System and method for acquiring and determining valve axes in tyre vulcanisation moulds

Abstract

The invention relates to a system (100) that implements a method for identifying vents (150) in a tyre vulcanisation mould (10) comprising one or more segments (12) and an inner surface over which the vents are distributed in order to enable the corresponding valves (200) to be inserted therein. The invention also relates to a method implemented by the disclosed system (100).

Description

[0001] Description

[0002] Title: SYSTEM AND METHOD FOR ACQUIRING AND DETERMINING VALVE AXES IN TIRE VULCANIZATION MOLDS

[0003] Technical Field

[0004] The invention relates to a system and method for inserting valves into segments of a curing mold for tires. More particularly, the invention relates to a system and method for identifying vents of a vulcanization mold for tires whose vents are dispersed to allow the insertion of the corresponding valves therein.

[0005] Context

[0006] In the field of tires, molds for vulcanization of the segment type are known. Referring to Figure 1, this type of mold is represented by a mold 10 mainly comprising two shells (not shown) which each mold one of the lateral sidewalls of a tire P, a plurality of segments 12 which mold the tread Pio of the tire P along the internal surfaces 12a of the segments. The segments 12 are radially movable between an open position (shown in Figure 1) and a closed position of the mold 10. This type of mold may further comprise at least one clamping ring (not shown) to allow radial movement of the segments. An example of this type of mold is disclosed by the Applicant's patent US10,239,270.

[0007] The manufacture of tires using this type of mold requires that pressure be applied to the green tire in order to press it against the internal surfaces of the mold at the same time as heat is supplied to the mold (e.g., by electrical induction and / or magnetic induction, or by means of a heat transfer fluid such as pressurized water vapor). For this reason, this type of mold must be ventilated so that the green tire inflates against the internal surfaces of the mold segments.

[0008] It is therefore also known that this type of mold comprises a plurality of ventilation holes (or "vents") to achieve this ventilation during the vulcanization cycles. For example, a typical segment mold may comprise between 4000 and 12000 substantially cylindrical vents distributed along each segment of the mold. In each of the vents there is a valve 20 of the type shown by way of example in Figure 2 (see, for example, patent EP774333B1). The valve 20 comprises a movable insert 22 which moves up and down in a substantially cylindrical housing 24. The movable insert 22 comprises a valve stem 26 with a conical section 26a frustrated towards an internal cavity 28 (see Figure 2) and a flat surface 26b towards the surface of the tire.The tapered section 26a mates with a seating surface 24a of the housing 24 such that, during a vulcanization cycle, the valve is closed by the approaching tire blank surface, and, during tire extraction, the valve reopens after vulcanization. A gasket (not shown) may be disposed between the tapered section 26a and the seating surface 24a in a manner understood by those skilled in the art.

[0009] Valves are small, rigid, tubular mechanical parts (e.g., with a diameter of around 2.5 mm and a length of 5 to 12 mm). Their installation in the mold involves force-fitting them into vents drilled to a diameter that guarantees the valves' fit and hold throughout the mold's life. The installation operation requires:

[0010] The location of the vent where to insert the valve;

[0011] The valve socket in the correct direction;

[0012] The positioning of the valve in the vent;

[0013] The force generation required to seat it in the adjustment; and The pressure applied until the valve is flush.

[0014] The valves are placed individually in the mold segments (either by a human operator or a mechanical operator such as a robot). This operation is usually carried out using a tweezer-type tool that grips the valve and inserts it precisely into the corresponding vent in the mold. The valve is then hammered into the vent using a hammer and a mandrel. This type of insertion requires a lot of effort and is time-consuming. Each insertion represents several seconds of work, leading to a tedious, repetitive task that, for a human operator, is not of great interest. This leads to risks of fatigue and forgetting valves, calling into question the proper functioning of the mold. To overcome this problem, there are devices in the prior art for inserting valves into molds.For example, German publication DE 102010060901 discloses a tool comprising a tubular guide system in which a valve is arranged. The tubular system is positioned directly above the vent where, by a force in the valve axis, a piston pushes the valve to press it in a guided and regulated manner. By means of a spring, the piston rises, and a new valve engages in the tubular system. Automation therefore lies in the positioning of vents directly above, but the valves must be positioned precisely so that they find their bearings.

