Control method, control apparatus and control system for tire handling, and electronic device

Abstract

Embodiments of the present invention propose a control method, control apparatus and control system for tire handling, and an electronic device. The control method comprises: acquiring relevant parameters of a tire loading and unloading apparatus and relevant parameters of a tire; according to the relevant parameters of the tire loading and unloading apparatus and the relevant parameters of the tire that are acquired, determining, by means of algorithm calculation, position information of loading or unloading the tire by the tire loading and unloading apparatus; and sending the position information of loading or unloading the tire to the tire loading and unloading apparatus, so that the tire loading and unloading apparatus completes the loading or unloading of the tire according to the position information of loading or unloading the tire. According to the control method, not only can the production speed of X-ray flaw detection engineering tires be increased, but also the debugging time and labor costs during the handling of tires can be saved.

Description

[0001]Description CONTROL METHOD, CONTROL APPARATUS AND CONTROL SYSTEM FOR TIRE HANDLING, AND ELECTRONIC DEVICE Technical Field The present invention relates to a control method of a handling apparatus, and in particular to a control method and control apparatus for tire handling, which are applied in an automobile production line. Background Art With the stable development of the economy and the improvement of people's living standards, automobiles have become one of the commonly used means of transportation for people to travel. Safe travel has always been what people attach great importance to, and tires are an important part of safe driving. The tire is not only related to the vehicle's handling performance, but also related to the safety of the people on the vehicle. Therefore, the inspection of the quality of finished tires may promptly detect internal structural defects in tires and prevent unqualified tires from leaving the factory, which can improve the quality of factory tires. Moreover, tire handling is a necessary part of quality inspection of tires. Nowadays, with the rapid development of modern industrial automation technology, many manual production and processing work areas have been replaced by industrial machines. Tire handling in automobile production lines, as a physically strenuous and repetitive and tedious task, is gradually being replaced by industrial machines. However, most of the industrial machines for handling use manual step-by-step instructions to teach the program. Operators need to operate the machines to teach the spatial paths they need to move along one by one. In the early stages of devices being put into production, production needs to be frequently interrupted and manual teaching is repeated, which affects the speed of production. At present, in the use of X-ray flaw detection engineering tires, due to the wide variety of tires, a tire company has dozens or even more than a hundred tire specifications. Each tire specification is divided into multiple pattern styles according to different performance requirements. After the devices are installed and debugged, manual teaching is required to complete the teaching at different work stations one by one according to different specifications and different patterns. Since there are many teaching positions for each tire, teaching each category of tires requires a lot of time. Satisfactory results can only be achieved through repeated manual confirmation. In practice, the usual teaching time is about one hour for each category. In this way, full automation and full production cannot be achieved in the first few weeks or even months of operation of the devices. The OEE indicator of the devices is low, and the accumulation of tires to be inspected indirectly affects the upstream production efficiency. Summary of the Invention In view of the foregoing, embodiments of the present invention propose a control method, control apparatus and control system for tire handling and an electronic device, which are used to increase the production speed of X-ray flaw detection engineering tires and save the debugging time and labor costs during the tire handling process. A control method for tire handling is provided according to an embodiment of the present invention. The control method comprises: acquiring relevant parameters of a tire loading and unloading apparatus and relevant parameters of a tire; according to the relevant parameters of the tire loading and unloading apparatus and the relevant parameters of the tire that are acquired, determining, by means of algorithm calculation, position information of loading or unloading the tire by the tire loading and unloading apparatus; and sending the position information of loading or unloading the tire to the tire loading and unloading device, so that the tire loading and unloading device completes the loading or unloading of the tire according to the position information of loading or unloading the tire. A control apparatus for tire handling is provided according to an embodiment of the present invention. The control apparatus comprises: a parameter acquisition apparatus configured to acquire relevant parameters of a tire loading and unloading apparatus and relevant parameters of a tire; and a position processing apparatus configured to, according to the relevant parameters of the tire loading and unloading apparatus and the relevant parameters of the tire that are acquired, determine, by means of algorithm calculation, position information of loading or unloading the tire by the tire loading and unloading apparatus. A control system for tire handling is provided according to an embodiment of the present invention. The control system mainly comprises a tire loading and unloading apparatus and a processor, wherein: the control processor is configured to: acquire relevant parameters of the tire loading and unloading apparatus and relevant parameters of a tire; and according to the relevant parameters of the tire loading and unloading apparatus and the relevant parameters of the tire that are acquired, determine, by means of algorithm calculation, position information of loading or unloading the tire by the tire loading and unloading apparatus; and the loading and unloading apparatus is configured to receive the position information of loading or unloading the tire, and complete the loading or unloading of the tire according to the position information of loading or unloading the tire. It can be seen from the above solutions that because common indicators for teaching are obtained through the processor in the embodiments of the present invention, not only are the problems of frequent interruption of production and repeated manual teaching during the handling process in the traditional method solved, but also the processor determines, by means of algorithm calculation, the positioning position that originally required manual teaching, which saves a lot of debugging time and labor costs, also prevents errors and discrepancies in manual teaching, and greatly improves the efficiency of tire handling and inspection. Brief Description of the Drawings The above-mentioned characteristics, technical features, and advantages of the present invention and implementations thereof will be further described below in a clear and easily comprehensible manner through the description of preferred embodiments with reference to the accompanying drawings, wherein: FIG. 1 is a schematic diagram of an example application scenario in which various methods described herein may be implemented, according to an embodiment of the present invention; FIG. 2 is a schematic structural diagram of a tire position according to an embodiment of a control method of the present invention; FIG. 3 is a schematic flowchart according to an embodiment of the control method of the present invention; FIG. 4 is a schematic structural diagram according to an embodiment of a control apparatus of the present invention; FIG. 5 is a schematic structural diagram of a tire position according to another embodiment of the control method of the present invention; FIG. 6 is a schematic structural diagram of a