Method for generating cleaning track of tire mold

Abstract

The invention provides a cleaning track generation method for a tire mold, and relates to the field of laser cleaning, and the method comprises the following steps: carrying out parametric modeling by using tire parameters to generate contour lines of an upper mold and a lower mold; the tire parameters are inquired according to tire models; the theoretical track of the laser head is obtained through the contour line and the laser cleaning parameters; the laser cleaning parameters at least comprise the laser focal length and the line width of a laser head; and calibrating the center coordinate of the tire mold by using the distance from the laser head to the tire mold and the bottom surface so as to convert the theoretical track into a cleaning track. According to the method, the theoretical track is generated through tire parameter modeling, the theoretical track is mapped into the cleaning track after actual mold calibration, and the tire molds of the same model can be repeatedly used only through one-time track generation.

Description

Technical Field

[0001] This disclosure relates to the field of laser cleaning, and more specifically to a method for generating cleaning trajectories for tire molds. Background Technology

[0002] Mold cleaning has always been considered a complex and arduous process by tire manufacturers, and the problem is even more pronounced for extra-large tire molds. Conventional cleaning methods, such as dry ice cleaning and handheld laser cleaning, require the mold to be completely cooled before cleaning can begin, and sometimes necessitate mold disassembly. These methods suffer from low efficiency, inconsistent results, and potential safety risks. While robotic arm cleaning equipment can automate the cleaning process for small molds by measuring and then cleaning, the limited space inside large vulcanizing machines makes it difficult for robotic arms to operate normally. For large tire molds, achieving automated cleaning without disassembling the bladder is one of the key issues that urgently needs to be addressed. Summary of the Invention

[0003] In view of the above problems, this disclosure provides a method for generating cleaning trajectories for tire molds used in large-size vulcanizing machines.

[0004] This disclosure provides a method for generating a cleaning trajectory for a tire mold, comprising: performing parametric modeling using tire parameters to generate the contour lines of the upper and lower molds; obtaining the tire parameters based on the tire model; obtaining the theoretical trajectory of the laser head using the contour lines and laser cleaning parameters; the laser cleaning parameters including at least the laser focal length and linewidth of the laser head; and calibrating the center coordinates of the tire mold using the distance from the laser head to the tire mold and to the bottom surface to convert the theoretical trajectory into a cleaning trajectory.

[0005] According to embodiments of this disclosure, the theoretical trajectory of the laser head is obtained using contour lines and laser cleaning parameters, including: discretizing the contour lines using laser linewidth to obtain discrete line segments; calculating a set of theoretical trajectory points of the laser head using the discrete line segments and laser cleaning parameters; the theoretical trajectory points include at least pitch angle, azimuth angle, incident angle, and laser center point coordinates; the theoretical trajectory of the laser head is the trajectory obtained by rotating the laser head around the vertical axis once for each theoretical trajectory point.

[0006] According to embodiments of this disclosure, a set of theoretical trajectory points of the laser head is calculated using discrete line segments and laser cleaning parameters, including: calculating the pitch angle of the laser head based on the normal vector of the discrete line segments, the laser linewidth, and the focal length; calculating the direction angle of the laser head based on the projection of the discrete line segments onto the horizontal plane; calculating the coordinates of the laser center point of the laser head based on the discrete line segments, the laser focal length, and the linewidth; and calculating the incident angle of the laser head based on the laser linewidth, the coordinates of the laser center point, and the direction angle.

[0007] According to embodiments of this disclosure, the center coordinates of a tire mold are determined using the distances from the laser head to the tire mold and to the bottom surface. This includes: measuring the arc-shaped inner wall of the tire mold using a distance sensor to obtain a first set of distance data; using the first set of distance data, fitting the tire mold using the least squares method to obtain the horizontal center coordinates on a horizontal plane; measuring the distance to the bottom surface of the tire mold using a distance sensor to obtain a second set of distance data; calculating the average value of the second set of distance data to obtain the vertical center coordinates of the tire mold; and determining the center coordinates of the tire mold using the horizontal and vertical center coordinates.