[0015] Korean patent KR100845093B discloses a valve assembly system incorporating a machine for manufacturing valves in two parts: a body in which the spring is installed and the valve itself. The machine can be diverted to serve as the basis for a valve press-fitting system for inserting the valves into the vents. However, it lacks the ability to adapt to any mold shape and also to move to position the valves in segments.

[0016] Indeed, the holes that create the vents are not always made as indicated on the plans, and there are variations due to the manufacturing process that cause discrepancies (for example, vents are added, or molds are modified by hand). Since precise knowledge of the position of the vents and / or their axes is not absolutely guaranteed, it is desirable to develop a system that can do without this information, as a human operator would do when detecting and analyzing them themselves.

[0017] Thus, the disclosed invention uses knowledge of the mold segment to perform the insertion of the valves in a repetitive manner. The insertion of the valves is done with a force of up to around 70 kg, which requires good control of the trajectory of a robot so as not to damage the mold. For this, the disclosed invention uses the coordinates of the vents and the detection of their centers and their normals to give a robot the correct approach and thrust trajectory to facilitate the installation of the valves.

[0018] Summary of the invention

[0019] The invention relates to a system implementing a method for identifying vents of a vulcanization mold for tires comprising one or more segments and an internal surface whose vents are dispersed to allow the insertion of the corresponding valves therein, characterized in that the system comprises: a robot incorporating a detection system with one or more sensors which detect the presence of one or more vents dispersed along the internal surface of the segment of the mold; a communication network which manages the data incoming to the system from the detection system;and one or more communication servers, each comprising one or more processors operatively connected to a memory configured to store an analysis application for data representative of the imaged molds, and the one or more processors comprising a module for executing the analysis application which performs the processing of the images, the one or more processors being capable of executing programmed instructions stored in the memory to perform the following steps: a step of detecting a presence of an arrangement of vents in the field of view of the detection system, which triggers to capture at least one image of the internal surface of the segment of the mold; and a step of searching, in the image captured by the detection system, the presence of the detected vents, so that the detection system continues to capture the images if no vent is detected, until the search for the mold is exhausted.;

[0020] In embodiments of the system of the invention, the system further comprises: a rangefinder means which is used in the working space of the mold to deduce its dimensions, the rangefinder means comprising a scanner for scanning the entire internal surface of the mold segment; and an industrial camera of the 2D type.

[0021] In embodiments of the system of the invention, the processor(s) are capable of executing programmed instructions stored in the memory to perform the following steps: a step of measuring the height of the points under the field of view of the robot's detection system, during which the rangefinder means obtains a series of scans in the lengthwise and transverse directions of the mold segment so as to be able to reconstruct an image of the mold profile; a step of scanning the robot's detection system to cover the entire internal surface of the mold, during which the 2D camera searches for shapes similar to circles to acquire their approximate positions; and a step of refining the location of each vent to find its coordinates, during which a deviation between the theoretical center of the observed circle and the center of the camera is determined.

[0022] In embodiments of the system of the invention, the robot comprises a gripping device supported by a pivotable elongated arm, the gripping device extending from the elongated arm to a free end where a gripper is disposed along a common longitudinal axis.

[0023] In embodiments of the system of the invention, the gripper comprises a pivoting clamp incorporating gripping fingers that extend from a platform where attachment of the clamp to the free end of the gripping device is achieved, each finger comprising a member with a predetermined length that extends between an actuation end, where movement of the finger is achieved, and an opposing gripping end, where the finger grips the valve.

