the rotation of the clamping device according to the rotation adjustment direction and rotation adjustment duration, and adjusts the initial rotation speed.

[0027] Further, the detection and adjustment unit determines the deviation situation. If the bottom edge distance is greater than or equal to the critical edge distance, the detection and adjustment unit increases the initial rotation speed of the clamping device according to the difference between the bottom edge distance and the sum of the top edge distance and half of the critical edge distance;

[0028] The rotation adjustment direction of one - time deviation adjustment is the same as the initial rotation direction, and the rotation adjustment duration is the duration calculated according to the increased initial rotation speed and the difference between the bottom edge distance and the sum of the top edge distance and half of the critical edge distance;

[0029] If the top edge distance is greater than or equal to the critical edge distance, the detection and adjustment unit decreases the initial rotation speed of the clamping device according to the difference between the top edge distance and the sum of the bottom edge distance and half of the critical edge distance;

[0030] The rotation adjustment direction of one - time deviation adjustment is opposite to the initial rotation direction, and the rotation adjustment duration is the duration calculated according to the decreased initial rotation speed and the difference between the bottom edge distance and the sum of the top edge distance and half of the critical edge distance.

[0031] Further, in the first nail - inserting mode, the motion planning unit performs fine positioning after the rough positioning meets the fine - positioning requirements or after one - time adjustment. After fine positioning, it controls the nail - inserting control unit to control the nail - inserting device to perform nail - inserting processing by descending according to the initial depth value;

[0032] For fine positioning in the first nail - inserting mode, the detection and adjustment unit determines the lateral feed amount of the nail - inserting device according to the deviation difference between the two corner - point deviation values;

[0033] In the second nail - inserting mode, the detection and adjustment unit adjusts the nail - inserting angle of the nail - inserting device according to the rotation angle α after the rough positioning meets the fine - positioning requirements or after one - time adjustment, and performs fine positioning after adjusting the nail - inserting angle;

[0034] For fine positioning in the second nail - inserting mode, the detection and adjustment unit finely adjusts the nail - inserting angle of the nail - inserting device according to the deviation difference between the two corner - point deviation values, and determines the fine - adjustment direction and fine - adjustment angle according to the deviation situation.

[0035] Further, the detection and adjustment unit detects the deviation difference between the left - corner - point deviation value and the right - corner - point deviation value of the left corner point and the right corner point located at the left - most and right - most of the hexagonal hole edge,

[0036] If the deviation difference is less than the critical difference, the detection and adjustment unit determines that the relative position of the nail - inserting opening and the nail - embedding hole meets the nail - inserting requirements, and controls the nail - inserting device to perform nail - inserting processing by descending according to the initial depth value;

[0037] If the deviation difference is greater than or equal to the critical difference, the detection and adjustment unit determines that the relative position of the nail - inserting opening and the nail - embedding hole does not meet the nail - inserting requirements, and determines the adjustment method of the nail - inserting device according to the nail - inserting mode.

[0038] Further, the adjustment method of the first studding pattern is that if the deviation value of the left corner point is greater than that of the right corner point, the detection and adjustment unit controls the studding device to move to the left side of the axis, and the moving distance is the difference between the deviation value of the left corner point and the critical difference value; if the deviation value of the right corner point is greater than that of the left corner point, the detection and adjustment unit controls the studding device to move to the right side of the axis, and the moving distance is the difference between the deviation value of the right corner point and the critical difference value.

[0039] The adjustment method of the second studding pattern is that if the deviation value of the left corner point is greater than that of the right corner point, the detection and adjustment unit controls the studding device to finely adjust the studding angle to the left side of the axis, and calculates the fine adjustment angle according to the difference between the deviation value of the left corner point and the critical difference value; if the deviation value of the right corner point is greater than that of the left corner point, the detection and adjustment unit controls the studding device to finely adjust the studding angle to the right side of the axis, and calculates the fine adjustment angle according to the difference between the deviation value of the right corner point and the critical difference value.

[0040] Compared with the prior art, the beneficial effects of the present invention are as follows. In manual studding operations, problems such as uneven distribution and inconsistent depth of nails are likely to occur, which affect the tire's grip and service life. Through image recognition, automatic control, and precise positioning of the automatic studding machine, this system precisely controls the position, depth, and distribution of the anti-skid studs, ensuring the uniformity of tire performance and realizing efficient and precise automatic studding processing of anti-skid tires.

[0041] Further, there are significant differences in the functions and importance of anti-skid studs at different positions on the tire tread. The tire shoulder is one of the main areas where the tire contacts the ground and bears the functions of steering and lateral support. When driving on a road with low friction due to several external factors, the cause of accidents is often skidding when the vehicle turns. Therefore, the anti-skid studs closer to the tire shoulder are relatively more important for preventing skidding, and the arrangement of the anti-skid studs on the tire shoulder is usually denser. This system determines the importance level through the axis level and the number of coaxial holes, and determines the studding order according to the importance level, which can ensure that the studding positions of the nail holes with a more important axis level are more accurate, effectively increasing the friction between the tire and the ground.

