A method and system for adaptive matching and compensation of tire hole position scanning data

Abstract

The application relates to the technical field of industrial automation detection, and discloses a self-adaptive matching and compensation method and system for tire hole scanning data, which introduces global offset estimation based on histogram voting and a double-ring independent topology constraint mechanism, eliminates the dependence of automatic processing on mechanical alignment devices and fixed installation angles, and significantly improves the switching efficiency and operation beat of a flexible production line; a nonlinear deformation compensation technology based on correlation of same-side neighborhood features is adopted; a reverse distance weighting algorithm is used to make reconstructed coordinates of missing hole positions accurately fit the real physical deformation of a tire, effectively solves the problems of missing hole positions and redundant noise points in the scanning process, and breaks through the limitation that a traditional rigid matching algorithm cannot process local deformation. Finally, the hole position data is complete and can be traced back to the processing process, the robustness and compensation accuracy of tire detection are significantly improved, and reliable technical support is provided for precise automatic processing of nail-embedded tires.

Description

Technical Field

[0001] This invention relates to the field of industrial automation testing technology, specifically to an adaptive matching and compensation method and system for tire hole scanning data. Background Technology

[0002] Currently, tire performance on low-traction surfaces such as ice, snow, and wet roads has become a core technical indicator for measuring vehicle active safety. Studded tires, as a key solution to improve vehicle grip and braking performance on complex winter road surfaces, rely heavily on the design of the stud hole arrangement. The spatial coordinate accuracy and angular deviation consistency of the stud hole positions directly determine the holding power, wear life, and grip effect of the studs during vehicle operation. Therefore, during the stud tire installation process, the positions of the pre-drilled holes in the tire tread must first be detected. Then, the measured hole positions are matched and compared with the data from a standard template and corrected. Finally, the stud insertion machine inserts the studs into the pre-drilled holes in the tire according to the compensated coordinates. However, the following technical challenges exist in actual operation:

[0003] In existing technologies, the rotational phase of the tire under test typically needs to be aligned with a preset template, or a mechanical alignment device is used to fix the initial posture of the tire. These solutions not only increase the complexity of tooling positioning but also reduce production efficiency. Furthermore, some existing automated nailing systems use rigid matching algorithms, which struggle to accurately correct and compensate for tire hole position data offsets and discrepancies, thus affecting subsequent nailing accuracy. Therefore, achieving accurate alignment and compensation of hole position data containing noise and missing points under arbitrary tire phase installation conditions is a pressing technical challenge in the field of nailed tire manufacturing. Summary of the Invention

[0004] This invention aims to solve the problems of time-consuming and labor-intensive fixed installation angles and low accuracy of hole scanning data processing technology in existing studded tires, and provides an adaptive matching and compensation method and system for tire hole scanning data.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] In a first aspect, the present invention provides an adaptive matching and compensation method for tire bore scanning data, comprising the following steps:

[0007] Step S1: Obtain template hole position data and actual scanned hole position data;

[0008] Step S2: Calculate the global circumferential offset based on histogram voting;

[0009] Step S3: Align the measured scanned borehole data with the template borehole data circumferentially and establish a double-ring independent cyclic topology partition;

[0010] Step S4: Perform cyclic matching independently within each partition and find the nearest neighbor matching pair. Mark the successfully matched measured holes as actual holes, mark the unmatched measured holes as redundant holes, and mark the unmatched template holes as missing holes.

[0011] Step S5: For each missing hole, perform flexible deformation compensation based on the offset features of the same-side neighborhood.

[0012] Step S6: Reconstruct the data and output the final hole position spatial coordinate information for use by subsequent processing equipment.

[0013] Further, in step S1, pre-stored template hole position data and measured hole position data acquired based on tire scanning are obtained. Both the template hole position data and the measured hole position data include the index, three-dimensional spatial coordinates (x, y, z), and angle for each hole. The x-coordinate is the coordinate along the tire width direction, the y-coordinate is the arc length along the tire circumference, the z-coordinate is the coordinate along the height direction, and the angle is the axial angle of the hole, i.e., the tilt angle when the anti-skid stud is inserted into the hole. Both the template hole position data and the measured hole position data are divided into two regions based on the tire's centerline (x = 0) and the sign of the x-coordinate. The holes within each region are numbered in ascending order of their y-coordinates.