tire position according to another embodiment of the control method of the present invention; FIG. 7 is a schematic flowchart according to another embodiment of the control method of the present invention; and FIG. 8 is a structural block diagram of an exemplary electronic device that can be used to implement the embodiments of the present invention. In the figures, reference numerals are as follows: 110: Tire 120: Tire carrying 130: Processor apparatus 131: Parameter 132: Position 140: Tire loading acquisition processing and unloading apparatus apparatus apparatus 141: Turntable 142: Tire loading 143: Tire unloading fork fork 144: Tire loading 145: Tire 150: Tire placing fork control unloading fork apparatus apparatus control apparatus 420: Parameter 4201: First 4202: Second acquisition unit parameter parameter acquisition unit acquisition unit 430: Position 4301: First 4302: Second processing unit position position determination unit determination unit R: Outer diameter of r: Inner diameter r': Radius of tire of tire support arm L: Support arm E: Minimum D: Bottom spacing position of support arm X: Position of t: Set distance A: Distance from a support arm from a support arm center point of the to a tire bead support arm spacing to a tire center B: Half of support C: Distance from a F: Minimum position arm spacing of a center point of the of a tire not tire loading fork support arm colliding with a spacing to a tire bottom center point 800: Electronic 801: Computing 802: Read-only device unit memory (ROM) 803: Random access 804: Bus 805: Input / output memory (RAM) (I / O) interface 806: Input unit 807: Output unit 808: Storage unit 809: Communication unit S301: Obtain relevant parameters of a tire loading and unloading apparatus and relevant parameters of a tire S302: According to the relevant parameters of the tire loading and unloading apparatus and the relevant parameters of the tire that are obtained in step S301, determine, by means of algorithm calculation, loading or unloading position information of the tire loading and unloading apparatus; and S303: Send the loading or unloading position information of the tire loading and unloading apparatus to the tire loading and unloading apparatus, so that the tire loading and unloading apparatus controls its tire loading arm tire loading fork or tire unloading arm tire unloading fork to load or unload the tire according to the loading or unloading position information determined in step S302 S701: Acquire relevant parameters of a tire loading and unloading apparatus S702: Acquire relevant parameters of a tire S703: According to the relevant parameters of the tire loading and unloading apparatus and the relevant parameters of the tire that are acquired, determine, by means of algorithm calculation, an extended position of the tire loading arm tire loading fork or tire unloading arm tire unloading fork of the tire loading and unloading apparatus that is inserted into the tire S703: According to the relevant parameters of the tire loading and unloading apparatus and the relevant parameters of the tire that are acquired, determine, by means of algorithm calculation, a lifted position of the tire loading arm tire loading fork or tire unloading arm tire unloading fork of the tire loading and unloading apparatus that is inserted into the tire S705: According to the extended position and the lifted position of the tire loading arm tire loading fork or tire unloading arm tire unloading fork of the tire loading and unloading apparatus that is inserted into the tire, complete the loading or unloading of the tire Detailed Description of the Invention Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, which rather are provided for a more thorough and complete understanding of the present disclosure. It should be understood that the accompanying drawings and embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of protection of the present disclosure. It should be understood that various steps described in the method implementations of the present disclosure may be executed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit performance of illustrated steps. The scope of the present disclosure is not limited in this regard. As used herein, the term "include" and its variations are open-ended, meaning "including but not limited to." The term "based on" means "based at least in part on". The term "an embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; and the term "some embodiments" means "at least some embodiments". Relevant definitions of other terms will be given in the following description. It should be noted that concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different apparatuses, modules or units, and are not used to limit the order or interdependence of functions performed by these apparatuses, modules or units. It should be noted that the modifications with "one" and "a plurality of" mentioned in the present disclosure are illustrative and not restrictive. A person skilled in the art should understand that unless the context clearly indicates otherwise, it should be understood as "one or a plurality of". The names of messages or information exchanged between a plurality of apparatuses in the implementations of the present disclosure are for illustrative purposes only and are not used to limit the scope of these messages or information. FIG. 1 shows a schematic diagram of an example application scenario in which various methods described herein can be implemented, according to an exemplary embodiment of the present disclosure. Specifically, FIG. 1 shows a schematic diagram of a scenario of a tire handling process by a tire loading and unloading apparatus. During the tire handling process shown in FIG. 1, a tire loading fork 142 and a tire loading fork control apparatus 144 in the tire loading and unloading apparatus 140 are configured to move a tire 110 originally placed on a tire carrying apparatus 120 to a tire placing apparatus 150 in a new position. Similarly, a tire unloading fork 143 and a tire unloading fork control apparatus 145 in the tire loading and unloading apparatus 140 are configured to move an inspected tire 110 placed on the tire placing apparatus 150 to a new tire carrying apparatus. During the specific handling process of this embodiment, a processor 130 obtains commonly used indicators for teaching and determines, by means of algorithm calculation, a position of loading or unloading a tire. Then, the tire loading and unloading apparatus 140 loads or unloads the tire according to tire position information of loading or unloading the tire by the tire loading and unloading apparatus 140 that is obtained by means of calculation. In this embodiment, common indicators for teaching are calculated through the processor 130, not only are the problems of frequent interruption of production and repeated manual teaching during the handling process in the traditional method solved, but also the processor 130 determines, by means of algorithm calculation, the positioning position that originally required manual teaching, which saves a lot of debugging time and labor costs, and greatly improves the efficiency of tire handling and inspection. FIG. 2 shows a schematic position diagram of relevant parameters of the tire loading and unloading apparatus 140 and a tire 110. Described together with reference to FIG. 1, the tire carrying apparatus 120 is a starting position for transporting the tire to a tire inspection apparatus with X-ray images. Optionally, it may be a loading and unloading trolley for transporting tires, or various vehicles coupled to an intelligent system. As shown in FIG. 2, the tire 110 has different specifications and different patterns, and its parameters mainly include an inner diameter r of the tire and an outer diameter R of the tire. The dimensional data of the inner diameter of the tire and the outer diameter of the tire may be obtained from a manufacturing execution system (MES) system. With reference to FIG. 1, the tire loading and unloading apparatus 140 includes a turntable 141, a tire loading fork 142, a tire unloading fork 143, a tire loading fork control apparatus 144 and a tire unloading fork control apparatus 145. Among the commonly used indicators for acquiring manual teaching, specifically, relevant parameters of a tire