[0008] According to an embodiment of this disclosure, converting a theoretical trajectory into a cleaning trajectory includes: mapping the theoretical trajectory to the coordinate system of the tire mold, with the center coordinates of the tire mold as the origin, for use as a cleaning trajectory.

[0009] According to embodiments of this disclosure, the tire parameters include at least the tire model; parametric modeling using the tire parameters to generate the outlines of the upper and lower molds includes: resolving the width, aspect ratio, and rim diameter based on the tire model; generating the cross-sectional outlines of the upper and lower molds using the width, aspect ratio, and rim diameter; the outlines are composed of arc segments and straight line segments.

[0010] The second aspect of this disclosure provides a cleaning trajectory generation device for a tire mold, comprising: a contour modeling module for parametric modeling using tire parameters to generate contour lines of an upper mold and a lower mold; the tire parameters are obtained by querying according to the tire model; a trajectory generation module for obtaining the theoretical trajectory of a laser head using the contour lines and laser cleaning parameters; the laser cleaning parameters include at least the laser focal length, linewidth, and incident angle of the laser head; and a ranging calibration module for calibrating the center coordinates of the tire mold using the distance from the laser head to the tire mold and to the bottom surface, so as to convert the theoretical trajectory into a cleaning trajectory.

[0011] A third aspect of this disclosure provides a machine tool-type tire mold cleaning device, including the tire mold cleaning trajectory generation device provided in the second aspect.

[0012] A fourth aspect of this disclosure provides an electronic device comprising: one or more processors; and a memory for storing one or more programs, wherein, when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to perform the above-described method for generating a cleaning trajectory for a tire mold.

[0013] The fifth aspect of this disclosure also provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, cause the processor to perform the above-described method for generating a cleaning trajectory for a tire mold.

[0014] According to the tire mold cleaning trajectory generation method provided in this disclosure, a contour line is generated by parametric modeling using tire parameters, and a theoretical trajectory is obtained by combining laser parameters. The theoretical trajectory is then converted into a cleaning trajectory by calibrating the center coordinates. Since parametric modeling is based on standard tire model parameters, visual measurement before each cleaning is avoided. Only calibration is needed to obtain the actual cleaning trajectory. Therefore, the technical problem of having to replan for each cleaning is at least partially solved, achieving the technical effects of reproducible trajectory and improved cleaning efficiency. Attached Figure Description

[0015] Figure 1 A flowchart illustrating a method for generating a cleaning trajectory for a tire mold according to an embodiment of the present disclosure is shown schematically.

[0016] Figure 2 This schematically illustrates the upper mold for modeling tire national standard model parameters according to an embodiment of the present disclosure;

[0017] Figure 3 A schematic diagram illustrating the principle of tire mold cleaning trajectory according to an embodiment of the present disclosure is shown.

[0018] Figure 4 A schematic diagram illustrating the arc measurement and height measurement of a ranging sensor according to an embodiment of the present disclosure is shown.

[0019] Figure 5 A schematic diagram of a cleaning trajectory generation apparatus for a tire mold according to an embodiment of the present disclosure is shown.

[0020] Figure 6 A block diagram schematically illustrates an electronic device suitable for implementing a method for generating cleaning trajectories for a tire mold according to an embodiment of the present disclosure. Detailed Implementation

[0021] The embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the present disclosure for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0022] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0023] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0024] When using expressions such as "at least one of A, B and C", they should generally be interpreted in accordance with the meaning that is commonly understood by those skilled in the art (e.g., "a system having at least one of A, B and C" should include, but is not limited to, a system having A alone, a system having B alone, a system having C alone, a system having A and B, a system having A and C, a system having B and C, and / or a system having A, B and C, etc.).