[0024] In embodiments of the system of the invention, the one or more processors are capable of executing programmed instructions stored in the memory to perform a step of moving the robot so that it can place the valve for insertion into an identified vent in a segment of the mold.

[0025] The invention further relates to a method implemented by the disclosed system for identifying vents of a vulcanization mold for tires comprising one or more segments and an inner surface whose vents are dispersed to allow the insertion of the corresponding valves therein, characterized in that the method comprises the following steps: a step of positioning the mold in a field of view of a detection system of the system, such that the vents defined along the inner surface of at least one segment are visible, during which the detection system comes to fly over the mold; a step of detecting a presence of an arrangement of vents in the field of view of the detection system, which triggers to capture at least one image of the inner surface of the segment of the mold;and a step of searching, in the image captured by the detection system, the presence of the detected vents, so that the detection system continues to capture the images if no vent is detected, until the search for the mold is exhausted.;

[0026] In embodiments of the method of the invention, the method further comprises a control step performed after the insertion of the valves into the vents of the mold.

[0027] In embodiments of the method of the invention, the method further comprises a final step of positioning the robot directly above an identified vent, in the insertion axis thereof, during which the robot inflates the valve.

[0028] Other aspects of the invention will become apparent from the following detailed description.

[0029] Brief description of the drawings

[0030] The nature and various advantages of the invention will become more apparent from the following detailed description, taken in conjunction with the accompanying drawings, in which like reference numerals designate like parts throughout, and in which:

[0031] [Fig 1] Figure 1 shows a perspective view of one embodiment of a segment type vulcanization mold.

[0032] [Fig 2] Figure 2 shows one embodiment of a valve inserted into a vent of the mold of Figure 1.

[0033] [Fig 3] Figure 3 represents a schematic view of a system of the invention allowing the insertion of valves into a tire vulcanization mold.

[0034] [Fig 4] [Fig 5] Figure 4 and Figure 5 represent, by way of example, internal surfaces of the segments of tire vulcanization molds whose vents are likely to be identified by the system of Figure 3.

[0035] [Fig 6] Figure 6 represents an example of the reconstruction of a mold profile of the type shown in Figure 4.

[0036] [Fig 7] Figure 7 represents an example of a response to the search for vents in a segment of the vulcanization mold.

[0037] Detailed description

[0038] Referring now to the figures, in which like numbers identify like elements, Figure 3 shows a valve insertion system (or "system") 100 of the invention. The system 100 implements a method of the invention allowing the insertion of valves (for example, valves of the type shown in Figure 2) into segments of a vulcanization mold for tires (for example, a mold 10 of the type shown in Figure 1 and having segments 12). It is understood that the system 100 remains adaptable for versatile use depending on the geometry of the mold concerned (see, for example, the molds shown in Figures 4 and 5).

[0039] The disclosed method incorporates a machine learning method which is based on data corresponding to images obtained from the mold whose algorithm used analyzes the internal surface of the mold to place and insert the valve into an identified vent.

[0040] Referring to Figure 3, a mold 10 is positioned on a worktable or equivalent support 50 for processing by the system 100. The support 50 may be configured to move in a rotational, vertically alternating manner, and / or horizontally alternating manner, thus allowing processing of a variety of molds. Referring again to Figure 3, in one embodiment of the system 100, the system comprises a robot 102 having a gripping device 104 supported by a pivotable elongated arm 106. The gripping device 104 extends from the elongated arm 106 to a free end 104a where a gripper 108 is disposed along a common longitudinal axis. Attachment of the gripper 108 to the gripping device 104 may be accomplished by screwing an adapter to the free end 104a of the gripping device.It is understood that the attachment of the gripper 108 to the gripping device 104 may be achieved by one or more known attachment means (including, without limitation, welding, gluing and equivalent means).