loading fork support arm and a tire unloading fork support arm are mainly acquired as follows: a radius r' of the support arm; spacing L between the support arms; a set distance t from the support arm to a tire bead; and a minimum height E of the support arm. The turntable 141 of the tire loading and unloading apparatus 140 is configured to realize the alternate work of the tire loading fork 142 and the tire unloading fork 143. The tire loading fork control apparatus 144 and the tire unloading fork control apparatus 145 of the tire loading and unloading apparatus 140 are configured to control the movement of the tire loading fork 142 and the tire unloading fork 143. Specifically, they are configured to control the forward and backward movement of the tire loading fork and tire unloading fork apparatuses, and the raising and lowering of the tire loading fork and tire unloading fork support arms. The tire loading and unloading apparatus 140 includes a processor for calculating extended and lifted positions of the tire loading fork or tire unloading fork when loading and unloading the tire. FIG. 3 shows a schematic diagram of an execution method of handling a tire according to an embodiment of the present disclosure. With reference to FIG. 1, the specific process of handling the tire mainly includes the following steps: Step S301: Obtain relevant parameters of the tire loading and unloading apparatus 140 and relevant parameters of the tire 110. The processor 130 includes an indicator parameter acquisition apparatus 131 for acquiring the relevant parameters of the tire loading and unloading apparatus 140 and the relevant parameters of the tire 110. The relevant parameters of the tire loading and unloading apparatus 140 mainly include the radius of the tire loading fork support arm and the tire unloading fork support arm of the tire loading and unloading apparatus 140, the spacing between the support arms, the set distance from the support arm to the tire bead, the minimum height of the support arm, and the like. The above-mentioned relevant parameters of the tire loading and unloading apparatus 140 may be fixed values; or according to the designs of the tire loading and unloading apparatuses 140 of different manufacturers, the above-mentioned relevant parameters may also be variable. Regardless of whether the relevant parameters of the tire loading and unloading apparatus 140 are fixed values or the relevant parameters of the tire loading and unloading apparatus 140 are variable, optionally, the indicator parameter acquisition apparatus 131 may store the acquired relevant parameters. The relevant parameters of the tire 110 mainly include the tire outer diameter, tire inner diameter and other relevant parameters of the tire 110. Specifically, according to different specifications and different patterns of tires, the above- mentioned relevant parameters of the tire 110 are changing variables. Specifically, the data of these variables may come from the manufacturing execution system (MES system). The indicator parameter acquisition apparatus 131 may pre-store the above-mentioned tire variable parameters from the manufacturing execution system, and may also receive the tire variable parameters sent by the manufacturing execution system through a network connection. Step S302: According to the relevant parameters of the tire loading and unloading apparatus 140 and the relevant parameters of the tire 110 that are obtained in step S301, determine, by means of algorithm calculation, position information of loading or unloading the tire by the tire loading and unloading apparatus 140. Specifically, the processor 130 further includes a position processing unit 132 for determining, by means of algorithm calculation, the position information required for loading or unloading the tire. The position information may be loading position information of loading the tire 110, for example, for determining a position where the tire loading fork of the tire loading and unloading apparatus 140 is inserted into the tire. Specifically, the loading position information includes an extended position of the tire loading fork inserted into the tire and a lifted position of the tire loading fork inserted into the tire. The position information may also be unloading position information of unloading the tire 110, for example, for determining a position where the tire unloading fork of the tire loading and unloading apparatus 140 is inserted into the tire. Specifically, the unloading position information includes an extended position of the tire unloading fork inserted into the tire and a lifted position of the tire unloading fork inserted into the tire. The tire loading fork and the tire unloading fork need to maintain a certain distance from a tire bead of the tire 110 when inserted into and leaving the tire 110. This distance can not only ensure that the inserted tire does not contact the tire bead, but also ensure the efficiency of tire handling. Specifically, a specific processing method of the position processing unit 132 is to determine, by using an algorithm, the position information of loading or unloading the tire by the tire loading or unloading apparatus 140, according to the relevant parameters of the tire loading and unloading apparatus 140 and the relevant parameters of the tire 110 that are obtained in step S301, wherein the algorithm may be a geometric analysis algorithm. The position required for teaching that is obtained by means of calculation of this algorithm includes at least one of the following: an extended position of the tire loading fork and a lifted position of the tire loading fork when loading the tire 110 from the tire carrying apparatus 120 during the process of feeding the tire to the tire placing apparatus 150; a placement position of the tire loading fork when the tire loading and unloading apparatus 140 places the tire 110 in the placing apparatus 150, wherein the placing apparatus 150 may be an apparatus with an X-ray machine; an extended position of the tire unloading fork and a lifted position of the tire unloading fork during the process of removing the tire from the tire placing apparatus 150; or a placement position of the tire unloading fork when the tire loading and unloading apparatus 140 unloads the tire 110 to the carrying apparatus 120, where the carrying apparatus 120 may be a loading and unloading trolley for transporting the tire 110. S303: Send the position information of loading or unloading the tire by the tire loading and unloading apparatus 140 to the tire loading and unloading apparatus 140, so that the tire loading and unloading apparatus 140 controls its tire loading fork to load the tire according to the position information of loading the tire that is determined in step S302; or so that the tire loading and unloading apparatus 140 controls its tire unloading fork to unload the tire according to the position information of unloading the tire that is determined in step S302. The tire loading fork and the tire unloading fork of the tire loading and unloading apparatus 140 may be mechanical apparatuses with the same structure. The above-mentioned processor 130 may be located in the tire loading and unloading apparatus 140. For example, the tire loading fork 142 and the tire unloading fork 143 of the tire loading and unloading apparatus 140 are equipped with an electronic chip with a processing function, such as the processor 130. The above-mentioned processor 130 is independently provided outside the tire loading and unloading apparatus 140. For example, the tire loading fork 142 and the tire unloading fork 143 of the tire loading and unloading apparatus 140 are equipped with an electronic chip with a processing function for receiving the position information sent by the processor 130. According to the position information, the tire loading and unloading apparatus 140 controls the tire loading fork or the tire unloading fork to perform related loading or unloading of the tire. As shown in FIGS. 1 and 2, the processor 130 calculates and obtains a positioning position that originally requires manual teaching, by executing a relevant algorithm in a programmable controller. The tire loading and unloading apparatus 140 loads or unloads the tire according to determined positioning information. In this way, not