[0042] Further, each time the tire is clamped, the postures of the tire and several nail holes are different. This system adjusts the tire to a fixed state after scanning and imaging the tire, as the reference state for subsequent studding processing of several nail holes, avoiding the adverse effects of different tire postures on the accuracy of the control system for controlling the studding machine, and improving the automation degree of controlling the studding machine and the adaptability to different tire postures.

[0043] Further, the tire tread has a certain degree of curvature, but the curvature value of a section of the area close to the center line can be ignored, and the curvature is greater closer to the tire shoulder. Therefore, this system adopts different studding patterns for nail holes in different areas.

[0044] Furthermore, during the coarse positioning process, the detection and adjustment unit determines whether the stud insertion opening falls within the hexagon hole edge region based on the top edge distance and bottom edge distance between the stud insertion opening and the top and bottom edges of the hexagon hole edge, determines whether the positional deviation between the stud insertion opening and the buried stud hole meets the requirements of fine positioning, and accordingly takes subsequent corresponding actions. Moreover, during one deviation adjustment, the rotation adjustment direction and rotation adjustment speed for controlling the rotation of the clamping device are determined based on the top edge distance and bottom edge distance, improving the adaptability of detecting and adjusting several stud insertion situations during the stud insertion process, and increasing the automation degree and accuracy of stud insertion for the tire.

[0045] Furthermore, for the buried stud holes at the same axis level, due to various adverse factors in the punching process during the production of the tire tread, there are deviations in the specific coordinate positions of the center points of the buried stud holes at the same axis level in the horizontal direction perpendicular to the axis in the planar image. Therefore, after the relative position adjustment in the direction parallel to the axis in the planar image during the coarse positioning, the system performs fine positioning and adjusts the relative position in the direction perpendicular to the axis in the planar image, avoiding the situation that although the anti-slip studs will be inserted within the hole edge after the coarse positioning adjustment, the coincidence degree with the buried stud holes in the axial direction is not high. At the same time, due to the curvature factor of the tire tread, different stud insertion modes are adopted for the axes at different axis levels, and the moving distance or stud insertion angle of the stud insertion device is adjusted to improve the accuracy of detecting, controlling, and adjusting the stud insertion device during the stud insertion process.

[0046] Furthermore, there is a certain curvature in the area of the tire tread far from the center line. If the stud insertion process perpendicular to the horizontal plane direction is carried out for the buried stud holes at different axis levels, the bonding tightness between the tire and the anti-slip studs is poor, and there may be a phenomenon of falling off. The system optimizes the arrangement angle of the anti-slip studs relative to the tire surface in the buried stud holes by adjusting the rotation angle of the stud insertion device, performs the stud insertion process perpendicular to the tangent direction of the surface for the buried stud holes at different axis levels, ensures uniform and maximized grip force, and increases the adaptability and accuracy of stud insertion for the tire. Description of the Drawings

[0047] Figure 1 It is a unit connection diagram of the full-automatic stud insertion machine control system for tires based on image positioning in the embodiment of the present invention;

[0048] Figure 2 It is a front view structural schematic diagram of the full-automatic stud insertion machine for tires in the embodiment of the present invention;

[0049] Figure 3 It is a front view structural schematic diagram of the full-automatic stud insertion machine for tires in the embodiment of the present invention;

[0050] Figure 4 It is a schematic diagram for calculating the rotation angle α in the second mode in the embodiment of the present invention;

[0051] Figure 5 An axis diagram for dividing axis levels according to a planar image in an embodiment of the present invention;

[0052] In the figure: 1 - clamping device, 2 - nail - embedding device, 3 - scanning device, 4 - nail - embedding hole. Detailed implementation manners

[0053] In order to make the objectives and advantages of the present invention more clear and understandable, the present invention will be further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0054] The preferred implementation manners of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these implementation manners are only used to explain the technical principles of the present invention and do not limit the protection scope of the present invention.

[0055] It should be noted that in the description of the present invention, the terms indicating directions or positional relationships such as "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0056] In addition, it should also be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0057] Please refer to Figures 1 - 5 as shown Figure 1 A unit connection diagram of a full - automatic tire nail - embedding machine control system based on image positioning in an embodiment of the present invention; Figure 2 A front - view structural schematic diagram of a full - automatic tire nail - embedding machine in an embodiment of the present invention; Figure 3 A front - view structural schematic diagram of a full - automatic tire nail - embedding machine in an embodiment of the present invention; Figure 4 A schematic diagram for calculating the rotation angle α in the second mode in an embodiment of the present invention; Figure 5 An axis diagram for dividing axis levels according to a planar image in an embodiment of the present invention.