[0014] Furthermore, step S2 aims to accurately extract the global circumferential rotational phase difference caused by the random placement angle of the tire from scan data that may contain a large number of noise or missing points, relying solely on the inherent topological relationship of the hole position data without relying on any external mechanical alignment device or manual alignment. Specifically, it includes the following steps:

[0015] Iterate through all template holes and measured holes. If the difference between their x-coordinates is less than a preset threshold, they are considered to potentially correspond to the same side. Calculate the difference between the y-value of the measured hole and the y-value of the template hole, and map this difference to [0, tire circumference] using a modulo operation. Within the range, it serves as a candidate offset;

[0016] Construct a histogram of all candidate offsets according to the preset interval size, count the number of samples in each interval, and take the interval with the largest number of samples as the main peak.

[0017] Extract all candidate offset samples within the main peak and its adjacent intervals, and calculate their arithmetic mean as the global circumferential offset, thereby effectively eliminating outlier interference and improving the robustness of offset estimation.

[0018] Furthermore, in step S3, the global offset is subtracted from the y-coordinate of each measured hole position, and the tire circumference is taken as a modulus to normalize the y-values ​​of all measured holes to within one circumference range, achieving circumferential alignment with the template coordinate system. Simultaneously, the template hole positions and the normalized measured hole positions are divided into two independent partitions based on the sign of the x-coordinate, thereby avoiding cross-side interference.

[0019] Furthermore, in step S4, by utilizing the spatial distribution characteristics of the tire hole positions and eliminating rotational phase interference, a precise match is achieved between the template hole positions and the measured hole positions. This specifically includes the following sub-steps:

[0020] Based on the geometric characteristics of tire rotation, a circumferential periodic distance function is defined;

[0021] For each template hole, find the hole with the smallest loop distance among the unmatched measured holes in the current side area, i.e., the nearest neighbor matching pair. If the loop distance between the two is less than a preset matching threshold, the match is considered successful.

[0022] Successfully matched template holes are marked as actual holes, and their coordinates are directly taken from the coordinates of the measured holes (i.e., the coordinates before normalization); unmatched template holes are marked as missing holes and will be compensated later; unmatched measured holes are marked as redundant holes and need to be removed from the data.

[0023] Furthermore, in step S5, to address the issues of nonlinear deformation of the tire due to clamping and storage processes, and data loss in the hole position identification results, compensation is provided for holes marked as missing holes based on local offset information of matched holes on the same side. Specifically, this includes the following steps:

[0024] For each missing hole, determine its topological loop region (positive or negative half-region) based on its x-coordinate value, and search for the loop region with the closest loop distance on the same side. Use a successfully matched actual hole as a reference neighborhood;

[0025] The inverse distance weighted (IDW) algorithm is used to calculate the weighted average of each neighboring point in the aforementioned reference neighborhood. Different weights are assigned to the distances to missing points, thus enabling more precise simulation of nonlinear deformations.

[0026] Using each neighbor point in the reference neighborhood The offset relative to the corresponding template coordinates is used to calculate the predicted displacement of the missing hole's horizontal coordinate, the predicted displacement of its height, and the predicted offset of its angle using the inverse distance weighting algorithm described above.

[0027] The predicted local deformation compensation amount is superimposed on the standard template coordinates to generate the final execution coordinates of the missing hole:

[0028] Furthermore, in step S6, to ensure that the final output hole position sequence conforms to the physical order of tread development, the point sets within the positive and negative half-zone loops are sorted in ascending order according to their y-coordinates, and the hole position indices are reassigned. The reconstructed final hole position data is saved as an output file for use by subsequent processing equipment. For redundant holes marked as redundant holes, they are appended as comments to the end of the output file for manual review.

[0029] Secondly, the present invention provides an adaptive matching and compensation system for tire bore scanning data, comprising:

[0030] The first module is configured to acquire the number of template holes and the actual scanned hole position data.

[0031] The second module is configured to calculate the global circumferential offset based on histogram voting.

[0032] The third module is configured to circumferentially align the measured scanned borehole data with the template borehole data and establish a double-ring independent cyclic topology partition.

[0033] The fourth module is configured to independently perform loop matching within each partition and find the nearest neighbor matching pair. The successfully matched measured holes are marked as actual holes, the unmatched measured holes are marked as redundant holes, and the unmatched template holes are marked as missing holes.