[0041] In one embodiment of the gripper 108, the gripper includes a pivotable clamp 108a incorporating gripping fingers (or "fingers") 108b that extend from a platform 108c (where the adapter provides attachment of the clamp 108a to the free end 104a of the gripping device 104). Each finger 108b includes a member with a predetermined length that extends between an actuation end (where movement of the finger is provided) and an opposing gripping end (where the finger grips a valve 200 retained by the clamp during the process performed by the system 100). Each finger 108b has an inner gripping surface that engages the valve 200 during insertion into an identified vent and an opposing outer surface. The fingers 108b are arranged so that a predetermined gap is defined between the gripping surfaces, allowing movement of the fingers along a common axis during the method implemented by the system 100.Thus, the robot 102 facilitates the gripping of a variety of valves without interruption of the linear movement of the fingers. The reciprocating movement of one or more fingers 108b may be accomplished by one or more known cylinders that are actuated by a pressurized fluid (e.g., compressed air) from a conduit (not shown). Accordingly, the movement of each finger 108b accomplishes the corresponding linear movement of the fingers between a standby position (where the gripping surfaces remain substantially parallel with the gap between them) (not shown) and a gripping position (where the gripping surfaces approach to engage the valve 200 and to place it in an insertion position relative to an internal surface of the mold 10) (see Figure 3). The cylinder(s) are selected from commercial cylinders.

[0042] During the method implemented by the system 100, the robot 102 can be set in motion so that the gripper 108 can perform the gripping of the valve 200 (as described below). By means of the fingers 108b, the gripper 108 performs a gripping to hold the valve 200 during a movement of the gripper between a gripping position (in which the gripper 108 performs the gripping of a selected valve for insertion into a corresponding identified vent) (see FIG. 3) and an insertion position (in which the gripper 108 places the picked valve for insertion into the identified vent) (not shown). In the embodiments of the gripper 108 comprising the gripping fingers 108b, the gripping position of the gripper 108 means that the fingers are in their position for gripping the selected valve. In all embodiments of the robot 102, the robot may be configured to have six degrees of freedom allowing it to move along all six axes.In all embodiments, the robot 102 may be disposed on a support 55 that is configured to move in a rotational, vertically alternating manner, and / or horizontally alternating manner, thus enabling processing of a variety of molds. The robot 102 is moved to position the valve 200 for insertion into a vent identified in a segment 12 of the mold 10. In one embodiment of the system 100, the robot 102 may be part of a roving robot that may be moved either by integrated motion means (e.g., integrated motor(s)) or by non-integrated motion means (e.g., autonomous mobile cart(s) or other equivalent mobile means).In another embodiment of the system 100, the robot 102 may be attached to a ceiling, a floor, a wall, or any support that allows the method implemented by the system 100 to be carried out (see, for example, the support 55 of FIG. 3). It is understood that such a robot may be a conventional industrial robot or a collaborative robot or even a delta or cable robot. The robot 102 includes a sensing system that uses one or more sensors (not shown) to sense information about the physical environment around the robot. In the following description, the terms "sensor," "camera," "camera," and "optical sensor" may be used interchangeably and may refer to one or more devices configured to perform two-dimensional (2D) and / or three-dimensional (3D) image sensing, 3D depth sensing, and / or other types of sensing of the physical environment around the robot 102.In embodiments of the system 100, the sensors of the detection system incorporated with the robot 102 may be attached to the elongated arm 106 (e.g., at the end 104a) and / or to the gripper 108 of the robot.

[0043] The sensor(s) of the robot detection system 102 detect the presence of one or more vents of a mold. For example, Figures 4 and 5 show internal surfaces of mold segments having different geometries. In each mold, a plurality of vents 150 are dispersed along the internal surface of the corresponding segment, with each vent receiving a corresponding valve 200. It is expected that each vent is substantially cylindrical and that all vents 150 have substantially the same diameters. In some embodiments of the robot 102, the sensor is triggered when a segment of a mold enters the field of view of the camera, regardless of the mold geometry involved.In cases where a mold portion is not visible in the image obtained by the robot detection system 102 (e.g., the detection system's camera), a hook point may be placed at a known position relative to the sensor (e.g., at a known horizontal distance and a known vertical distance from the sensor position).