only is the problem that the existing tire transportation device requires frequent interruptions in production and repeated manual teaching in the early stages of production solved, but also a lot of debugging time and labor costs are saved, greatly improving the efficiency of tire transportation. Furthermore, the processor 130 can calculate the positioning information more accurately by executing the relevant algorithm in the programmable controller, thereby avoiding errors and discrepancies caused by manual teaching. FIG. 4 shows a schematic structural diagram of a processor according to an embodiment of the present disclosure. Taking loading a tire as an example, described with reference to FIGS. 1 and 2, a processor 410 is mainly configured to determine an extended position of the tire loading fork or the tire unloading fork that is inserted into the tire, and a lifted position of the tire loading fork or the tire unloading fork that is inserted into the tire. The processor 410 specifically includes: a parameter acquisition unit 420 including at least a first parameter acquisition unit 4201 and a second parameter acquisition unit 4202, wherein the first parameter acquisition unit 4201 is configured to acquire relevant parameters of the tire loading and unloading apparatus 140, and the second parameter acquisition unit 4202 is configured to acquire relevant parameters of the tire 110; and a position processing unit 430 including at least a first position determination unit 4301 and a second position determination unit 4302. The first position determination unit 4301 is configured to determine, by means of algorithm calculation, an extended position of the tire loading fork or tire unloading fork of the tire loading and unloading apparatus that is inserted into the tire, according to the relevant parameters of the tire loading and unloading apparatus 140 acquired by the first parameter acquisition unit 4201 and the relevant parameters of the tire 110 acquired by the second parameter acquisition unit 4202. The second position determination unit 4302 is configured to determine, by means of algorithm calculation, a lifted position of the tire loading fork or tire unloading fork of the tire loading and unloading apparatus that is inserted into the tire, according to the relevant parameters of the tire loading and unloading apparatus 140 acquired by the first parameter acquisition unit 4201 and the relevant parameters of the tire 110 acquired by the second parameter acquisition unit 4202. Described together with reference to FIG. 2 mentioned above, the relevant parameters of the tire loading and unloading apparatus 140 acquired by the first parameter acquisition unit 4201 mainly include a radius r' of a support arm of the tire loading fork 142 or the tire unloading fork 143, support arm spacing L, a set distance t from the support arm to a tire bead, a minimum height E of the support arm and the like. The above- mentioned relevant parameters of the tire loading and unloading apparatus 140 may be fixed values; or according to the designs of different tire unloading apparatuses, the above-mentioned relevant parameters may also be variable. Regardless of whether the relevant parameters of the tire loading and unloading apparatus are fixed values or the relevant parameters of the tire loading and unloading apparatus are variable, the first parameter acquisition unit 4201 can store the acquired relevant parameters. The second parameter acquisition unit 4202 acquires relevant parameters of the tire 110, mainly including the tire outer diameter R, the tire inner diameter r and other relevant parameters of the tire 110. Specifically, according to different specifications and different patterns of tires, the above- mentioned relevant parameters of the tire 110 are changing variables. Specifically, the data of these variables may come from the manufacturing execution system (MES system). The second parameter acquisition unit 4202 may pre-store the above- mentioned tire variable parameters from the manufacturing execution system, and may also receive the tire variable parameters sent by the manufacturing execution system through a network connection. As shown in FIG. 5, it is a schematic position diagram for determining an extended position of the tire loading fork or tire unloading fork of the tire loading and unloading apparatus 140 that is inserted into the tire, according to an embodiment of the present invention. Described together with reference to FIGS. 2 and 4, specifically, the first position determination unit 4301 determines, by an algorithm, the extended position of the tire loading fork or tire unloading fork of the tire loading and unloading apparatus that is inserted into the tire 110, according to the relevant parameters of the tire loading and unloading apparatus 140 and the relevant parameters of the tire 110 that are obtained. The algorithm may be a geometric analysis algorithm. As shown in FIG. 5, the first position determination unit 4301 calculates a distance A from a center point of the support arm spacing to a tire center by means of the Pythagorean theorem. Specifically, the value of A obtained through the Pythagorean theorem of formula (1) is: ^ = √^^− ^^Formula (1) where c=r-t-r'; b=0.5L; the values of c and b are substituted into formula (1) mentioned above to obtain the value of A in formula (2), and the obtained value of A is: ^ = ^(^ − ^ − ^^)^− (0.5^)^Formula (2) With the bottom of the tire carrying apparatus 120 or the tire placing apparatus 150 as a reference plane, for example, the bottom of the tire loading and unloading trolley or the X- ray machine as a reference plane, according to the sum of A and the tire outer diameter R being equal to the sum of the minimum height E of the support arm and the position value X of the support arm, that is, according to the value of A in formula (2) being substituted into the following formula (3), the position value X of the support arm can be calculated, that is, the extended position of the tire mounting fork or tire removal fork is obtained: Formula (3) where X is the extended position of the tire loading fork or tire unloading fork, R is a tire outer diameter, r is a tire inner diameter, E is the minimum height of a support arm, L is the support arm spacing, r' is the radius of the support arm, and t is the set distance from the support arm to the tire bead. As shown in FIG. 6, it is a schematic position diagram for determining a lifted position of the tire loading fork or tire unloading fork of the tire loading and unloading apparatus 140 that is inserted into the tire, according to an embodiment of the present invention. Described together with reference to FIGS. 3 and 4, specifically, the second position determination unit 4302 determines, by an algorithm, the lifted position of the tire loading fork or tire unloading fork of the tire loading and unloading apparatus 140 that is inserted into the tire, according to the relevant parameters of the tire loading and unloading apparatus 140 and the relevant parameters of the tire 110 that are obtained. Described together with reference to FIGS. 2 and 4, specifically, the second position determination unit 4302 determines, by an algorithm, the lifted position of the tire loading fork or tire unloading fork of the tire loading and unloading apparatus that is inserted into the tire, according to the relevant parameters of the tire loading and unloading apparatus 140 and the relevant parameters of the tire 110 that are obtained. The algorithm can be a geometric analysis algorithm. As shown in FIG. 6, the second position determination unit 4302 calculates a distance A from a center point of the support arm spacing to a tire center by means of the Pythagorean theorem. Specifically, the value of A obtained through the Pythagorean theorem of formula (1) is: ^ = √^^− ^^Formula (1) where c=r-r'; b=0.5L; the values of c and b are substituted into formula (1) mentioned above to obtain the value of A in formula (4), and the obtained value of A is: Formula (4) With the bottom of the tire carrying apparatus 120 or the tire placing apparatus 150 as a reference plane, for example, the bottom of the tire loading and unloading trolley or the X- ray machine as the reference plane, the sum of the above- mentioned distance A, the