[0034] The fifth module is configured to perform flexible deformation compensation based on the offset features of the same-side neighborhood for each missing hole;

[0035] The sixth module is configured to reconstruct the data and output the final hole position spatial coordinate information.

[0036] Thirdly, the present invention provides a computer device, the computer device comprising: a processor and a memory;

[0037] The memory is used to store program code and transmit the program code to the processor;

[0038] The processor is used to execute the steps of the adaptive matching and compensation method for tire bore scanning data according to the instructions in the program code.

[0039] Fourthly, the present invention provides a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, performs the steps of the adaptive matching and compensation method for tire bore scanning data.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] By introducing global offset estimation based on histogram voting and a dual-loop independent topology constraint mechanism, the dependence of automated processing on mechanical alignment devices and fixed installation angles is eliminated, significantly improving the switching efficiency and cycle time of flexible production lines. A nonlinear deformation compensation technique based on same-side neighborhood feature association is employed, utilizing an inverse distance weighted algorithm to accurately fit the reconstructed coordinates of missing holes to the true physical deformation of the tire. This not only effectively solves the problems of missing holes and redundant noise during scanning but also overcomes the limitation of traditional rigid matching algorithms in handling local deformations. The final output hole data is complete and allows for traceability of the processing, significantly improving the robustness and compensation accuracy of tire inspection and providing reliable technical support for the precision automated processing of studded tires. Attached Figure Description

[0042] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0043] Figure 1 A flowchart illustrating the steps of an adaptive matching and compensation method for tire bore scanning data provided in an embodiment of the present invention.

[0044] Figure 2 This is a schematic diagram of the X-axis definition of the three-dimensional spatial coordinate system of a tire provided in Embodiment 1 of the present invention.

[0045] Figure 3 This is a schematic diagram of the Y-axis definition of the three-dimensional spatial coordinate system of a tire provided in Embodiment 1 of the present invention.

[0046] Figure 4 This is a schematic diagram of the Z-axis definition of the three-dimensional spatial coordinate system of a tire provided in Embodiment 1 of the present invention.

[0047] Figure 5 This is a visual diagram of the data hole partitioning of the anti-slip stud tire template provided in Embodiment 1 of the present invention.

[0048] Figure 6 This is a histogram of the global circumferential offset provided in Embodiment 1 of the present invention.

[0049] Figure 7 This is a visualization diagram of the missing hole compensation based on neighborhood feature association provided in Embodiment 1 of the present invention.

[0050] Figure 8 This is a visualization diagram of the missing hole compensation based on neighborhood feature association provided in Embodiment 1 of the present invention.

[0051] In the image: 1. K 1. Neighborhood; 2. Missing hole; 3. Compensated hole; Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described are for illustration and explanation only and are not intended to limit the invention. Any modifications, equivalent substitutions, or improvements made by those skilled in the art without departing from the spirit of this invention should be included within the scope of protection of this invention.

[0053] Unless otherwise specified, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0054] As described in the background section, existing technologies typically require aligning the rotational phase of the tire under test with a preset template, or relying on mechanical alignment devices to fix the initial posture of the tire. Such solutions not only increase the complexity of tooling positioning but also reduce production efficiency. Furthermore, some existing automated studding systems employ rigid matching algorithms, which struggle to accurately correct and compensate for tire bore data offsets and discrepancies, thus affecting subsequent studding accuracy. Therefore, achieving accurate alignment and compensation of bore data containing noise and missing points under arbitrary tire phase installation conditions is a pressing technical challenge in studded tire manufacturing. This embodiment provides an adaptive matching and compensation method for tire bore scanning data, aiming to solve the problems of time-consuming and labor-intensive reliance on fixed installation angles and low accuracy of bore scanning data processing technology in existing studded tire manufacturing processes. The specific steps are as follows:

[0055] Step S1: Obtain template hole position data and actual scanned hole position data;

[0056] Step S2: Calculate the global circumferential offset based on histogram voting;

[0057] Step S3: Align the measured scanned borehole data with the template borehole data circumferentially and establish a double-ring independent cyclic topology partition;

[0058] Step S4: Perform cyclic matching independently within each partition and find the nearest neighbor matching pair. Mark the successfully matched actual holes as "actual holes", the unmatched actual holes as "redundant holes", and the unmatched template holes as "missing hole 2".