[0025] Online laser cleaning equipment for tire molds represents a complete solution developed from laser cleaning in the field of tire mold cleaning. Currently common online laser cleaning equipment typically includes a mobile cleaning cart, a laser cleaning head, and a robotic arm. Tire molds consist of an upper mold and a lower mold, mounted on a vulcanizing machine. When cleaning is required, the user moves the cleaning cart near the vulcanizing machine, where the robotic arm holds the cleaning head and emits a laser to clean the upper and lower molds. CN117698010A discloses an online laser cleaning trajectory planning scheme. Firstly, it extracts the tire contour line based on measurement data from a 3D vision device for planning. Secondly, the planned trajectory is based on the deployment of a robotic arm and applied to its movement. This has already achieved automated cleaning in small vulcanizing machine tire mold cleaning. Existing tire mold cleaning methods generally employ a measurement-then-planning approach. When cleaning the next vulcanizing machine, measurement and planning must be repeated, making it difficult to achieve repeatable trajectories. Therefore, this places high technical demands on operators.

[0026] Unlike the previous solution, since tire molds are standardized products, the cleaning trajectory generation method of the machine tool type tire mold cleaning equipment proposed in this disclosure is based on parametric modeling of the tire model. This process does not require the use of visual measurement equipment, so the generated trajectory file is reproducible. Figure 1 A flowchart illustrating a method for generating a cleaning trajectory for a tire mold according to an embodiment of the present disclosure is shown, such as... Figure 1 As shown, an embodiment of this disclosure provides a method for generating a cleaning trajectory for a tire mold, including: S1, using tire parameters to perform parametric modeling to generate the outlines of the upper and lower molds; the tire parameters are obtained by querying based on the tire model; S2, using the outlines and laser cleaning parameters to obtain the theoretical trajectory of the laser head; the laser cleaning parameters include at least the laser focal length and line width of the laser head; S3, using the distance from the laser head to the tire mold and to the bottom surface to calibrate the center coordinates of the tire mold for converting the theoretical trajectory into a cleaning trajectory.

[0027] Through the embodiments of this disclosure, the theoretical trajectory generated from tire parameters is reproducible for the same type of tire mold. When cleaning the same type of mold again, it is not necessary to generate it again; it can be directly used simply by mapping it to the mold's coordinate system. Different types of molds only need to generate the trajectory once and can be reused repeatedly, greatly reducing the workload for operators. At the same time, compared with the existing technology of first measuring point cloud data, then planning the cleaning trajectory, and finally processing, the generation method of generating a reusable theoretical trajectory and then only needing calibration and processing reduces the process time.

[0028] Based on the above embodiments, the theoretical trajectory of the laser head is obtained using the contour line and laser cleaning parameters, including: discretizing the contour line using the laser linewidth to obtain discrete line segments; calculating the set of theoretical trajectory points of the laser head using the discrete line segments and laser cleaning parameters; the theoretical trajectory points include at least the pitch angle, azimuth angle, incident angle, and coordinates of the laser center point; the theoretical trajectory of the laser head is the trajectory obtained by rotating the laser head around the vertical axis for each theoretical trajectory point in turn.

[0029] In this embodiment, the tire contour line obtained through parametric modeling is divided into a series of continuous small line segments according to the effective line width of laser cleaning, ensuring that the laser can continuously and uniformly cover the entire cleaning surface during the scanning process. Each small line segment has a start point and an end point, as well as the direction vector of the line segment on the two-dimensional plane, so that the pose of the laser head can be calculated using the small line segments and laser parameters.

[0030] It should be noted that current large-size vulcanizing machines in tire factories all contain bladder columns. Removing the bladder columns during mold cleaning is a tedious and complex process. Manual dry ice cleaning is relatively inefficient, and operators need to enter the mold when it is open, resulting in a high-temperature working environment and the safety hazard of mold falling. Although robotic arm cleaning equipment has automated the cleaning of molds in small vulcanizing machines, for large vulcanizing machines, due to the multiple motion axes of the cleaning robotic arm, it is difficult to work smoothly in the narrow space between the upper and lower molds without removing the bladder columns. This disclosure combines the characteristics of machine tool linear interpolation (horizontal and vertical) and circular interpolation, as well as the cylindrical characteristics of tire molds, and adopts a multi-axis machine tool cleaning equipment. The motion is based on linear and circular interpolation, with fewer motion axes (such as three or five axes), simple trajectory, clear motion range, and low collision risk. It is suitable for the confined space between the upper and lower molds of large vulcanizing machines, and can operate without removing the bladder columns, thus improving safety.

