CN-122023849-A - Self-adaptive matching and compensating method and system for tire hole site scanning data

CN122023849ACN 122023849 ACN122023849 ACN 122023849ACN-122023849-A

Abstract

The invention relates to the technical field of industrial automatic detection, and discloses a self-adaptive matching and compensating method and a self-adaptive matching and compensating system for tire hole site scanning data, wherein the dependence of automatic processing on a mechanical alignment device and a fixed installation angle is eliminated by introducing a global offset estimation and double-loop independent topology constraint mechanism based on histogram voting, and the switching efficiency and the operation beat of a flexible production line are remarkably improved; by adopting a nonlinear deformation compensation technology based on the same-side neighborhood characteristic association, the reconstruction coordinates of the missing hole sites can be accurately fitted to the actual physical deformation of the tire by using an inverse distance weighting algorithm, so that the problems of missing hole sites and redundant noise points in the scanning process are effectively solved, and the limitation that the traditional rigid matching algorithm cannot handle local deformation is broken through. The hole site data finally output is complete and can trace back the processing process, so that the robustness and the compensation precision of tire detection are remarkably improved, and reliable technical support is provided for precise automatic processing of studded tires.

Inventors

FENG XIANYING
WANG HAO
LIU ZHENWEN
Sheng Xiaozheng
LI PEIGANG

Assignees

山东大学
山东玲珑机电有限公司

Dates

Publication Date: 20260512
Application Date: 20260416

Claims (10)

1. The adaptive matching and compensating method for the tire hole site scanning data is characterized by comprising the following steps: s1, acquiring the number of hole sites of a tire template and actually measured scanning hole site data; s2, calculating global circumferential offset based on histogram voting; S3, performing circumferential alignment on the actually measured scanning hole site data and the template hole site data and establishing a double-ring independent circulation topology partition; S4, independently performing circular matching in each partition, searching nearest neighbor matching pairs, marking the actually measured holes successfully matched as actual holes, marking the unmatched actually measured holes as redundant holes, and marking the unmatched template holes as missing holes; S5, aiming at each missing hole, performing flexible deformation compensation based on the same-side neighborhood offset characteristic; and S6, reconstructing the data and outputting final hole site space coordinate information.
2. The method for adaptively matching and compensating tire hole position scan data according to claim 1, wherein in the step S1, the template hole position data and the actually measured hole position data each include an index of each hole, three-dimensional space coordinates and angles, wherein x coordinates of the three-dimensional space coordinates are coordinates in a tire width direction, y coordinates are arc length coordinates along a tire circumferential direction, z coordinates are coordinates in a height direction, and angles are angles in an axis direction of the holes, the template hole position data and the actually measured hole position data each are divided into two areas by positive and negative of x coordinates, and hole positions in each area are numbered in sequence from the y coordinates.
3. The method for adaptively matching and compensating tire hole site scan data according to claim 2, wherein said step S2 comprises the steps of: traversing all template holes and actual measurement holes, if the difference value of the x coordinate of the template holes and the actual measurement holes is smaller than a preset threshold value, considering that the two holes possibly correspond to the same side, calculating the difference value of the y value of the actual measurement hole and the y value of the template hole, and mapping the difference value to [0 ] through modulo arithmetic, and obtaining the tire circumference ) In the interval, the offset is taken as a candidate offset; Constructing a histogram according to the size of a preset interval of all candidate offset values, counting the number of samples in each interval, and taking the interval with the largest number of samples as a main peak; All candidate offset samples in the main peak and the adjacent interval are extracted, and the arithmetic average value is calculated as the global circumferential offset.
4. The method for adaptively matching and compensating tire hole site scan data according to claim 2, wherein in the step S3, the y coordinates of the actually measured hole sites are subtracted by global offset and the tire circumference is modulo, so that the y values of all the actually measured holes are normalized to a circle of circumference interval to realize circumferential alignment with a template coordinate system, and meanwhile, the template hole sites and the normalized actually measured hole sites are divided into two independent partitions according to the positive and negative of the x coordinates, thereby avoiding cross-side interference.
5. The method for adaptively matching and compensating for tire hole site scan data as in claim 2, wherein said step S4 comprises the steps of: defining a cyclic distance function considering circumferential periodicity for geometric characteristics of tire rotation; Searching a hole with the smallest circulation distance from unmatched real measurement holes in the current side area for each template hole, and if the circulation distance of the two holes is smaller than a preset matching threshold value, judging that the matching is successful; The successfully matched template holes are marked as actual holes, the coordinates of the successfully matched template holes are directly the coordinates of the actual holes, the unmatched template holes are marked as missing holes for subsequent compensation, the unmatched actual holes are marked as redundant holes, and the unmatched actual holes are removed from the data.
6. The method for adaptively matching and compensating for tire hole site scan data as in claim 2, wherein said step S5 comprises the steps of: for each missing hole, determining the topological ring area to which the missing hole belongs according to the x coordinate value, and searching the same-side ring area for the nearest cyclic distance The actual holes which are successfully matched are used as a reference neighborhood; Adopting an inverse distance weighting algorithm according to each neighbor point in the reference neighbor The distance between the missing points is given different weights; Using each neighbor point in the reference neighborhood Calculating the predicted displacement of the abscissa of the missing hole site by an inverse distance weighting algorithm relative to the offset of the corresponding template coordinate, and predicting the displacement of the height and the predicted offset of the angle; And superposing the standard template coordinates with the predicted local deformation compensation quantity to generate final execution coordinates of the missing hole.
7. The method for adaptively matching and compensating tire hole site scan data according to claim 2, wherein in the step S6, the point sets in the positive and negative half-area loops are arranged in ascending order according to the y-coordinate, respectively, and the hole site indexes are reassigned, and the reconstructed final hole site data is saved as an output file.
8. An adaptive matching and compensation system for tire hole site scan data, comprising: the first module is configured to acquire the number of the template holes and the actually measured scanning hole site data; a second module configured to calculate a global circumferential offset based on the histogram vote; the third module is configured to circumferentially align the actually measured scanning hole site data with the template hole site data and establish a double-ring independent circulation topology partition; the fourth module is configured to independently perform circular matching in each partition, search nearest neighbor matching pairs, mark the actually measured holes successfully matched as actual holes, mark the unmatched actually measured holes as redundant holes, and mark the unmatched template holes as missing holes; a fifth module configured to perform, for each missing hole, flexible deformation compensation based on ipsilateral neighborhood offset characteristics; and the sixth module is configured for reconstructing data and outputting final hole site space coordinate information.
9. A computer device comprising a processor and a memory for storing program code and for transmitting said program code to said processor, said processor being adapted to perform the steps of the method for adaptive matching and compensation of tire hole position scan data according to instructions in said program code.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the method for adaptive matching and compensation of tire hole position scanning data according to any one of claims 1-7.