[0044] The sensing system may determine information about the physical environment around the mold 10 that may be used by a control system of the system 100 (the control system including, for example, software for planning the motions of the robot 102). The control system could be located on the robot 102 or it could be in remote communication with the robot. In embodiments of the system 100, one or more 2D or 3D sensors mounted on the robot 102 (including, without limitation, navigation sensors) may be integrated to provide a digital model of the physical environment (including, where applicable, the side(s), floor, and ceiling). Using the obtained data, the control system may cause the robot 102 to move between the tapping positions of the valves during their insertion into the mold 10.

[0045] In one embodiment of the system 100, the sensing system includes at least one camera that provides 3D images represented as a set of 3D points with coordinates (X, Y, Z), and sometimes red, green, blue color values ​​(the "RGB" or "RGB-D" format) (referred to as an "RGB-D camera"). In this embodiment, an RGB-D camera is attached to the robot 102 (e.g., to the end 104a and / or the gripper 108). Two or more RGB-D cameras may be oriented to provide a predetermined overlap between the cameras' fields of view. As used herein, the term "camera" includes one or more cameras.

[0046] RGB-D cameras generally provide depth information using depth maps, being images where each pixel contains the distance between the camera and the corresponding point in space. Compared to traditional measurement methods such as manual measurement and other measurements based on electronic devices, 3D point cloud data from RGB-D type cameras have a much higher measurement rate. By using a sparser structure, a point cloud can be constructed from the RGB-D images by calculating the real world (e.g., (X, Y, Z) coordinates) with the intrinsic data of a scanning camera. Thus, information about the physical environment around the system 100 is obtained from the 3D point cloud data obtained from sensing technologies that are capable of capturing the 3D surface geometries of the molds accurately and efficiently.These detection technologies could be selected from commercially available devices (selected, for example, from cameras sold under the ZIVID® brand of Zivid AS, machine vision systems sold by Cognex Corp., and their equivalents).

[0047] The term "point cloud" (in the singular or plural) is used herein to refer to a collection or collections of data points in space. A camera(s) (or equivalent device(s)) can collect three-dimensional (3D) data and detect the surfaces of objects (e.g., a segment 12 of a mold 10) using a series of coordinates. Storing the information as a collection of spatial coordinates can save space because many objects do not fill a large portion of the environment. Even if the information is not visual, interpreting the data as a point cloud helps in understanding the relationship between multiple variables by means of classification and segmentation.

[0048] 11 It is understood that one or more cameras may include one or more programming modes, including by learning, to feed, modify and train at least one neural network. The robot detection system 102 detects the presence of a vent arrangement 150 in the field of view of the detection system (e.g., the field of view of a camera of the system 100), which triggers it to capture the image of an internal surface of the segment

[0049] 12 of a mold 10. In all embodiments of the system 100, the system

[0050] "searches", in the image obtained by the detection system, for the presence of the vents "seen" by the robot 102. If no vent is detected, the detection system continues to obtain the images until the search of the mold 10 is exhausted. The points of the perimeter of each detected vent are extracted to determine its center in preparation for the insertion of a corresponding valve.

[0051] The detection system of the system 100 may comprise a rangefinder means which is used in the working space of the mold 10 to deduce its dimensions. In this embodiment, the rangefinder means comprises a known scanner (not shown) for scanning the entire internal surface of the mold 10 in real time in the physical environment around the mold. Such a scanner allows for accurate generation of the mold. The scanner may be provided together with a vision system (not shown) configured to precisely locate the vents in a real-time scenario based on the 3D profile generated by the scanner.