[0058] The present invention provides a full - automatic tire nail - embedding machine control system based on image positioning, including:

[0059] A scanning detection unit, which is connected to a scanning device, is used to obtain a static image of the tire through the scanning device to detect the curvature of the tread surface, scan the outer circumference of the tire to obtain a planar image of the tire tread;

[0060] A clamping control unit, which is connected to a clamping device, is used to control the clamping device to clamp the tire and lift it to the detection position, drive the tire to rotate according to the initial parameters, and determine the initial attitude corresponding to the axis where the nail-embedded hole is located;

[0061] A nail-inserting control unit, which is connected to a nail-inserting device, is used to drive the nail-inserting device to move along the rolling surface and the left and right transition arc surfaces of the tire according to the nail-inserting sequence, adjust the rotation angle of the nail-inserting device, and control the nail-inserting device to descend to implant the anti-skid nails;

[0062] An image analysis unit, which is connected to the scanning detection unit, is used to analyze the obtained planar image, divide the reference line and the transverse initial line of the tire tread, detect the specific coordinate position of the center point of the nail-embedded hole in the planar image, and determine the axis level of the nail-embedded holes on the same axis according to the hole-line distance between the nail-embedded hole and the reference line;

[0063] A motion planning unit, which is connected to the image analysis unit and the clamping control unit, is used to determine the importance degree of the axis according to the axis level and the number of coaxial holes to determine the nail-inserting sequence of different axes, and perform the nail-inserting process on the nail-embedded holes in different axis levels according to the first nail-inserting mode and the second nail-inserting mode;

[0064] A detection and adjustment unit, which is connected to the clamping control unit and the nail-inserting control unit, is used to detect the relative position between the nail-inserting opening and the edge of the nail-embedded hole to determine whether the position deviation meets the fine positioning requirements, and perform a primary deviation adjustment according to the deviation situation; detect the corner deviation value of the nail-firing opening from the edge of the hexagonal hole to judge whether the relative position between the nail-inserting opening and the nail-embedded hole meets the nail-inserting requirements, and determine the adjustment method of the nail-inserting device;

[0065] The initial parameters include the initial rolling speed, the initial rotation speed, and the initial rotation direction.

[0066] During implementation, the clamping control unit controls the telescopic distances on both sides of the clamping device according to the pre-input tire tread width, clamps the tire to be nail-inserted, and determines that the clamping is stable after detecting that the clamping pressure reaches the preset value;

[0067] In this embodiment, after the clamping is stable, the center line of the tire tread is collinear with the nail-inserting opening of the nail-inserting device.

[0068] After stabilization, the tire is lifted, the lifting height is determined according to the pre-input tire diameter and the detected height, the heights on both sides of the clamping device are synchronously adjusted according to the lifting height, and the tire tread is raised to a fixed detection position according to the detected height;

[0069] After rising to a fixed detection position, it enters the image positioning state. The scanning detection unit acquires a static image of the tire tread, performs edge detection to extract the tire contour, and detects the curvature of the tire tread based on the tire contour.

[0070] The clamping control unit controls the clamping device to drive the tire to rotate uniformly for one week at the initial rolling speed, and the image scanning device scans the rolling tire.

[0071] The scanning detection unit inputs the scanned image into the trained YOLO model for recognition and cropping to obtain a planar image of the tire tread, and the planar image contains several identified nail holes.

[0072] Specifically, in the manual nail embedding operation, problems such as uneven nail distribution and inconsistent depth are likely to occur, affecting the grip and service life of the tire. Through image recognition, automatic control, and precise positioning for the automatic nail embedding machine, this system precisely controls the position, depth, and distribution of the anti-skid nails, ensures the uniformity of tire performance, and realizes the efficient and precise automatic nail embedding processing of anti-skid tires.

[0073] The image analysis unit analyzes the planar image, divides the center line and the initial horizontal line of the tire tread, and detects the specific coordinate positions of the center points of the nail holes in the planar image. The initial horizontal line is directly below the nail embedding port of the nail embedding device.

[0074] It can be understood that those skilled in the art can ensure that the center line of the tire tread is collinear with the nail embedding port of the nail embedding device after stable clamping and ensure that the initial horizontal line is directly below the nail embedding port of the nail embedding device by setting the relative positions of the nail embedding device, the clamping device, and the image scanning device and adjusting the initial angle of the image scanning device relative to the tire tread.

[0075] The image analysis unit uses the center line of the tire tread as the reference line, detects the hole-line distance between the nail holes and the reference line, and divides the nail holes on the same axis into the first axis, the second axis, the third axis... the nth axis.

[0076] In the determination process of being on the same axis, if the difference value of the hole-line distance between the nail holes is greater than or equal to the difference evaluation value, the image analysis unit determines that the nail holes are not on the same axis.

[0077] If the difference value of the hole-line distance between the nail holes is less than the difference evaluation value, the image analysis unit determines that the nail holes are on the same axis and determines the axis level of the nail holes.