[0059] Step S5: For each "missing hole 2", perform flexible deformation compensation based on the offset features of the same side neighborhood;

[0060] Step S6: Reconstruct the data and output the final hole position spatial coordinate information for use by subsequent processing equipment.

[0061] The above method, by introducing global offset estimation based on histogram voting and a dual-ring independent topology constraint mechanism, eliminates the dependence of automated processing on mechanical alignment devices and fixed installation angles, significantly improving the switching efficiency and cycle time of flexible production lines. Employing nonlinear deformation compensation technology based on same-side neighborhood feature association, and utilizing an inverse distance weighted algorithm, the reconstructed coordinates of the two missing hole positions can accurately fit the true physical deformation of the tire. This not only effectively solves the problems of missing hole positions and redundant noise during scanning but also overcomes the limitation of traditional rigid matching algorithms in handling local deformations. The final output hole position data is complete and allows for traceability of the processing, significantly improving the robustness and compensation accuracy of tire detection, and providing reliable technical support for the precision automated processing of studded tires.

[0062] Example 1

[0063] This invention proposes an adaptive matching and compensation method for tire bore scanning data. It applies a global alignment algorithm based on histogram voting and a local compensation algorithm based on inverse distance weighting to the processing of anti-skid tire bore scanning data. Addressing the problems of existing technologies that rely on fixed rotation angles and cannot effectively handle missing bore positions and local deformation, this invention achieves a more accurate and robust bore detection and reconstruction scheme through adaptive global offset calculation, double-ring topological partitioning nearest neighbor matching, and inverse distance weighting interpolation compensation algorithms.

[0064] Reference Figure 1 As shown, the present invention provides an adaptive matching and compensation method for tire bore scanning data, comprising the following steps:

[0065] Step S1: Obtain template hole position data and actual scanned hole position data;

[0066] Reference Figure 2 , Figure 3 , Figure 4 As shown, in one embodiment of the present invention, a three-dimensional spatial coordinate system suitable for tire studs is constructed. The x-axis extends along the tire width direction, the y-axis extends along the tire circumference (circumferential direction), and the z-axis extends along the tire radial direction (height direction).

[0067] First, a scanning device deployed on the production line performs circumferential sampling of the surface of the tire to be studded and identifies the hole positions to obtain measured data. Simultaneously, standard template hole position data of the corresponding specifications is loaded from the database. Specifically, each feature point in the measured hole position data includes an index, x (lateral coordinate), y (circumferential arc length coordinate), z (height coordinate), and the hole axis angle. The template hole position data format is the same as the measured data.

[0068] Reference Figure 5As shown, in this embodiment, the theoretical outer diameter of the tire is 631.9 mm, and the theoretical circumference is approximately 1985 mm. The template data contains a total of 252 holes, divided into two sides according to the positive and negative x-coordinates: x=0 is the physical center line of the tread, and the 126 holes with x>0 are the first side (i.e., the positive x-side, such as...). Figure 5 The holes marked in red in the middle), and the 126 holes where x < 0 are on the second side (negative x side, such as...). Figure 5 The holes marked in green are arranged in ascending order of their y-coordinates.

[0069] Step S2: Calculate the global circumferential offset based on histogram voting;

[0070] Because the tire placement angle is random, the y-coordinate of the measured hole has an overall circumferential offset relative to the template. Therefore, this step determines the optimal global offset based on the offset statistics of holes on the same side, specifically including:

[0071] The algorithm iterates through all borehole feature points in both the standard template data and the measured scan data. To avoid invalid comparisons of boreholes across different regions, a preset lateral coordinate tolerance threshold is introduced. The value is typically 5–15 mm (10 mm in this embodiment). The selection of potential matching candidate point pairs requires the x-coordinate of the template hole position. x-coordinate of the measured hole position The following conditions must be met:

[0072]

[0073] For each potential matching candidate point pair selected, calculate its relative offset in the circumferential direction (i.e., the rotation direction). Because the tire surface has a closed-loop cycle characteristic, modular arithmetic is required to obtain the shortest cycle bias.

[0074]

[0075] in, Let y be the position of the template hole. Here is the y-coordinate of the measured hole position. To perform the modulo operation, ensure the result is within... Within the range, L is the theoretical circumference of the tire. All candidate offsets that meet the criteria are considered. Stored in a global bias set. This set contains the actual phase offset as well as random interference values ​​caused by mismatches.