[0031] Figure 3 A schematic diagram illustrating the principle of tire mold cleaning trajectory according to an embodiment of the present disclosure is shown, such as... Figure 3As shown, using discrete line segments and laser cleaning parameters, the set of theoretical trajectory points of the laser head is calculated, including: calculating the elevation angle of the laser head based on the normal vector of the discrete line segments, the laser linewidth, and the focal length; calculating the direction angle of the laser head based on the projection of the discrete line segments onto the horizontal plane; calculating the coordinates of the laser center point of the laser head based on the discrete line segments, the laser focal length, and the linewidth; and calculating the incident angle of the laser head based on the laser linewidth, the coordinates of the laser center point, and the direction angle.

[0032] like Figure 3 As shown in (a), the tire profile is discretized using the laser linewidth, and the normal direction of the line segment (i.e. the direction perpendicular to the line segment) is calculated. For effective cleaning, the laser beam needs to be as perpendicular to the curved surface as possible. Thus, the angle between the laser head and the horizontal direction, i.e., the pitch angle A, is calculated.

[0033] like Figure 3 As shown in (b), the laser head is mounted on a rotating axis. The laser center's circular arc is discretized into a straight line. The projection of its tangent direction (i.e., the direction of the line segment itself) onto the horizontal plane determines how the laser head should turn. The direction angle C is calculated, with a value between [0, 360]. The coordinate system information (X, Y, Z) of the laser center point is calculated using the laser linewidth, focal length, and the discretized straight line segment of the contour. Taking the midpoint of the discretized line segment as the target cleaning point, the coordinates of this point are determined by offsetting it by one laser focal length along the normal vector direction of the contour at that point; this point is the laser focal point. The cleaning incident angle B is calculated using the laser linewidth, laser center point, and direction angle C.

[0034] like Figure 3 As shown in (c), the final set of (X,Y,Z,A,B,C) trajectory points is the generated theoretical trajectory. Connecting the beginning and end of each theoretical trajectory will yield the complete theoretical trajectory.

[0035] Through the embodiments of this disclosure, the contour is decomposed into small line segments through discretization processing, and the position and angle of each point are calculated in combination with laser parameters. The attitude (such as direction angle) of the laser head at each position is determined so that the laser head can effectively clean each position of the mold and realize the automated control of the machine tool equipment.

[0036] Figure 4 A schematic diagram illustrating the arc measurement and height measurement of a ranging sensor according to an embodiment of the present disclosure is shown, such as... Figure 4As shown, the center coordinates of the tire mold are determined by measuring the distances from the laser head to the tire mold and to the bottom surface. This includes: measuring the inner arc of the tire mold using a distance sensor to obtain a first set of distance data; using the first set of distance data, fitting the tire mold using the least squares method to obtain the horizontal center coordinates of the tire mold on the horizontal plane; measuring the distance to the bottom surface of the tire mold using a distance sensor to obtain a second set of distance data; calculating the average value of the second set of distance data to obtain the vertical center coordinates of the tire mold; and determining the center coordinates of the tire mold using the horizontal and vertical center coordinates.

[0037] In this embodiment, the range of the ranging sensor is not limited and can be a point laser, line laser, structured light scanner, etc. The calibration of the tire mold center using the ranging sensor involves two steps: first, using the measuring sensor along the contour direction of the tire mold, with the assistance of machine tool equipment, measuring the arc surface measurement data, and then using the least squares method to fit and obtain the center's (X,Y) coordinates; second, rotating the measuring sensor to face the bottom surface of the mold, and with the assistance of machine tool equipment, measuring the height data and calculating the average value to obtain the center's height coordinate Z, thus obtaining the tire mold center's (X,Y,Z) coordinates.