[0078] Specifically, the image analysis unit determines the axis distance of the corresponding axis according to the average hole line distance of several nail-embedded holes at the same axis level, determines the axis level of the nail-embedded holes on the same axis according to the size of the axis distance, the axis level of the nail-embedded holes on the same axis with the smallest axis distance is the first axis, and the axis level of the nail-embedded holes on the same axis with the second smallest axis distance is the second axis, and so on;

[0079] Among them, the difference evaluation value is 0.2 mm.

[0080] The motion planning unit identifies and detects the number of coaxial holes of the nail-embedded holes on the same axis, divides the importance of the axis according to the axis level and the number of coaxial holes, and determines the nail-inserting order of different axes according to the importance;

[0081] Specifically, the importance is equal to the product of the axis level and the number of coaxial holes, and the nail-inserting order is sorted according to the importance, and the nail-embedded holes on the same axis with the lowest importance are nailed first.

[0082] Specifically, there are significant differences in the functions and importance of the anti-skid nails at different positions on the tread. The tire shoulder is one of the main areas where the tire contacts the ground, bearing the functions of steering and lateral support. When driving on a road with low friction due to several external factors, the cause of accidents is often skidding when the vehicle turns. Therefore, the anti-skid nails closer to the tire shoulder are more important for anti-skidding. At the same time, the arrangement of the anti-skid nails on the tire shoulder is usually denser. This system determines the importance according to the axis level and the number of coaxial holes, and determines the nail-inserting order according to the importance, which can ensure that the nail-inserting positions of the nail-embedded holes with a more important axis level are more accurate, effectively increasing the friction between the tire and the ground.

[0083] In this embodiment, the hole edge of the nail-embedded hole is hexagonal.

[0084] The existing manual control logic is to complete the nail shooting work on the tire to be nailed by visual inspection. The staff observes the relative position relationship between the current nail shooting port and the nail-embedded hole, judges the moving direction of the tire at the next moment, rotates and moves the tire to micro-move in the corresponding direction for alignment, and repeats several times until it is felt that the alignment between the nail shooting port and the nail-embedded hole meets the accuracy requirements, and then performs nail-inserting processing; the control of this system is based on the manual operation logic, makes a first rough positioning movement for the nail-embedded hole, and a fine positioning micro-adjustment movement, and adopts different nail-inserting modes for the nail-embedded holes at different axis levels.

[0085] The image analysis unit determines the axis distance of the corresponding axis according to the average hole line distance of several nail-embedded holes at the same axis level;

[0086] The control system nails the tire according to the nailing sequence. The nailing control unit and the motion planning unit control the nailing device and the clamping device to nail the nail holes on the tire tread at different axis levels according to the nailing sequence;

[0087] The nailing control unit controls the nailing device to move to the axis in the first position of the nailing sequence. During implementation, the nailing control unit controls the movement of the nailing device according to the detected axis distance of the axis in the first position. The moving direction of the nailing device is the direction of the axis relative to the reference line;

[0088] The clamping control unit controls the clamping device to drive the tire to rotate to the initial attitude of the axis in the first position. The initial attitude is the position where the clamping control unit places the nearest nail hole directly below the nailing opening of the nailing device. The nearest nail hole is the nail hole with the smallest distance from the horizontal initial line on the current axis.

[0089] Specifically, when the tire is clamped each time, the postures of the tire and several nail holes are different. After scanning and imaging the tire, the system adjusts the tire to a fixed state as the reference state for subsequent nailing processing of several nail holes, avoiding the adverse impact of different tire postures on the accuracy of the control system for the nailing machine, and improving the automation degree of controlling the nailing machine and the adaptability to different tire postures.

[0090] The image analysis unit detects several hole spacings in the vertical direction parallel to the axis between adjacent nail holes on the same axis according to the specific coordinate positions of the center points of several nail holes in the planar image;

[0091] The motion planning unit obtains the axis level corresponding to any axis determined by the image analysis unit. For the nail holes with an axis level less than the preset level, the motion planning unit nails according to the first nailing mode; for the nail holes with an axis level greater than or equal to the preset level, the motion planning unit nails according to the second nailing mode;

[0092] Among them, the preset level is a preset value set according to the tire width, and the preset level can be adjusted according to the tire width.

[0093] Specifically, there is a certain degree of curvature on the tire tread, but the surface curvature value in a section of the area close to the center line can be ignored. The curvature is greater closer to the tire shoulder. Therefore, the system adopts different nailing modes for nail holes in different areas.