[0052] The vision system may receive a CAD file of the mold 10 to match the location of a vent from the CAD file with the identified vent in real time to accurately locate and determine its coordinates. The vision system may receive the CAD file by data transmission methods known to those skilled in the art. The vision system may further include at least one camera and at least one sensor (not shown) to determine the location (i.e., coordinates) of the vents based on the data collected in real time and / or the contour profile generated by the scanner.

[0053] To implement the method of the invention by computer means, the system 100 comprises a communication network (or "network") which manages the data incoming to the system from various sources (for example, from at least one robot 102 and the associated detection system). The communication network incorporates one or more communication servers (or "servers") each comprising one or more processors operatively connected to a memory. The memory is configured to store an application for analyzing data representative of the molds (and segments of the molds) imaged. The one or more processors comprise an analysis application execution module which performs the processing of the images, the one or more processors of which are capable of executing programmed instructions stored in the memory to carry out the steps of the method (as described below).

[0054] The term "processor" (or, alternatively, the term "programmable logic circuit") refers to one or more devices capable of processing and analyzing data and including one or more software programs for processing them (e.g., one or more integrated circuits known to those skilled in the art as being included in a computer, one or more controllers, one or more microcontrollers, one or more microcomputers, one or more programmable logic controllers (or "PLCs"), one or more application-specific integrated circuits, one or more neural networks, and / or one or more other known equivalent programmable circuits). The processor includes one or more software programs for processing the data captured by the detection system of the system 100 (and the corresponding data obtained) as well as one or more software programs for identifying and locating variances and identifying their sources to correct them.

[0055] In the system 100, the memory may include both volatile and non-volatile memory devices. The non-volatile memory may include solid-state memories, such as NAND flash memory, keep-alive memory (KAM) for saving various operating variables while the processor is powered off, magnetic and optical storage media, or any other suitable data storage device that retains data when the system 100 is powered off or loses power. The volatile memory may include static and dynamic RAM that stores program instructions and data, including a learning application.

[0056] Referring again to Figures 1 to 5, and further to Figures 6 and 7, a detailed description is given by way of example of an embodiment of a method of the invention (or "method") implemented by the system 100. It is understood that the system 100 can implement the method of the invention in any physical environment without prior knowledge of the mold configuration.

[0057] As used herein, the term “method” or “process” may include one or more steps performed by at least one computer system having one or more processors to execute instructions that perform the steps. Unless otherwise indicated, any sequence of steps is exemplary and does not limit the described methods to any particular sequence.

[0058] In the following description, embodiments of the method of the invention are described which differ in the accuracy of the information obtained by the detection system (e.g., the camera).

[0059] In initiating one embodiment of the method of the invention, the method comprises a step of positioning the mold 10 in the field of view of the detection system of the robot 102 (for example, positioning the mold on the support 50 as shown in FIG. 3). The mold 10 is positioned so that the vents 150, defined along the inner surface of at least one mold segment, are visible in the detection field of the sensor (see, for example, the arrangements of vents 150 shown in the molds of FIGS. 4 and 5). During this step, the robot 102 (and particularly the integrated detection system) flies over the mold 10.

[0060] In this embodiment, the method of the invention further comprises a step of measuring the height of the points under the field of view of the detection system of the robot 102. During this step, a rangefinder means of the detection system (for example, the scanner described above) obtains a series of scans in the lengthwise direction and in the transverse direction of the segment 12 of the mold 10 so as to be able to give a displacement curvature of the mold profile (see Figure 6 which represents an example of the curvatures following the different passages of the rangefinder means relative to a mold of the type represented in Figure 4). During this step, this “displaced curvature” is then processed to determine the curvatures and deduce the normals at any point on the surface of the mold by interpolation following the curvatures.

[0061] Once these are known, this embodiment of the method further comprises a step of scanning the detection system of the robot 102 to cover the entire internal surface of the mold 10. During this step, a 2D industrial camera searches for shapes similar to circles (i.e., shapes representing the vents 150 in the mold 10) to manually create examples of the vents sought. These are searched using the fuzzy shape search function (or "blobs") available in the camera configuration software. The position of the camera being calibrated relative to the robot 102, the approximate positions of the vents 150 (relative to the robot 102) are saved by the processor (for example, in a database of the system 100).