[0076] Reference Figure 6 As shown, to extract the true offset from a global bias set mixed with a large amount of noise, the interval is divided into... Divided into equal parts Each subinterval (called "Bin") has a width of _ consecutive subintervals. In this embodiment, we take... The tire circumference is approximately 1985 mm, therefore Iterate through the global offset set and assign each offset to... Map to the corresponding histogram interval and accumulate the number of occurrences within that interval, the th... The indices for each interval are:

[0077]

[0078] Take the interval with the largest number of samples and denote its index as... This interval is called the "peak," representing the range where the most likely offset lies. To avoid interference from outliers due to noise or mismatches, only samples located within the peak interval and its adjacent intervals are retained to form the effective sample set. :

[0079]

[0080] in, The neighborhood expansion width is typically 1 or 2 (i.e., including 1 to 2 bins to the left and right of the main peak). In this embodiment, we take... That is, only the main peak interval and one adjacent interval on each side are considered. If If it is located at the boundary, only the neighborhood on the valid side is taken. The union symbol represents the main peak interval and its left and right sides. The intervals are merged into a single continuous interval range.

[0081] For the effective sample set All candidate offsets Calculate the arithmetic mean to obtain the final global circumferential offset. :

[0082]

[0083] This average value represents the overall circumferential offset of the measured hole position relative to the template hole position. In this embodiment, the final calculated result of the global circumferential offset is 1868.75 mm.

[0084] Step S3: Align the measured scanned borehole data with the template borehole data circumferentially and establish a double-ring independent cyclic topology partition.

[0085] After determining the global circumferential offset, the coordinate system of the measured hole position needs to be aligned with the template coordinate system, and the intervals should be divided according to the positive and negative x-coordinates to lay the foundation for subsequent matching and compensation. The specific implementation is as follows:

[0086] For each measured hole, its original y-coordinate is: By subtracting the global offset and taking the modulus of the tire circumference, the normalized circumferential coordinates are obtained. The calculation formula is:

[0087]

[0088] This step eliminates the overall circumferential offset caused by the random tire placement angle, making the measured hole and the template hole comparable in the y-coordinate direction.

[0089] The tire bore positions are naturally divided into two sides by the tread centerline (x=0). To simplify matching and avoid cross-side interference, the template bore positions and the normalized measured bore positions need to be assigned to two topological matching loops according to the positive or negative x-coordinate. Subsequent nearest neighbor matching (step S4) and missing bore 2 compensation (step S5) are performed independently within their respective loops, with no overlap between the two sides' data, ensuring the accuracy of matching and reducing local correlation in compensation.

[0090] Step S4: Perform cyclic matching independently within each partition and find the nearest neighbor matching pair. Mark the successfully matched measured holes as "Actual Hole", the unmatched measured holes as "Extra Hole", and the unmatched template holes as "Missing Hole 2".

[0091] Within each annular region, the cyclic distance is used as a similarity metric to match the normalized measured holes with the template holes. Specifically, this includes:

[0092] Iterate through all normalized measured holes and template holes, and for any point to be matched in the normalized set of measured holes... and any feature point in the template hole set Calculate the cyclic distance between the two. The distance calculation formula is as follows:

[0093]

[0094] Among them, lateral offset Circumferential shortest arc length ;

[0095] Within each of the two loops, using the template point as a reference, the measured scan points on the same side of the loop are searched to make... The smallest measured point. A preset matching threshold is introduced. In this embodiment, it is set to 3 mm. For each point to be matched, if the following conditions are met:

[0096]

[0097] Then determine and For points corresponding to the same physical hole in different coordinate systems, a successful match is considered, and an index mapping relationship is established. After matching is complete, based on the completeness of the index mapping, all hole location features are divided into three states and marked in the output results:

[0098] (1) Actual hole: The template point and the measured point are successfully mapped, which means that the hole position is successfully identified and the position is normal. Its coordinates are directly adopted from the coordinates of the measured hole (i.e., the coordinates before normalization).

[0099] (2) Redundant holes: Isolated points in the measured point set that are not matched by any template point. These points are usually caused by environmental interference or misidentification and need to be filtered out in subsequent processing.

[0100] (3) Missing hole 2: The feature point of the matching object could not be found in the actual measurement point set in the template point set. Such points represent the missed hole positions in the actual measurement data due to occlusion or reflection, and are the target objects for deformation compensation and reconstruction in the subsequent step S5.