[0038] In the embodiments of this disclosure, a distance sensor is installed at the end of the cleaning head. A machine tool is used to transport the distance sensor into the tire mold. The installation offset (Vx, Vy, Vz) between the machine tool and the sensor is known. During the movement of the machine tool, the sensor performs measurements to obtain point cloud data information of the area. The vertical center coordinates are calculated by combining the least squares method to fit the horizontal center coordinates and the average value, thus completing the center coordinate calibration.

[0039] Based on the above embodiments, the theoretical trajectory is converted into a cleaning trajectory, including: taking the center coordinates of the tire mold as the origin, the theoretical trajectory is transformed and mapped to the coordinate system of the tire mold to serve as the cleaning trajectory.

[0040] In the embodiments of this disclosure, the generated theoretical trajectory is established in the tire coordinate system, which serves as the workpiece coordinate system. Therefore, during the cleaning process, after obtaining the (X, Y, Z) coordinates of the tire mold center, the tire center is regarded as the workpiece zero point of the cleaning trajectory. By performing coordinate transformation with the tire mold center coordinates as the origin, the theoretical trajectory is mapped to the workpiece coordinate system. Because the coordinate transformation allows the same trajectory file to be flexibly adapted to the same model of mold on different devices, it achieves the technical effects of trajectory portability and ease of operation.

[0041] Figure 2 This schematically illustrates the upper mold for modeling tire national standard model parameters according to an embodiment of the present disclosure, such as... Figure 2As shown, the tire parameters include at least the tire model; parametric modeling is performed using the tire parameters to generate the outlines of the upper and lower molds, including: obtaining the width, aspect ratio, and rim diameter from the tire model; generating the cross-sectional outlines of the upper and lower molds using the width, aspect ratio, and rim diameter; the outlines are composed of arc segments and straight line segments.

[0042] In the embodiments of this disclosure, the surface to be cleaned inside the tire mold is the tire surface. The tire generally conforms to national standards. Without considering the tire tread pattern, the tire mold is parametrically modeled using national standard parameters. The cross-sectional profile curve of the tire can be determined by parameters such as tire model and aspect ratio, which is a set of circular arc segments and straight line segments.

[0043] Based on the above embodiments, the method further includes: establishing a theoretical trajectory database containing tire models, parametric models, and theoretical trajectories. When the production line needs to clean tires, it can automatically retrieve the trajectory file by accepting the input national standard parameters; when the production line cleans new tire models, it stores the tire model, the generated parametric model, and the theoretical trajectory in the theoretical trajectory database to improve cleaning efficiency.

[0044] It should be noted that the method for generating cleaning trajectories for tire molds provided in this disclosure has at least the following advantages:

[0045] (1) The trajectory generation algorithm of the proposed machine tool type tire mold cleaning equipment generates a cleaning trajectory that is replicable for the same type of tire mold. When cleaning the same type of mold again, it is not necessary to generate it again and it can be used directly. Different types of molds only need to generate the trajectory once and can be used repeatedly, which greatly reduces the difficulty of the operator's work.

[0046] (2) The trajectory generation algorithm of the proposed machine tool type tire mold cleaning equipment, after parameterized modeling, generates a theoretical trajectory based on the combination of linear interpolation and circular interpolation of discrete line segments. Therefore, it can be applied to multi-axis machine tool type cleaning equipment. In the small space filled with capsule columns inside a large vulcanizing machine, it reduces the uncertainty of motion control and the risk of equipment collision, which is significantly different from that of a robotic arm.

[0047] (3) The proposed machine tool type tire mold cleaning equipment processing method includes a method of calibrating the tire mold using a distance sensor. The planned trajectory can be applied to the same model of mold in different vulcanizing machines for positioning, thereby completing laser cleaning and reducing the time cost of a single cleaning.

[0048] Based on the above-described method for generating cleaning trajectories for tire molds, this disclosure also provides a device for generating cleaning trajectories for tire molds. The following will be combined with... Figure 5 The device is described in detail.

[0049] Figure 5 A schematic block diagram of a cleaning trajectory generation apparatus for a tire mold according to an embodiment of the present disclosure is shown.