[0094] Specifically, in the first nailing mode, for the nail holes at the same axis level, the motion planning unit controls the clamping device to rotate at the initial rotation speed and in the initial rotation direction, and moves between the axes according to the hole spacing of the nail holes for rough positioning;

[0095] After rough positioning, the detection and adjustment unit uses a small vision sensor integrated with the nail-inserting device to detect the top and bottom distances between the nail-inserting opening of the nail-inserting device and the top and bottom edges of the hexagonal hole edge, and determines whether the position deviation between the nail-inserting opening and the nail-embedding hole meets the fine positioning requirements;

[0096] If one of the top distance and the bottom distance is greater than or equal to the critical edge distance, the detection and adjustment unit determines that the nail-inserting opening does not fall into the hexagonal hole edge area or overlaps with the hole edge, and does not meet the fine positioning requirements;

[0097] If both the top distance and the bottom distance are less than the critical edge distance, the detection and adjustment unit determines that the nail-inserting opening falls into the hexagonal hole edge area, meeting the fine positioning requirements;

[0098] If both the top distance and the bottom distance are greater than or equal to the critical edge distance, the detection and adjustment unit determines that the position deviation between the nail-inserting opening and the nail-embedding hole exceeds the normal range;

[0099] Wherein, the critical edge distance is the diameter of the inner circle of the pre-input hexagonal hole edge.

[0100] If the position deviation between the nail-inserting opening and the nail-embedding hole exceeds the normal range, the detection and adjustment unit issues a shutdown and maintenance alarm signal;

[0101] If the position deviation between the nail-inserting opening and the nail-embedding hole meets the fine positioning requirements, the motion planning unit performs fine positioning;

[0102] If the position deviation between the nail-inserting opening and the nail-embedding hole does not meet the fine positioning requirements, the detection and adjustment unit performs a primary deviation adjustment, determines the rotation adjustment direction and rotation adjustment duration for controlling the rotation of the clamping device in the primary deviation adjustment according to the deviation situation, controls the rotation of the clamping device according to the rotation adjustment direction and rotation adjustment duration, and adjusts the initial rotation speed;

[0103] Specifically, the detection and adjustment unit determines the deviation situation. If the bottom distance is greater than or equal to the critical edge distance, the detection and adjustment unit increases the initial rotation speed of the clamping device according to the difference between the bottom distance and the sum of the top distance and half of the critical edge distance;

[0104] The rotation adjustment direction in the primary deviation adjustment is the same as the initial rotation direction, and the rotation adjustment duration is the duration calculated according to the increased initial rotation speed and the difference between the bottom distance and the sum of the top distance and half of the critical edge distance;

[0105] If the top distance is greater than or equal to the critical edge distance, the detection and adjustment unit decreases the initial rotation speed of the clamping device according to the difference between the top distance and the sum of the bottom distance and half of the critical edge distance;

[0106] The rotation adjustment direction of the primary deviation adjustment is opposite to the initial rotation direction, and the rotation adjustment duration is the duration calculated based on the reduced initial rotation speed and the difference between the bottom edge distance and the top edge distance and half of the critical edge distance.

[0107] Specifically, during the rough positioning process, the detection and adjustment unit determines whether the nail insertion opening falls within the hexagonal hole edge area based on the top edge distance and the bottom edge distance between the nail insertion opening and the top and bottom edges of the hexagonal hole edge, determines whether the positional deviation between the nail insertion opening and the nail embedding hole meets the requirements of fine positioning, and correspondingly takes subsequent corresponding actions. Moreover, during the primary deviation adjustment, the rotation adjustment direction and rotation adjustment speed for controlling the rotation of the clamping device are determined based on the top edge distance and the bottom edge distance, improving the adaptability of detecting and adjusting several nail insertion situations during the nail insertion process, and increasing the automation degree and accuracy of nail insertion for the tire.

[0108] In the first nail insertion mode, the motion planning unit performs fine positioning after the rough positioning meets the requirements of fine positioning or after the primary adjustment. After the fine positioning, it controls the nail insertion control unit to control the nail insertion device to descend according to the initial depth value for nail insertion processing;

[0109] During the fine positioning in the first nail insertion mode, the detection and adjustment unit determines the lateral feed amount of the nail insertion device based on the deviation difference between the two corner point deviation values;

[0110] In the second nail insertion mode, after the rough positioning meets the requirements of fine positioning or after the primary adjustment, the detection and adjustment unit adjusts the nail insertion angle of the nail insertion device according to the rotation angle α, and performs fine positioning after adjusting the nail insertion angle;

[0111] During the fine positioning in the second nail insertion mode, the detection and adjustment unit finely adjusts the nail insertion angle of the nail insertion device according to the deviation difference between the two corner point deviation values, and determines the fine adjustment direction and fine adjustment angle according to the deviation situation;

[0112] Specifically, the detection and adjustment unit detects the corner point deviation values of the center of the nail shooting opening from the six corner points of the hexagonal hole edge within the hexagonal hole edge area, and the corner point deviation value is equal to the distance between the center of the nail shooting opening and the corner point;

[0113] The detection and adjustment unit detects the deviation difference between the left corner point deviation value and the right corner point deviation value of the left corner point and the right corner point located at the leftmost and rightmost sides of the hexagonal hole edge;

[0114] If the deviation difference is less than the critical difference, the detection and adjustment unit determines that the relative position between the nail insertion opening and the nail embedding hole meets the nail insertion requirements, and controls the nail insertion device to descend according to the initial depth value for nail insertion processing;

[0115] If the deviation difference is greater than or equal to the critical difference, the detection and adjustment unit determines that the relative position between the nail insertion opening and the nail embedding hole does not meet the nail insertion requirements, and determines the adjustment method of the nail insertion device according to the nail insertion mode;

[0116] Wherein, the critical difference value is one-sixth of the radius of the outer circle of the pre-input hexagonal hole edge.