Description

Self-adaptive matching and compensating method and system for tire hole site scanning data Technical Field The invention relates to the technical field of industrial automatic detection, in particular to a self-adaptive matching and compensating method and system for tire hole site scanning data. Background At present, the performance of tires on low-adhesion road surfaces such as ice and snow, wet skid and the like becomes a core technical index for measuring the active safety of vehicles. The key technology of the antiskid nail tire is the arrangement design of nail holes as a key solution for improving the grip force and braking efficiency of a vehicle on a complex road surface in winter. The consistency of the space coordinate precision and the angle deviation of the nail hole position directly determines the holding force, the wear-resisting service life and the ground grabbing effect of the stud after the stud is inlaid in the vehicle driving process. Therefore, in the process of nailing the anti-skid nail tire, the position of the reserved hole of the tread is detected, then the data of the actually measured hole position and the standard template are matched and matched, correction and compensation are carried out, and finally the nailing machine implants the anti-skid nail in the reserved hole of the tire according to the compensated coordinates. However, the following technical challenges exist in practical operation: In the prior art, the rotation phase of the tire to be tested is usually kept consistent with a preset template, or the initial posture of the tire is fixed by a mechanical alignment device. The technical scheme not only increases the complexity of positioning the tool, but also reduces the production efficiency. In addition, the existing part of automatic nailing system adopts a rigid matching algorithm, which is difficult to realize accurate deviation correction and position compensation aiming at the conditions of tire hole position data deviation and discrete missing, thereby influencing the follow-up nailing precision. Therefore, how to accurately align and compensate hole site data containing noise and missing points under the condition of mounting any phase of the tire is a technical problem to be solved in the field of manufacturing the studded tire at present. Disclosure of Invention The invention aims to solve the problems that the existing anti-skid nail tire depends on a fixed mounting angle in the nailing process, and is time-consuming and labor-consuming and the hole site scanning data processing technology has lower precision, and provides a self-adaptive matching and compensating method and system for tire hole site scanning data. In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: in a first aspect, the present invention provides a method for adaptively matching and compensating tire hole site scan data, comprising the steps of: s1, obtaining template hole site data and actually measured scanning hole site data; s2, calculating global circumferential offset based on histogram voting; S3, performing circumferential alignment on the actually measured scanning hole site data and the template hole site data and establishing a double-ring independent circulation topology partition; S4, independently performing circular matching in each partition, searching nearest neighbor matching pairs, marking the actually measured holes successfully matched as actual holes, marking the unmatched actually measured holes as redundant holes, and marking the unmatched template holes as missing holes; S5, aiming at each missing hole, performing flexible deformation compensation based on the same-side neighborhood offset characteristic; and S6, reconstructing data and outputting final hole site space coordinate information for use by subsequent processing equipment. Further, in the step S1, template hole position data stored in advance and actually measured hole position data acquired based on tire scanning are acquired. The template hole position data and the actually measured hole position data comprise indexes, three-dimensional space coordinates (x, y, z) and angles of each hole, wherein the x coordinates are coordinates in the width direction of the tire, the y coordinates are arc length coordinates along the circumferential direction of the tire, the z coordinates are coordinates in the height direction, and the angles are angles in the axial direction of the holes, namely, the inclination angles when the cleats are inserted into the holes. The template hole site data and the actually measured hole site data are respectively divided into two areas according to the positive and negative of an x coordinate by taking a central axis (x=0) of the tire as a boundary, and the hole sites in each area are numbered in sequence from small to large according to the y coordinate. Further, the step S2 aims to accurately extract the global circumferent