[0050] like Figure 5 As shown, the tire mold cleaning trajectory generation device of this embodiment includes a contour modeling module, a trajectory generation module, and a distance measurement calibration module.

[0051] The contour modeling module is used to perform parametric modeling using tire parameters, generating the contour lines of the upper and lower molds; the tire parameters are obtained by querying based on the tire model. In one embodiment, the contour modeling module can be used to perform the operation S1 described above, which will not be repeated here.

[0052] The trajectory generation module is used to obtain the theoretical trajectory of the laser head using the contour line and laser cleaning parameters; the laser cleaning parameters include at least the laser focal length, linewidth and incident angle of the laser head; in one embodiment, the trajectory generation module can be used to perform the operation S2 described above, which will not be repeated here.

[0053] The ranging calibration module is used to calibrate the center coordinates of the tire mold using the distance from the laser head to the tire mold and to the bottom surface, so as to convert the theoretical trajectory into a cleaning trajectory. In one embodiment, the ranging calibration module can be used to perform the operation S3 described above, which will not be repeated here.

[0054] Based on the same inventive concept, this disclosure also provides a machine tool type tire mold cleaning device, including the above-mentioned tire mold cleaning trajectory generation device.

[0055] Figure 6 A block diagram schematically illustrates an electronic device suitable for implementing a method for generating cleaning trajectories for a tire mold according to an embodiment of the present disclosure.

[0056] like Figure 6 As shown, an electronic device 600 according to an embodiment of this disclosure includes a processor 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage portion 608 into a random access memory (RAM) 603. The processor 601 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 601 may also include onboard memory for caching purposes. The processor 601 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of this disclosure.

[0057] RAM 603 stores various programs and data required for the operation of electronic device 600. Processor 601, ROM 602, and RAM 603 are interconnected via bus 604. Processor 601 performs various operations of the method flow according to embodiments of the present disclosure by executing programs in ROM 602 and / or RAM 603. It should be noted that the programs may also be stored in one or more memories other than ROM 602 and RAM 603. Processor 601 may also perform various operations of the method flow according to embodiments of the present disclosure by executing programs stored in said one or more memories.

[0058] According to embodiments of this disclosure, the electronic device 600 may further include an input / output (I / O) interface 605, which is also connected to a bus 604. The electronic device 600 may also include one or more of the following components connected to the I / O interface 605: an input section 606 including a keyboard, mouse, etc.; an output section 607 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN card, modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. A removable medium 611, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 610 as needed so that computer programs read from it can be installed into the storage section 608 as needed.

[0059] This disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into the device / apparatus / system. The computer-readable storage medium carries one or more programs that, when executed, implement the method according to the embodiments of this disclosure.

[0060] Embodiments of this disclosure also include a computer program product comprising a computer program containing program code for performing the methods shown in the flowchart. When the computer program product is run on a computer system, the program code is used to cause the computer system to implement the methods provided in the embodiments of this disclosure.

[0061] According to embodiments of this disclosure, program code for executing the computer programs provided in embodiments of this disclosure can be written in any combination of one or more programming languages. Specifically, these computational programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C", or similar programming languages. The program code can execute entirely on a user's computing device, partially on a user's device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0062] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0063] Those skilled in the art will understand that the features described in the various embodiments and / or claims of this disclosure can be combined or combined in various ways, even if such combinations or combinations are not explicitly described in this disclosure. In particular, the features described in the various embodiments and / or claims of this disclosure can be combined or combined in various ways without departing from the spirit and teachings of this disclosure. All such combinations and / or combinations fall within the scope of this disclosure.

[0064] The embodiments of this disclosure have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of this disclosure. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of this disclosure is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of this disclosure, and all such substitutions and modifications should fall within the scope of this disclosure.