[0117] In implementation, the adjustment method of the first nail-inserting mode is that if the deviation value of the left corner point is greater than the deviation value of the right corner point, the detection and adjustment unit controls the nail-inserting device to move to the left side of the axis, and the moving distance is the difference between the deviation value of the left corner point and the critical difference value;

[0118] If the deviation value of the right corner point is greater than the deviation value of the left corner point, the detection and adjustment unit controls the nail-inserting device to move to the right side of the axis, and the moving distance is the difference between the deviation value of the right corner point and the critical difference value;

[0119] In implementation, the adjustment method of the second nail-inserting mode is that if the deviation value of the left corner point is greater than the deviation value of the right corner point, the detection and adjustment unit controls the nail-inserting device to finely adjust the nail-inserting angle to the left side of the axis, and calculates the fine adjustment angle according to the difference between the deviation value of the left corner point and the critical difference value;

[0120] If the deviation value of the right corner point is greater than the deviation value of the left corner point, the detection and adjustment unit controls the nail-inserting device to finely adjust the nail-inserting angle to the right side of the axis, and calculates the fine adjustment angle according to the difference between the deviation value of the right corner point and the critical difference value;

[0121] Specifically, for the nail-inserting holes at the same axis level, affected by various adverse factors in the punching process during the production of the tire tread, there are deviations in the specific coordinate positions of the center points of the nail-inserting holes at the same axis level in the horizontal direction perpendicular to the axis in the plane image. Therefore, after the rough positioning adjusts the relative position in the direction parallel to the axis in the plane image, the fine positioning is carried out, and the relative position in the direction perpendicular to the axis in the plane image is adjusted, so as to avoid that although the anti-slip nails will be inserted into the hole edge after the rough positioning adjustment, the coincidence degree with the nail-inserting hole in the axial direction is not high. At the same time, due to the curvature factor of the tire tread, different nail-inserting modes are adopted for the axes at different axis levels, and the moving distance or the nail-inserting angle of the nail-inserting device is adjusted to improve the accuracy of the detection, control and adjustment of the nail-inserting device in the nail-inserting process.

[0122] After the nail-inserting of the nail-inserting holes at the same axis level is completed, it is necessary to switch the axis level, control the nail-inserting device to use the axial distance between the current axis and the next axis as the transverse feed amount. After the transverse movement, control the clamping device to make the tire enter the corresponding initial posture of the subsequent axis, and repeat the process of nail-inserting between the nail-inserting holes at the same axis level.

[0123] In implementation, after the nail-inserting of the nail-inserting holes on the current axis is completed, the nail-inserting of the nail-inserting holes on the next axis is carried out according to the determined nail-inserting order.

[0124] The studding control unit controls the studding device to move to the axis of the next position. During implementation, the studding control unit controls the movement of the studding device according to the detected distance between the axis of the current position and the axis of the next position. The moving direction of the studding device is the direction of the axis of the next position relative to the axis of the current position.

[0125] The motion planning unit controls the clamping device to drive the tire to rotate, so that the nearest studding hole is placed directly below the studding port of the studding device. The nearest studding hole is the studding hole on the axis of the next position with the smallest distance from the horizontal initial line.

[0126] For the studding holes at the same axis level and with an axis level greater than the preset level, the motion planning unit studs them according to the second studding mode. The rough positioning process of the second studding mode is the same as that of the first studding mode.

[0127] After rough positioning in the second studding mode, the detection and adjustment unit adjusts the studding angle of the studding device according to the rotation angle α, and studs the studding hole according to the adjusted initial depth value.

[0128] The detection and adjustment unit calculates the normal vector of the curve at the studding hole position on the curve obtained by the normal vector method according to the curve parameter equation, that is, the vector perpendicular to the tangent of the curve at this point, and calculates the rotation angle α according to the normal vector.

[0129] Calculate the required lateral feed D of the studding device according to the rotation angle α, D = tanα(H + h + β),

[0130] where β is the drop value of the curve point relative to the horizontal initial line, H is the initial depth value corresponding to the studding device and the studding hole, and h is the length of the studding device.

[0131] After adjusting the rotation angle of the studding device, the detection and adjustment unit performs fine positioning, and after fine positioning, studs the studding hole according to the adjusted initial depth value.