[0062] Once the approximate positions have been acquired, this embodiment of the method further comprises, for each of the vents 150, a step of refining its location by minimizing a deviation criterion between the theoretical center of the observed circle and the center of the camera. This step requires knowledge of the normal to the surface carrying the circle (being the internal surface of the mold 10) in order to obtain the best possible precision (see Figure 7 which represents an example of a response to the search for vents in a mold segment of the type represented in Figure 4). The positions are updated in the database (either on a continuous basis or on an intermittent basis).

[0063] After acquiring the precise coordinates, this embodiment of the method of the invention comprises a final step of measuring the diameter of the circle so that the robot 102 can choose the valve of the appropriate diameter (for example, a valve of the type shown in Figure 2). During this step, the robot 102 can choose the valve by means of a tool changer and a valve feed system (both being known to those skilled in the art). During this step, the robot 102 can position itself directly above an identified vent 150 (in the axis thereof), and it can blow the valve into it. Once the valve is pre-positioned thanks to its shape (either conical or stepped), the robot 102 can proceed with the driving, either by means of the valve feed head or by pushing it with a dedicated area.

[0064] In all embodiments of the method of the invention, the method may further comprise an optional inspection step after the valves 200 are inserted into the vents 150 of the mold 10. During this step, an operator may perform a manual unit inspection of everything that the robot 102 provides. During this step, a fully automatic inspection may be performed, involving presence detection and / or a feeler to validate the presence as well as the proper functioning of the valves.

[0065] By using the system 100 of the invention to perform the disclosed method, any mold presented to the system 100 is analyzed in the same way. There is no need to know the CAD file in advance or to have arrangements in the mold to position it flawlessly. The system 100 is natively designed to accommodate variations, which provides, for example, the ability to work with third-party molds and / or molds that have been retouched by hand.

[0066] The system 100 of the invention may include pre-programming of information regarding expected events. For example, a setting of the process of the invention may be associated with the parameters of typical physical environments in which the system 100 operates (e.g., tire production facilities). In embodiments of the invention, the system 100 (or another system incorporating the system 100) may receive audio commands (including voice commands) or other corresponding audio data (e.g., a start or stop of one or more steps of the process of the invention). The request may include a request for the current state of an ongoing process (e.g., the number of valves inserted versus the number of vents 150 in the mold 10 intended to receive a corresponding vent).A generated response can be represented audibly, visually, tactilely (e.g., using a haptic interface), and / or virtually and / or augmented. This response, together with the corresponding data, can be recorded in a neural network.

[0067] It is understood that the system 100 may include multiple computing devices that perform various aspects of learning. In these embodiments, the processor may configure the system 100 to one or more parameters of a vent and its known location. In these embodiments, it is understood that one or more means of reinforcement learning could be employed.

[0068] For all embodiments of the system 100, a monitoring system could be implemented. At least part of the monitoring or alerting system may be provided in a portable device such as a mobile network device (e.g., a mobile phone, a laptop, one or more network-connected portable devices (including “augmented reality” and / or “virtual reality” devices, network-connected wearables, and / or any combinations and / or equivalents). It is conceivable that detection and comparison steps may be performed iteratively.

[0069] The terms "at least one" and "one or more" are used interchangeably. Ranges that are presented as "between a and b" encompass the values ​​"a" and "b".

[0070] Although particular embodiments of the disclosed apparatus have been illustrated and described, it will be understood that various changes, additions, and modifications may be practiced without departing from the spirit and scope of the present disclosure. Accordingly, no limitations should be imposed on the scope of the disclosed invention except those set forth in the appended claims.