Claims

1. A method for generating a cleaning trajectory for a tire mold, characterized in that, include: Parametric modeling is performed using tire parameters to generate the outlines of the upper and lower molds; The tire parameters are obtained by querying the tire model. Using the aforementioned contour lines and laser cleaning parameters, the theoretical trajectory of the laser head is obtained; the laser cleaning parameters include at least the laser focal length and linewidth of the laser head. Using the distance from the laser head to the tire mold and to the bottom surface, the center coordinates of the tire mold are calibrated to convert the theoretical trajectory into a cleaning trajectory.

2. The method according to claim 1, wherein, The process of obtaining the theoretical trajectory of the laser head using the contour line and laser cleaning parameters includes: The contour line is discretized using laser linewidth to obtain discrete line segments; Using the discrete line segments and the laser cleaning parameters, a set of theoretical trajectory points of the laser head is calculated; the theoretical trajectory points include at least the pitch angle, azimuth angle, incident angle, and coordinates of the laser center point; the theoretical trajectory of the laser head is the trajectory obtained by rotating the laser head around the vertical axis one revolution for each theoretical trajectory point.

3. The method according to claim 2, wherein, The process of calculating the set of theoretical trajectory points of the laser head using the discrete line segments and the laser cleaning parameters includes: The pitch angle of the laser head is calculated based on the normal vector of the discrete line segment, the laser linewidth, and the focal length. Calculate the direction angle of the laser head based on the projection of the discrete line segments onto the horizontal plane; Calculate the coordinates of the laser center point of the laser head based on the discrete line segments, the laser focal length, and the line width; The incident angle of the laser head is calculated based on the laser linewidth, the coordinates of the laser center point, and the direction angle.

4. The method according to claim 1, wherein, The step of determining the center coordinates of the tire mold using the distance from the laser head to the tire mold and to the bottom surface includes: The first set of distance data was obtained by measuring the inner arc of the tire mold using a distance sensor; Based on the first set of distance data, the horizontal center coordinates of the tire mold on the horizontal plane are obtained by fitting using the least squares method. The distance to the bottom surface of the tire mold is measured using the distance measuring sensor to obtain a second set of distance data; Based on the second set of distance data, the average value of the second set of distance data is calculated to obtain the vertical center coordinates of the tire mold; The center coordinates of the tire mold are determined by the horizontal center coordinates and the vertical center coordinates.

5. The method according to claim 1, wherein, The process of converting the theoretical trajectory into a clean trajectory includes: Using the center coordinates of the tire mold as the origin, the theoretical trajectory is transformed and mapped to the coordinate system of the tire mold to serve as the cleaning trajectory.

6. The method according to claim 1, wherein, The tire parameters include at least the tire model; the parametric modeling using the tire parameters to generate the outlines of the upper and lower molds includes: Based on the tire model, the width, aspect ratio, and rim diameter are obtained through analysis. Using the width, aspect ratio, and rim diameter, the cross-sectional contour lines of the upper and lower dies are generated; the contour lines consist of circular arc segments and straight line segments.

7. A device for generating a cleaning trajectory for a tire mold, characterized in that, The apparatus can be used to implement the method as described in any one of claims 1 to 6, including: The contour modeling module is used to perform parametric modeling using tire parameters to generate the contour lines of the upper and lower molds; the tire parameters are obtained by querying based on the tire model. The trajectory generation module is used to obtain the theoretical trajectory of the laser head using the contour line and laser cleaning parameters; the laser cleaning parameters include at least the laser focal length, linewidth, and incident angle of the laser head. The ranging calibration module is used to calibrate the center coordinates of the tire mold by using the distance from the laser head to the tire mold and to the bottom surface, so as to convert the theoretical trajectory into a cleaning trajectory.

8. A machine tool-type tire mold cleaning device, characterized in that, Includes the cleaning trajectory generation device for tire molds as described in claim 7.

9. An electronic device, comprising: One or more processors; Storage device for storing one or more programs. Wherein, when the one or more programs are executed by the one or more processors, the one or more processors perform the method according to any one of claims 1 to 6.

10. A computer-readable storage medium having stored thereon executable instructions that, when executed by a processor, cause the processor to perform the method according to any one of claims 1 to 6.

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