[0132] The adjusted initial depth value is H', H' = H / cosα;

[0133] Specifically, there is a certain curvature in the area of the tire tread away from the center line. If studding processing is performed perpendicular to the horizontal plane direction for studding holes with different axis levels, the bonding tightness between the tire and the anti-skid studs is poor, and there may be a phenomenon of falling off. This system optimizes the arrangement angle of the anti-skid studs in the studding holes relative to the tire surface by adjusting the rotation angle of the studding device, studs the studding holes perpendicular to the tangent direction of the curve for studding holes with different axis levels, ensures uniform and maximized grip, and increases the adaptability and accuracy of studding the tire.

[0134] So far, the technical solution of the present invention has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easily understood by those skilled in the art that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0135] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A full-automatic tire studding machine control system based on image positioning, characterized in that, Including: A scanning detection unit, which is connected to a scanning device, is used to obtain a static image of the tire through the scanning device to detect the curvature of the tread, and scan the outer circumference of the tire to obtain a planar image of the tire tread; A clamping control unit, which is connected to a clamping device, is used to control the clamping device to clamp the tire and lift it to the detection position, drive the tire to rotate according to the initial parameters, and determine the initial posture corresponding to the axis where the nail-embedded hole is located; A nail-inserting control unit, which is connected to a nail-inserting device, is used to drive the nail-inserting device to move along the rolling surface and the left and right transition arc surfaces of the tire according to the nail-inserting sequence, adjust the rotation angle of the nail-inserting device, and control the nail-inserting device to descend to implant anti-slip nails; An image analysis unit, which is connected to the scanning detection unit, is used to analyze the obtained planar image, divide the reference line and the horizontal initial line of the tire tread, detect the specific coordinate position of the center point of the nail-embedded hole in the planar image, and determine the axis level of the nail-embedded holes on the same axis according to the hole-line distance between the nail-embedded hole and the reference line; A motion planning unit, which is connected to the image analysis unit and the clamping control unit, is used to determine the nail-inserting sequence of different axes according to the importance of the axes divided by the axis level and the number of coaxial holes, and perform the nail-inserting process on the nail-embedded holes in different axis levels according to the first nail-inserting mode and the second nail-inserting mode; A detection and adjustment unit, which is connected to the clamping control unit and the nail-inserting control unit, is used to detect the relative position between the nail-inserting port and the edge of the nail-embedded hole to determine whether the position deviation meets the fine positioning requirements, and perform a primary deviation adjustment according to the deviation situation; detect the corner deviation value of the nail-firing port from the edge of the hexagonal hole to judge whether the relative position between the nail-inserting port and the nail-embedded hole meets the nail-inserting requirements, and determine the adjustment method of the nail-inserting device; The initial parameters include an initial rolling speed, an initial rotation speed, and an initial rotation direction.

2. The control system of the fully automatic tire studding machine based on image positioning according to claim 1, characterized in that The image analysis unit uses the center line of the tire tread as the reference line to detect the hole-line distance between the nail-embedded hole and the reference line; If the difference value of the hole-line distances between the nail-embedded holes is less than the difference evaluation value, the image analysis unit determines that the nail-embedded holes are on the same axis, determines the axis distance of the corresponding axis according to the average hole-line distance of several nail-embedded holes on the same axis level, and determines the axis level of the nail-embedded holes on the same axis according to the size of the axis distance.

3. The control system of the fully automatic tire studding machine based on image positioning according to claim 1, wherein, The image analysis unit determines the axis distance of the corresponding axis according to the average hole-line distance of several nail-embedded holes on the same axis level; The nail-inserting control unit controls the nail-inserting device to move to the axis in the first position of the nail-inserting sequence, and the clamping control unit controls the clamping device to drive the tire to rotate to the initial posture of the axis in the first position. The initial posture is the position where the clamping control unit places the nearest nail-embedded hole directly below the nail-inserting port of the nail-inserting device, and the nearest nail-embedded hole is the nail-embedded hole on the current axis with the smallest distance from the horizontal initial line.

4. The control system of the fully automatic tire studding machine based on image positioning according to claim 1, characterized in that, The motion planning unit obtains the axis level corresponding to any axis determined by the image analysis unit, If the nail-embedded holes with an axis level less than the preset level, the motion planning unit inserts nails according to the first nail-inserting mode; if the nail-embedded holes with an axis level greater than or equal to the preset level, the motion planning unit inserts nails according to the second nail-inserting mode.

5. The control system of the fully automatic tire studding machine based on image positioning according to claim 4, characterized in that, In the first studding mode, for the stud holes at the same axis level, the motion planning unit controls the clamping device to rotate at the initial rotation speed and in the initial rotation direction, and moves between the axes according to the hole pitch of the stud holes for rough positioning; The detection and adjustment unit detects the top edge distance and the bottom edge distance between the studding opening of the studding device and the top and bottom edges of the hexagonal hole edge; If one of the top edge distance and the bottom edge distance is greater than or equal to the critical edge distance, the detection and adjustment unit determines that the studding opening does not fall into the hexagonal hole edge area or overlaps with the hole edge, which does not meet the fine positioning requirements; If both the top edge distance and the bottom edge distance are less than the critical edge distance, the detection and adjustment unit determines that the studding opening falls into the hexagonal hole edge area, which meets the fine positioning requirements; If both the top edge distance and the bottom edge distance are greater than or equal to the critical edge distance, the detection and adjustment unit determines that the position deviation between the studding opening and the stud hole exceeds the normal range.