tire outer diameter R, and a minimum position F of the tire not colliding with the bottom is equal to the sum of the minimum height E of the support arm and the position value X2 of the support arm. That is, according to the value of A in formula (4) being substituted into the following formula (5), the position value X2 of the support arm can be calculated, that is, the lifted position of the tire loading fork or tire unloading fork can be obtained: ^2 = ^ + ^ + ^ − ^ = ^ + ^ − ^ + ^(^ − ^^)^− (0.5^)^Formula (5) As shown in FIG. 7, it is a schematic flowchart of a method for determining the extended position and the lifted position of the tire loading fork or tire unloading fork of the tire loading and unloading apparatus that is inserted into the tire, according to an embodiment of the present invention. With reference to FIGS. 3 to 6 mentioned above, the schematic flowchart of the method includes the following steps: Step S701: Obtain relevant parameters of the tire loading and unloading apparatus 140. Described together with reference to FIG. 4, the relevant parameters of the tire loading and unloading apparatus 140 acquired by the first parameter acquisition unit 4201 mainly include a radius r' of a support arm of the tire loading fork 142 and the tire unloading fork 143, support arm spacing L, a set distance t from the support arm to a tire bead, a minimum height E of the support arm and the like. The above-mentioned relevant parameters of the tire loading and unloading apparatus 140 may be fixed values; or according to the designs of different tire loading and unloading apparatuses, the above-mentioned relevant parameters may also be variable. Regardless of whether the relevant parameters of the tire loading and unloading apparatus are fixed values or the relevant parameters of the tire loading and unloading apparatus are variable, the first parameter acquisition unit 4201 can store the acquired relevant parameters. Step 702: Obtain relevant parameters of the tire 110. Described together with reference to FIG. 4, the second parameter acquisition unit 4202 acquires relevant parameters of the tire 110, mainly including the tire outer diameter R, the tire inner diameter r and other relevant parameters of the tire 110. Specifically, according to different specifications and different patterns of tires, the above-mentioned relevant parameters of the tire 110 are changing variables. Specifically, the data of these variables may come from the manufacturing execution system (MES system). The second parameter acquisition unit 4202 may pre-store the above-mentioned tire variable parameters from the manufacturing execution system, and may also receive the tire variable parameters sent by the manufacturing execution system through a network connection. Step S703: According to the relevant parameters of the tire loading and unloading apparatus 140 and the relevant parameters of the tire 110 that are acquired, determine an extended position of the tire loading fork or tire unloading fork of the tire loading and unloading apparatus that is inserted into the tire. With reference to FIG. 5, the first position determination unit 4301 determines, by an algorithm, the extended position of the tire loading fork or tire unloading fork of the tire loading and unloading apparatus that is inserted into the tire, according to the relevant parameters of the tire loading and unloading apparatus 140 and the relevant parameters of the tire 110 that are obtained. The algorithm can be a geometric analysis algorithm. As shown in FIG. 5, the first position determination unit 4301 calculates a distance A from a center point of the support arm spacing to a tire center by means of the Pythagorean theorem. Specifically, the value of A obtained through the Pythagorean theorem of formula (1) is: ^ = √^^− ^^Formula (1) where c=r-t-r'; b=0.5L; the values of c and b are substituted into formula (1) mentioned above to obtain the value of A in formula (2), and the obtained value of A is: Formula (2) With the bottom of the tire carrying apparatus 120 or the tire placing apparatus 150 as a reference plane, for example, the bottom of the tire loading and unloading trolley or the X- ray machine as a reference plane, according to the sum of A and the tire outer diameter R being equal to the sum of the minimum height E of the support arm and the position value X of the support arm, that is, according to the value of A in formula (2) being substituted into the following formula (3), the position value X of the support arm can be calculated, that is, the extended position of the tire mounting fork or tire removal fork is ^ Formula (3) where X is the extended position of the tire loading fork or tire unloading fork, R is a tire outer diameter, r is a tire inner diameter, E is the minimum height of a support arm, L is the support arm spacing, r' is the radius of the support arm, and t is the set distance from the support arm to the tire bead. Step S704: According to the relevant parameters of the tire loading and unloading apparatus 140 and the relevant parameters of the tire 110 that are acquired, determine a lifted position of the tire loading fork or tire unloading fork of the tire loading and unloading apparatus that is inserted into the tire. With reference to FIG. 6, the second position determination unit 4302 determines, by an algorithm, the lifted position of the tire loading fork or tire unloading fork of the tire loading and unloading apparatus that is inserted into the tire, according to the relevant parameters of the tire loading and unloading apparatus 140 and the relevant parameters of the tire 110 that are obtained. Specifically, the second position determination unit 4302 calculates a distance A from a center point of the support arm spacing to a tire center by means of the Pythagorean theorem. Specifically, the value of A obtained through the Pythagorean theorem of formula (1) is: ^ = √^^− ^^Formula (1) where c=r-r'; b=0.5L; the values of c and b are substituted into formula (1) mentioned above to obtain the value of A in formula (4), and the obtained value of A is: Formula (4) With the bottom of the tire carrying apparatus 120 or the tire placing apparatus 150 as a reference plane, for example, the bottom of the tire loading and unloading trolley or the X- ray machine as the reference plane, the sum of the distance A from the center point of the support arm spacing to the tire center, the tire outer diameter R, and the minimum position F of the tire not colliding with the bottom is equal to the sum of the minimum height E of the support arm and the position value X2 of the support arm. That is, according to the value of A in formula (4) being substituted into the following formula (5), the position value X2 of the support arm can be calculated, that is, the lifted position of the tire loading fork or tire unloading fork can be obtained: ^2 = ^ + ^ + ^ − ^ = ^ + ^ − ^ + ^(^ − ^^)^− (0.5^)^Formula (5) Step S705: According to the extended position and the lifted position of the tire loading fork or tire unloading fork of the tire loading and unloading apparatus that is inserted into the tire, complete the loading or unloading of the tire. Specifically, the extended position and the lifted position of the tire loading fork or tire unloading fork of the tire loading and unloading apparatus 140 that is inserted into the tire are sent to the tire loading and unloading apparatus, and the tire loading and unloading apparatus 140 controls its tire loading fork or tire unloading fork to load or unload the tire according to the extended position and the lifted position. In the embodiment of the present invention, the controller directly determines, by the above-mentioned algorithm, the extended position and lifted position of the tire loading fork or tire unloading fork that is inserted into the tire, which solves the problem that the original device requires frequent interruptions in production and repeated manual teaching in the initial stage of production, can effectively improve the production speed of X-ray flaw detection engineering tires, saves a lot of debugging time and labor costs, and also prevents errors and discrepancies caused by manual teaching. An exemplary embodiment of the present disclosure further provides an electronic device, including: at least