Claims

Claims 1. System (100) implementing a method for identifying vents (150) of a vulcanization mold (10) for tires comprising one or more segments (12) and an internal surface whose vents (150) are dispersed to allow the insertion of the corresponding valves (200) therein, characterized in that the system comprises: a robot (102) incorporating a detection system with one or more sensors that detect the presence of one or more vents (150) dispersed along the internal surface of the segment (12) of the mold (10); a communication network that manages the data incoming to the system (100) from the detection system;and one or more communication servers, each comprising one or more processors operatively connected to a memory configured to store an application for analyzing data representative of the imaged molds, and the one or more processors comprising a module for executing the analysis application which performs the processing of the images, the one or more processors being capable of executing programmed instructions stored in the memory to perform the following steps: a step of detecting a presence of an arrangement of vents (150) in the field of view of the detection system, which triggers to capture at least one image of the internal surface of the segment (12) of the mold (10); and a step of searching, in the image captured by the detection system, the presence of the detected vents (150), so that the detection system continues to capture the images if no vent is detected, until the search for the mold (10) is exhausted.; 2. The system of claim 1, further comprising: a telemeter means which is used in the working space of the mold (10) to deduce its dimensions, the telemeter means comprising a scanner for scanning the entire internal surface of the segment (12) of the mold; and an industrial camera of the 2D type.

3. The system of claim 2, wherein the processor(s) are capable of executing programmed instructions stored in the memory to perform the following steps: a step of measuring the height of the points under the field of view of the robot detection system (102), during which the rangefinder means obtains a series of scans in the lengthwise direction and in the transverse direction of the segment (12) of the mold (10) so as to be able to reconstruct an image of the mold profile; a step of scanning the robot detection system (102) to cover the entire internal surface of the mold (10), during which the 2D camera searches for shapes similar to circles to acquire their approximate positions; and a step of refining the location of each vent (150) to find its coordinates, during which a deviation between the theoretical center of the observed circle and the center of the camera is determined.

4. The system (100) of any one of claims 1 to 3, wherein the robot (102) comprises a gripping device (104) supported by a pivotable elongate arm (106), the gripping device (104) extending from the elongate arm (106) to a free end (104a) where a gripper (108) is disposed along a common longitudinal axis.

5. The system (100) of claim 4, wherein the gripper (108) comprises a pivotable clamp (108a) incorporating gripping fingers (108b) extending from a platform (108c) where attachment of the clamp to the free end (104a) of the gripping device (10) is performed, each finger (108b) comprising a member with a predetermined length extending between an actuation end (108b'), where movement of the finger is performed, and an opposite gripping end (108b”), where the finger grips the valve (200).

6. The system (100) of any one of claims 1 to 5, wherein the processor(s) are capable of executing programmed instructions stored in the memory to perform a step of moving the robot (102) so that it can position the valve (200) for insertion into a vent identified in a segment (12) of the mold (10).

7. Method implemented by a system (100) of any one of claims 1 to 6 making it possible to identify vents (150) of a vulcanization mold (10) for tires comprising one or more segments (12) and an internal surface of which the vents are dispersed to allow the insertion of the corresponding valves (200) therein, characterized in that the method comprises the following steps: a step of positioning the mold (10) in a field of view of a detection system of the system (100), so that the vents (150) defined along the inner surface of at least one segment are visible, during which the detection system flies over the mold (10); a step of detecting a presence of an arrangement of vents (150) in the field of view of the detection system, which triggers to capture at least one image of the inner surface of the segment of the mold (10); and a step of searching, in the image captured by the detection system, the presence of the detected vents (150), so that the detection system continues to capture the images if no vent is detected, until the search of the mold (10) is exhausted.

8. The method of claim 7, further comprising a control step performed after inserting the valves (200) into the vents (150) of the mold (10).

9. Method of claim 7 or claim 8, further comprising a final step of positioning the robot (102) directly above an identified vent (150), in the insertion axis (X200) thereof, during which the robot insufflates the valve (200).

Images