6. The control system of the fully automatic tire studding machine based on image positioning according to claim 5, characterized in that If the position deviation between the studding opening and the stud hole exceeds the normal range, the detection and adjustment unit issues a shutdown and maintenance alarm signal; if the position deviation between the studding opening and the stud hole meets the fine positioning requirements, the detection and adjustment unit performs fine positioning; If the position deviation between the studding opening and the stud hole does not meet the fine positioning requirements, the detection and adjustment unit performs a primary deviation adjustment, determines the rotation adjustment direction and the rotation adjustment duration for controlling the rotation of the clamping device in the primary deviation adjustment according to the deviation situation, controls the clamping device to rotate according to the rotation adjustment direction and the rotation adjustment duration, and adjusts the initial rotation speed.

7. The control system of the fully automatic tire studding machine based on image positioning according to claim 6, characterized in that The detection and adjustment unit determines the deviation situation. If the bottom edge distance is greater than or equal to the critical edge distance, the detection and adjustment unit increases the initial rotation speed of the clamping device according to the difference between the bottom edge distance and the sum of the top edge distance and half of the critical edge distance; The rotation adjustment direction in the primary deviation adjustment is the same as the initial rotation direction, and the rotation adjustment duration is the duration calculated according to the increased initial rotation speed and the difference between the bottom edge distance and the sum of the top edge distance and half of the critical edge distance; If the top edge distance is greater than or equal to the critical edge distance, the detection and adjustment unit decreases the initial rotation speed of the clamping device according to the difference between the top edge distance and the sum of the bottom edge distance and half of the critical edge distance; The rotation adjustment direction in the primary deviation adjustment is opposite to the initial rotation direction, and the rotation adjustment duration is the duration calculated according to the decreased initial rotation speed and the difference between the bottom edge distance and the sum of the top edge distance and half of the critical edge distance.

8. The control system of the fully automatic tire studding machine based on image positioning according to claim 4, characterized in that, In the first studding mode, after the rough positioning meets the fine positioning requirements or after the primary adjustment, the motion planning unit performs fine positioning. After the fine positioning, it controls the studding control unit to control the studding device to descend according to the initial depth value for studding processing; During the fine positioning in the first studding mode, the detection and adjustment unit determines the lateral feed amount of the studding device according to the deviation difference between the two corner point deviation values; In the second studding mode, after the rough positioning meets the fine positioning requirements or after the primary adjustment, the detection and adjustment unit adjusts the studding angle of the studding device according to the rotation angle α, and performs fine positioning after adjusting the studding angle; Fine positioning in the second studding mode, the detection and adjustment unit finely adjusts the studding angle of the studding device according to the deviation difference of the two corner point deviation values, and determines the fine adjustment direction and fine adjustment angle according to the deviation situation.

9. The control system of a fully automatic tire studding machine based on image positioning according to claim 8, characterized in that the detection and adjustment unit detects the deviation difference between the left corner point deviation value and the right corner point deviation value of the left corner point and the right corner point located at the leftmost and rightmost sides of the hexagonal hole edge, if the deviation difference is less than the critical difference, the detection and adjustment unit determines that the relative position of the studding opening and the studding hole meets the studding requirements, and controls the studding device to descend according to the initial depth value for studding processing; if the deviation difference is greater than or equal to the critical difference, the detection and adjustment unit determines that the relative position of the studding opening and the studding hole does not meet the studding requirements, and determines the adjustment method of the studding device according to the studding mode.

10. The control system of a fully automatic tire studding machine based on image positioning according to claim 9, characterized in that the adjustment method in the first studding mode is that if the left corner point deviation value is greater than the right corner point deviation value, the detection and adjustment unit controls the studding device to move to the left side of the axis, and the moving distance is the difference between the left corner point deviation value and the critical difference; if the right corner point deviation value is greater than the left corner point deviation value, the detection and adjustment unit controls the studding device to move to the right side of the axis, and the moving distance is the difference between the right corner point deviation value and the critical difference; the adjustment method in the second studding mode is that if the left corner point deviation value is greater than the right corner point deviation value, the detection and adjustment unit controls the studding device to finely adjust the studding angle to the left side of the axis, and calculates the fine adjustment angle according to the difference between the left corner point deviation value and the critical difference; if the right corner point deviation value is greater than the left corner point deviation value, the detection and adjustment unit controls the studding device to finely adjust the studding angle to the right side of the axis, and calculates the fine adjustment angle according to the difference between the right corner point deviation value and the critical difference.

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