[0101] Step S5: For each "missing hole 2", perform flexible deformation compensation based on the offset features of the same side neighborhood;

[0102] Reference Figure 7 , Figure 8 As shown, Figure 7 This is a distribution map of the measured hole locations, including the missing hole 2. Figure 8 The image shows the result after compensation. For the missing hole 2 marked "Missing", this step utilizes the nearest neighbor in the same side region. K One matched hole ( Figure 7 middle K Neighborhood 1, in this embodiment K The local offset information of (=7) is used for interpolation compensation to generate reasonable coordinates of the missing hole 2 under the measured conditions. Figure 8 The holes marked in blue are compensated holes (3). The specific process is as follows:

[0103] Based on normalized coordinates, the cyclic distance between missing hole 2 and all matched holes within the same annular region is calculated. Assume the template hole coordinates corresponding to missing hole 2 are... The normalized coordinates of any matched hole are: The formula for calculating the cyclic distance between the two is as follows:

[0104]

[0105] in, This is the theoretical circumference of the tire. All calculated distances... Sort in ascending order and select the one with the smallest distance. KEach matched hole is used as a reference neighbor, called K Neighborhood. K In this embodiment, the value is a preset positive integer. K Set it to 7.

[0106] The inverse distance weighted (IDW) algorithm is used, with weights... With distance Inversely proportional. To assign greater weight to adjacent holes, thereby better simulating the local elastic deformation of the tire, in this embodiment, At the same time, to avoid division by zero errors caused by zero distance, a very small positive number is introduced. In this embodiment, The inverse distance weighted algorithm is as follows:

[0107]

[0108] for K Each reference neighbor point within neighborhood 1 The predicted offset of the missing hole relative to the standard template (x, z, and angle) is calculated using the aforementioned inverse distance weighted algorithm. The predicted displacement on the horizontal axis is... Predicted displacement at height and angle prediction offset The calculation formula is as follows:

[0109]

[0110]

[0111]

[0112] in, , and The first The measured abscissa, ellipse, and angle of each reference neighbor point; , and The first The template's x-coordinate, height coordinate, and angle corresponding to each reference neighbor point;

[0113] The final execution coordinates after compensation for missing hole 2 are obtained by adding the weighted average offset to the template coordinates:

[0114]

[0115] in, , and These are the x-coordinate, height coordinate, and angle of the template hole corresponding to the two missing holes in the measured data; , and These represent the final execution x-coordinate, final execution height coordinate, and final execution angle of the two missing holes in the measured data after deformation compensation. The y-coordinate of the hole to be compensated is recovered based on the global offset, calculated using the following formula:

[0116]

[0117] The compensated hole position index is prefixed with a "C" and its reference is recorded. K A list of indices for each matched hole in the final output data is provided to trace the source of the compensation information.

[0118] Step S6: Data reconstruction and output of final hole position spatial coordinate information for use by subsequent processing equipment;

[0119] The final hole positions (including actual holes and compensated holes 3) in the positive and negative x-side regions are sorted by y-coordinate from smallest to largest. Then, they are merged in the order of positive x-side first, then negative x-side, and the continuous indices are reassigned. The reconstructed final hole position data (including the index, x, y, z, angle, status flags, etc. of each hole) is saved as an output file for use by subsequent processing equipment. For marked redundant holes, they are appended as comments to the end of the output file for manual review.

[0120] The aforementioned adaptive matching and compensation method for tire bore scanning data eliminates the dependence of automated processing on mechanical alignment devices and fixed installation angles by introducing global offset estimation based on histogram voting and a dual-loop independent topology constraint mechanism. This significantly improves the switching efficiency and cycle time of flexible production lines. Furthermore, a nonlinear deformation compensation technique based on same-side neighborhood feature association is employed. Using an inverse distance weighted algorithm, the reconstructed coordinates of the two missing bore positions accurately fit the actual physical deformation of the tire. This not only effectively solves the problems of missing bore positions and redundant noise during scanning but also overcomes the limitation of traditional rigid matching algorithms in handling local deformations. The final output bore data is complete and allows for traceability of the processing, significantly improving the robustness and compensation accuracy of tire inspection and providing reliable technical support for the precision automated processing of studded tires.