one processor; and a memory connected in communication with the at least one processor. The memory stores a computer program executable by the at least one processor, and when executed by the at least one processor, the computer program is configured to cause the electronic device to perform the method according to the embodiment of the present disclosure. An exemplary embodiment of the present disclosure further provides a non-transitory computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor of a computer, is configured to cause the computer to perform the method according to the embodiment of the present disclosure. An exemplary embodiment of the present disclosure further provides a computer program product including a computer program, wherein the computer program, when executed by a processor of a computer, is configured to cause the computer to perform the method according to the embodiment of the present disclosure. Referring to FIG. 8, a structural block diagram of an electronic device 800 that may serve as a server or client of the present disclosure will now be described, which is an example of a hardware device that may be applied to various aspects of the present disclosure. The electronic device is intended to represent various forms of digital electronic computing devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile apparatuses, such as personal digital assistants, cellular phones, smart phones, wearable apparatuses, and other similar computing apparatuses. The components shown herein, their connections and relationships, and their functions are examples only and are not intended to limit implementations of the present disclosure described and / or claimed herein. As shown in FIG. 8, the electronic device 800 includes a computing unit 801 that can perform various appropriate actions and processing according to a computer program stored in a read- only memory (ROM) 802 or loaded from a storage unit 808 into a random access memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the device 800 may also be stored. The computing unit 801, ROM 802 and RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804. Multiple components in the electronic device 800 are connected to the I / O interface 805, including: an input unit 806, an output unit 807, a storage unit 808, and a communication unit 809. The input unit 806 may be any type of device capable of inputting information to the electronic device 800. The input unit 806 may receive input numeric or character information and generate key signal input related to user settings and / or function control of the electronic device. The output unit 807 may be any type of device capable of presenting information, and may include, but is not limited to, a display, a loudspeaker, a video / audio output terminal, a vibration device and / or a printer. The storage unit 804 may include, but is not limited to, a magnetic disk and an optical disk. The communication unit 809 allows the electronic device 800 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunications networks, and may include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver and / or a chip group such as a Bluetooth™ device, a WiFi device, a WiMax device, a cellular communication device and / or the like. The computing unit 801 may be a variety of general- and / or special-purpose processing assemblies having processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processing processor (DSP), any appropriate processor, controller and microcontroller, etc. The computing unit 801 performs various methods and processing described above. For example, in some embodiments, methods S202-S203 and S40 to S405 may be implemented as a computer software program, which is tangibly embodied in a machine-readable medium, such as the storage unit 808. In some embodiments, part or all of the computer program may be loaded and / or installed onto the electronic device 800 via the ROM 802 and / or the communication unit 809. In some embodiments, the computing unit 801 may be configured to perform methods S301-S303 and S701 to S705 in any other suitable manner (e.g., by means of firmware). Program codes for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be supplied to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatuses, so that the program codes, when executed by the processor or controller, cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program codes may be executed entirely or partly on a machine, or as a stand-alone software package, partly on a machine and partly on a remote machine, or entirely on the remote machine or a server. In the context of the present disclosure, the machine- readable medium may be a tangible medium that may include or store a program for use by or in conjunction with an instruction execution system, apparatus or device. The machine-readable medium may be a machine-readable signal medium or a machine- readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium may include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read- only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM)), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. As used in the present disclosure, the terms "machine- readable medium" and "computer-readable medium" refer to any computer program product, device and / or apparatus (e.g., a magnetic disk, an optical disk, a memory, and a programmable logic device (PLD)) for providing machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as machine-readable signals. The term "machine-readable signal" refers to any signal used to provide machine instructions and / or data to a programmable processor. To provide interaction with a user, the systems and techniques described herein may be implemented on a computer having: a display apparatus (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing apparatus (e.g., a mouse or a trackball) through which the user can provide input to the computer. Other kinds of apparatuses may also be used to provide interaction with the user. For example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback), and any form (including acoustic input, speech input or tactile input) may be used to receive input from the user. The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components or front-end components. The components of the system may be interconnected by means of any form or medium of digital data communication (e.g., a communications network). Examples of the communication network include: local area network (LAN), wide area network (WAN), and the Internet. The computer system may include a client and a server. The client and the server are generally remote from each other and typically interact via a communications network. The relationship of the client and the server is created by means of a computer program running on a corresponding computer and having a client-server relationship with each other. The embodiments of the present invention propose a control method, control apparatus and control system for tire handling, and an electronic device. The control method includes: acquiring relevant parameters of a tire loading and unloading apparatus and relevant parameters of a tire; according to the relevant parameters of the tire loading and unloading apparatus and the relevant parameters of the tire that are acquired, determining, by means of algorithm calculation, position information of loading or unloading the tire by the tire loading and unloading apparatus; and sending the position information of loading or unloading the tire to the tire loading and unloading apparatus, so that the tire loading and unloading apparatus completes the loading or unloading of the tire according to the position information of loading or unloading the tire. According to the control method, not only can the production speed of X-ray flaw detection engineering tires be increased, but also the debugging time and labor costs during the handling of tires can be saved. The present invention has been presented and explained in detail above by means of the accompanying drawings and preferred embodiments. However, the present invention is not limited to these disclosed embodiments. Other solutions derived therefrom by a person skilled in the art are also within the scope of protection of the present invention.