[0121] Example 2

[0122] Based on the adaptive matching and compensation method for tire bore scanning data disclosed in Embodiment 1, an adaptive matching and compensation system for tire bore scanning data is also provided. Specifically, it includes a first module, a second module, a third module, a fourth module, a fifth module, and a sixth module. The functions implemented by each module are as follows:

[0123] The first module is configured to acquire the number of template holes and the actual scanned hole position data.

[0124] The second module is configured to calculate the global circumferential offset based on histogram voting.

[0125] The third module is configured to circumferentially align the measured scanned borehole data with the template borehole data and establish a double-ring independent cyclic topology partition.

[0126] The fourth module is configured to independently perform loop matching within each partition and find the nearest neighbor matching pair. The successfully matched measured holes are marked as "actual holes", the unmatched measured holes are marked as "redundant holes", and the unmatched template holes are marked as "missing hole 2".

[0127] The fifth module is configured to perform flexible deformation compensation based on the offset features of the same-side neighborhood for each "missing hole 2".

[0128] The sixth module is configured to reconstruct the data and output the final hole position spatial coordinate information.

[0129] This system eliminates the dependence of automated processing on mechanical alignment devices and fixed installation angles by introducing global offset estimation based on histogram voting and a dual-loop independent topology constraint mechanism, significantly improving the switching efficiency and cycle time of flexible production lines. Employing nonlinear deformation compensation technology based on same-side neighborhood feature association, and utilizing an inverse distance weighted algorithm, the reconstructed coordinates of the two missing hole positions can accurately fit the true physical deformation of the tire. This not only effectively solves the problems of missing hole positions and redundant noise during scanning but also overcomes the limitation of traditional rigid matching algorithms in handling local deformations. The final output hole position data is complete and allows for traceability of the processing, significantly improving the robustness and compensation accuracy of tire detection and providing reliable technical support for the precision automated processing of studded tires.

[0130] The specific steps for each of the above modules can be found in Example 1, and will not be repeated here.

[0131] Example 3

[0132] This embodiment provides a computer device, which includes a processor and a memory;

[0133] The memory is used to store program code and transmit the program code to the processor;

[0134] The processor is used to execute the steps of the adaptive matching and compensation method for tire bore scanning data according to the instructions in the program code.

[0135] Example 4

[0136] This embodiment provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the adaptive matching and compensation method for tire bore scanning data.

[0137] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the system described above...

[0138] The specific working process of the device and unit can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0139] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0140] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0141] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0142] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: USB flash drive, portable hard drive, read-only memory (ROM). Various media that can store program code, such as only memory, random access memory (RAM), magnetic disks or optical disks.

[0143] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An adaptive matching and compensation method for tire bore scanning data, characterized in that, The steps include the following: Step S1: Obtain the number of holes in the tire template and the measured scanned hole position data; the template hole position data and the measured hole position data All of them contain three-dimensional spatial coordinates, where the x-coordinate is the coordinate in the tire width direction, the y-coordinate is the arc length coordinate along the tire circumference, and the z-coordinate is the coordinate in the height direction. Step S2: Calculate the global circumferential offset based on histogram voting. The specific process is as follows: Iterate through all template holes and measured holes. If the difference between their x-coordinates is less than a preset threshold, they are considered to potentially correspond to the same side. Calculate the difference between the y-value of the measured hole and the y-value of the template hole, and map this difference to [0, tire circumference] using a modulo operation. Within the range, it serves as a candidate offset; Construct a histogram of all candidate offsets according to the preset interval size, count the number of samples in each interval, and take the interval with the largest number of samples as the main peak. Extract all candidate offset samples within the main peak and its adjacent intervals, and calculate their arithmetic mean as the global circumferential offset. Step S3: Align the measured scanned hole position data with the template hole position data circumferentially. Divide the template hole position and the normalized measured hole position into two independent partitions according to the sign of the x-coordinate, thereby establishing a double-ring independent cyclic topology partition to avoid cross-side interference. Step S4: Perform cyclic matching independently within each partition and find the nearest neighbor matching pair. Mark the successfully matched measured holes as actual holes, mark the unmatched measured holes as redundant holes, and mark the unmatched template holes as missing holes. Step S5: For each missing hole, perform flexible deformation compensation based on the offset features of the same-side neighborhood. Step S6: Reconstruct the data and output the final hole position spatial coordinate information.