Claims

Claims 1. A control method for tire handling, characterized by comprising: acquiring relevant parameters of a tire loading and unloading apparatus and relevant parameters of a tire; according to the relevant parameters of the tire loading and unloading apparatus and the relevant parameters of the tire that are acquired, determining, by means of algorithm calculation, position information of loading or unloading the tire by the tire loading and unloading apparatus; and sending the position information of loading or unloading the tire, so that the tire loading and unloading apparatus completes the loading or unloading of the tire according to the position information of loading or unloading the tire.

2. The method according to claim 1, wherein determining, by means of algorithm calculation, the position information of loading or unloading the tire by the tire loading and unloading apparatus, comprises: determining, by means of algorithm calculation, an extended position of a tire loading fork of the tire loading and unloading apparatus and a lifted position of the tire loading fork; or determining, by means of algorithm calculation, an extended position of a tire unloading fork of the tire loading and unloading apparatus and a lifted position of the tire unloading fork.

3. The method according to claim 2, wherein obtaining, by means of algorithm calculation, the extended position of the tire loading fork of the tire loading and unloading apparatus specifically comprises: acquiring a minimum height E of a support arm of the tire loading fork, support arm spacing L of the tire loading fork, a set distance t from the support arm of the tire loading fork toa tire bead and a radius r' of the support arm of the tire loading fork; acquiring an outer diameter R of the tire and an inner diameter r of the tire; and according to the minimum height E of the support arm of the tire loading fork, the support arm spacing L of the tire loading fork, the set distance t from the support arm of the tire loading fork to the tire bead, the radius r' of the support arm of the tire loading fork, the outer diameter R of the tire and the inner diameter r of the tire that are acquired, obtaining a position value X of the support arm of the tire loading fork by calculation, wherein the position value X of the support arm of the tire loading fork is the extended position of the tire loading fork of the tire loading and unloading apparatus.

4. The method according to claim 3, wherein according to the minimum height E of the support arm of the tire loading fork, the support arm spacing L of the tire loading fork, the set distance t from the support arm of the tire loading fork to the tire bead, the radius r' of the support arm of the tire loading fork, the outer diameter R of the tire and the inner diameter r of the tire that are acquired, obtaining the position value X of the support arm of the tire loading fork by calculation is to calculate and obtain same by the following formula:where X is the extended position of the tire loading fork, R is the outer diameter of the tire, r is the inner diameter of the tire, E is the minimum height of the support arm of the tire loading fork, L is the support arm spacing of the tire loading fork, r' is the radius of the support arm of the tire loading fork, and t is the set distance from the support arm of the tire loading fork to the tire bead.

5. The method according to claim 4, wherein before obtaining the position value X of the support arm of the tire loading fork by calculation, a value of a distance A from a center point ofthe support arm spacing of the tire loading fork to a center of the tire is calculated by the following formula: ^ ^ =^（^ − ^ − ^′） − (0.5^)^6. The method according to claim 2, wherein obtaining, by means of algorithm calculation, the lifted position of the tire loading fork of the tire loading and unloading apparatus specifically comprises: acquiring a minimum height E of a support arm of the tire loading fork, support arm spacing L of the tire loading fork, a set distance t from the support arm of the tire loading fork to a tire bead and a radius r' of the support arm of the tire loading fork; acquiring an outer diameter R of the tire and an inner diameter r of the tire; and according to the minimum height E of the support arm of the tire loading fork, the support arm spacing L of the tire loading fork, the set distance t from the support arm of the tire loading fork to the tire bead, the radius r' of the support arm of the tire loading fork, the outer diameter R of the tire and the inner diameter r of the tire that are acquired, and a minimum position F of the tire not colliding with a bottom, obtaining a position value X2 of the support arm of the tire loading fork by calculation, wherein the position value X2 of the support arm of the tire loading fork is the lifted position of the tire loading fork of the tire loading and unloading apparatus.

7. The method according to claim 6, wherein obtaining the position value X2 of the support arm of the tire loading fork by calculation is to calculate and obtain same by the following formula:

8. The method according to claim 7, wherein before obtaining the position value X2 of the support arm of the tire loading fork by calculation, a value of a distance A from a center pointof the support arm spacing of the tire loading fork to a center of the tire is further calculated by the following formula:

9. The method according to any one of claims 1 to 8, wherein acquiring the relevant parameters of the tire comprises: acquiring an inner diameter and an outer diameter of the tire by means of a manufacturing execution system, wherein the inner diameter and the outer diameter of the tire are variable according to different specifications and different patterns.

10. A control apparatus for tire handling, the control apparatus comprising: a parameter acquisition apparatus configured to acquire relevant parameters of a tire loading and unloading apparatus and relevant parameters of a tire; and a position processing apparatus configured to, according to the relevant parameters of the tire loading and unloading apparatus and the relevant parameters of the tire that are acquired, determine, by means of algorithm calculation, position information of loading or unloading the tire by the tire loading and unloading apparatus.

11. The control apparatus according to claim 10, wherein the control apparatus further comprises a sending unit configured to send the position information of loading or unloading the tire, so that the tire loading and unloading apparatus completes the loading or unloading of the tire according to the position information of loading or unloading the tire.

12. The control apparatus according to claim 10, wherein the position processing apparatus is configured to determine, by means of algorithm calculation, an extended position of a tire loading fork of the tire loading and unloading apparatus and a lifted position of the tire loading fork; or the positionprocessing apparatus is configured to determine, by means of algorithm calculation, an extended position of a tire unloading fork of the tire loading and unloading apparatus and a lifted position of the tire unloading fork.

13. The control apparatus according to any one of claims 10 to 12, wherein: the parameter acquisition apparatus comprises a first parameter acquisition unit configured to acquire a minimum height E of a support arm of the tire loading fork, support arm spacing L of the tire loading fork, a set distance t from the support arm of the tire loading fork to a tire bead and a radius r' of the support arm of the tire loading fork; a parameter acquisition apparatus comprises a second parameter acquisition unit configured to acquire an outer diameter R of the tire and an inner diameter r of the tire; and the position processing apparatus comprises a first position processing unit configured to, according to the minimum height E of the support arm of the tire loading fork, the support arm spacing L of the tire loading fork, the set distance t from the support arm of the tire loading fork to the tire bead, the radius r' of the support arm of the tire loading fork, the outer diameter R of the tire and the inner diameter r of the tire that are acquired, obtain a position value X of the support arm of the tire loading fork by calculation, wherein the position value X of the support arm of the tire loading fork is the extended position of the tire loading fork of the tire loading and unloading apparatus.

14. The control apparatus according to claim 13, wherein according to the minimum height E of the support arm of the tire loading fork, the support arm spacing L of the tire loading fork, the set distance t from the support arm of the tire loading fork to the tire bead, the radius r' of the support arm of the tire loading fork, the outer diameter R of the tire and the inner diameter r of the tire that are acquired, the first positionprocessing unit obtaining the position value X of the support arm of the tire loading fork by calculation is to calculate and obtain same by the following formula:where X is the extended position of the tire loading fork, R is the outer diameter of the tire, r is the inner diameter of the tire, E is the minimum height of the support arm of the tire loading fork, L is the support arm spacing of the tire loading fork, r’ is the radius of the support arm of the tire loading fork, and t is the set distance from the support arm of the tire loading fork to the tire bead.

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

16. The control apparatus according to any one of claims 10 to 12, wherein the parameter acquisition apparatus comprises a first parameter acquisition unit configured to, by means of the tire loading fork, acquire a minimum height E of a support arm of the tire loading fork, support arm spacing L of the tire loading fork, a set distance t from the support arm of the tire loading fork to a tire bead and a radius r’ of the support arm of the tire loading fork; the parameter acquisition apparatus comprises a second parameter acquisition unit configured to acquire an outer diameter R of the tire and an inner diameter r of the tire; and the position processing apparatus comprises a second position processing unit configured to, according to the minimum height E of the support arm of the tire loading fork, the support arm spacing L of the tire loading fork, the set distance t from the support arm of the tire loading fork to the tire bead, theradius r' of the support arm of the tire loading fork, the outer diameter R of the tire and the inner diameter r of the tire that are acquired, and a minimum position F of the tire not colliding with a bottom, obtain a position value X2 of the support arm of the tire loading fork by calculation, wherein the position value X2 of the support arm of the tire loading fork is the lifted position of the tire loading fork of the tire loading and unloading apparatus.

17. The control apparatus according to claim 16, wherein the second position processing unit is configured to obtain the position value X2 of the support arm of the tire loading fork by calculation, which is to calculate and obtain same by the following formula:

18. The control apparatus according to claim 17, wherein the second position processing unit is further configured to calculate a value of a distance A from a center point of the support arm spacing of the tire loading fork to a center of the tire by the following formula: ^ = ^(^ − ^^)^− (0.5^)^19. A control system for tire handling, the control system mainly comprising a tire loading and unloading apparatus and a processor, wherein the processor is configured to: acquire relevant parameters of the tire loading and unloading apparatus and relevant parameters of a tire; and according to the relevant parameters of the tire loading and unloading apparatus and the relevant parameters of the tire that are acquired, determine, by means of algorithm calculation, position information of loading or unloading the tire by the tire loading and unloading apparatus; and the tire loading and unloading apparatus is configured to receive the position information of loading or unloading the tire, and complete the loading or unloading of the tire accordingto the position information of loading or unloading the tire.

20. The control system according to claim 19, wherein the processor is configured to determine, by means of algorithm calculation, an extended position of a tire loading fork of the tire loading and unloading apparatus and a lifted position of the tire loading fork; or the processor is configured to determine, by means of algorithm calculation, an extended position of a tire unloading fork of the tire loading and unloading apparatus and a lifted position of the tire unloading fork.

21. The control system according to claim 20, wherein the processor is configured to obtain, by means of algorithm calculation, the extended position of the tire loading fork of the tire loading and unloading apparatus, which specifically comprises: acquire a minimum height E of a support arm of the tire loading fork, support arm spacing L of the tire loading fork, a set distance t from the support arm of the tire loading fork to a tire bead and a radius r’ of the support arm of the tire loading fork; acquire an outer diameter R of the tire and an inner diameter r of the tire; and according to the minimum height E of the support arm of the tire loading fork, the support arm spacing L of the tire loading fork, the set distance t from the support arm of the tire loading fork to the tire bead, the radius r' of the support arm of the tire loading fork, the outer diameter R of the tire and the inner diameter r of the tire that are acquired, obtain a position value X of the support arm of the tire loading fork by calculation, wherein the position value X of the support arm of the tire loading fork is the extended position of the tire loading fork of the tire loading and unloading apparatus.

22. The control system according to claim 21, wherein theprocessor is configured to, according to the minimum height E of the support arm of the tire loading fork, the support arm spacing L of the tire loading fork, the set distance t from the support arm of the tire loading fork to the tire bead, the radius r' of the support arm of the tire loading fork, the outer diameter R of the tire and the inner diameter r of the tire that are acquired, obtain the position value X of the support arm of the tire loading fork by calculation, which is to calculate and obtain same by the following formula:where X is the extended position of the tire loading fork, R is the outer diameter of the tire, r is the inner diameter of the tire, E is the minimum height of the support arm of the tire loading fork, L is the support arm spacing of the tire loading fork, r’ is the radius of the support arm of the tire loading fork, and t is the set distance from the support arm of the tire loading fork to the tire bead.

23. The control system according to claim 22, wherein the controller is further configured to, by means of the tire loading fork, calculate a value of a distance A from a center point of the support arm spacing of the tire loading fork to a center of the tire by the following formula:

24. The control system according to claim 20, wherein the controller is configured to obtain, by means of algorithm calculation, the lifted position of the tire loading fork of the tire loading and unloading apparatus, which specifically comprises: acquire a minimum height E of a support arm of the tire loading fork, support arm spacing L of the tire loading fork, a set distance t from the support arm of the tire loading fork to a tire bead and a radius r’ of the support arm of the tire loading fork; acquiring an outer diameter R of the tire and an innerdiameter r of the tire; and according to the minimum height E of the support arm of the tire loading fork, the support arm spacing L of the tire loading fork, the set distance t from the support arm of the tire loading fork to the tire bead, the radius r' of the support arm of the tire loading fork, the outer diameter R of the tire and the inner diameter r of the tire that are acquired, and a minimum position F of the tire not colliding with a bottom, obtaining a position value X2 of the support arm of the tire loading fork by calculation, wherein the position value X2 of the support arm of the tire loading fork is the lifted position of the tire loading fork of the tire loading and unloading apparatus.

25. The control system according to claim 24, wherein the controller is configured to obtain the position value X2 of the support arm of the tire loading fork by calculation, which is to calculate and obtain same by the following formula:

26. The control system according to claim 25, wherein the controller is further configured to calculate a value of a distance A from a center point of the support arm spacing of the tire loading fork to a center of the tire by the following formula: ^ = ^(^ − ^^)^− (0.5^)^27. An electronic device, comprising: a processor; and a memory storing a program, wherein the program comprises instructions which, when executed by the processor, cause the processor to perform the method according to any one of claims 1-9.

28. A non-transitory computer-readable storage medium, storing computer instructions therein, wherein the computer instructions are configured to cause a computer to perform themethod according to any one of claims 1-9.

29. A computer program product, comprising a computer program, wherein the computer program implements the method according to any one of claims 1-9 when executed by a processor.

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