2. The adaptive matching and compensation method for tire bore scanning data as described in claim 1, characterized in that, In step S1, both the template hole position data and the measured hole position data contain the index and angle of each hole, where the angle is the axial direction angle of the hole; both the template hole position data and the measured hole position data are divided into two regions based on the tire centerline and the positive or negative x-coordinate, and the holes in each region are numbered in ascending order according to the y-coordinate.

3. The adaptive matching and compensation method for tire bore scanning data as described in claim 2, characterized in that, In step S3, the global circumferential offset is subtracted from the y-coordinate of the measured hole position and the tire circumference is taken as a modulus, so that the y-values ​​of all measured holes are normalized to within one circumference range, thereby achieving circumferential alignment with the template coordinate system.

4. The adaptive matching and compensation method for tire bore scanning data as described in claim 2, characterized in that, Step S4 includes the following steps: Considering the geometric characteristics of tire rotation, a circumferential periodicity cyclic distance function is defined; For each template hole, find the hole with the smallest loop distance among the unmatched measured holes in the current side area; if the loop distance between the two is less than the preset matching threshold, the match is considered successful. Successfully matched template holes are marked as actual holes, and their coordinates are directly taken from the coordinates of the measured holes; unmatched template holes are marked as missing holes and will be compensated later; unmatched measured holes are marked as redundant holes and will be removed from the data.

5. The adaptive matching and compensation method for tire bore scanning data as described in claim 2, characterized in that, Step S5 includes the following steps: For each missing hole, determine its topological loop region based on the x-coordinate value, and search for the loop region with the closest loop distance on the same side. Use a successfully matched actual hole as a reference neighborhood; An inverse distance weighted algorithm is used, based on each neighbor point in the reference neighborhood. Different weights are assigned to the distance from the missing points; Using each neighboring point in the reference neighborhood The offset relative to the corresponding template coordinates is used to calculate the predicted displacement of the missing hole's horizontal coordinate, the predicted displacement of its height, and the predicted offset of its angle using an inverse distance weighted algorithm. The predicted local deformation compensation amount is superimposed on the standard template coordinates to generate the final execution coordinates of the missing hole.

6. The adaptive matching and compensation method for tire bore scanning data as described in claim 2, characterized in that, In step S6, the point sets in the positive and negative half-zone loops are sorted in ascending order according to their y-coordinates, and the hole position indices are reassigned; the reconstructed final hole position data is saved as an output file.

7. An adaptive matching and compensation system for tire bore scanning data, characterized in that, include: The first module is configured to acquire template hole position data and measured scanned hole position data; the template hole position data and the measured hole position data... All data contains three-dimensional spatial coordinates, where the x-coordinate is the coordinate in the tire width direction, the y-coordinate is the arc length coordinate along the tire circumference, and the z-coordinate is the coordinate in the height direction. The second module is configured to calculate the global circumferential offset based on histogram voting; specifically, it includes: traversing all template holes and measured holes, if the difference between their x-coordinates is less than a preset threshold, it is considered that they may correspond to the same side; calculating the difference between the y-value of the measured hole and the y-value of the template hole, and mapping the difference to [0, tire circumference] through modulo operation. Within the interval, the candidate offsets are selected; a histogram is constructed for all candidate offsets according to the preset interval size, the number of samples in each interval is counted, and the interval with the most samples is selected as the main peak; all candidate offset samples in the main peak and its adjacent intervals are extracted, and their arithmetic mean is calculated as the global circumferential offset. The third module is configured to circumferentially align the measured scanned hole position data with the template hole position data, and divide the template hole position and the normalized measured hole position into two independent partitions according to the sign of the x-coordinate, thereby establishing a double-ring independent cyclic topology partition to avoid cross-side interference. The fourth module is configured to independently perform loop matching within each partition and find the nearest neighbor matching pair. The successfully matched measured holes are marked as actual holes, the unmatched measured holes are marked as redundant holes, and the unmatched template holes are marked as missing holes. The fifth module is configured to perform flexible deformation compensation based on the offset features of the same-side neighborhood for each missing hole; The sixth module is configured to reconstruct the data and output the final hole position spatial coordinate information.

8. A computer device, characterized in that, The computer device includes a processor and a memory; the memory is used to store program code and transmit the program code to the processor; the processor is used to execute the steps of the adaptive matching and compensation method for tire hole scanning data as described in any one of claims 1-6 according to the instructions in the program code.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the adaptive matching and compensation method for tire bore scanning data as described in any one of claims 1-6.

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