SEMI-AUTOMATIC PROCESS FOR TREATMENT OF DEFECTS IN A CARCASS TO BE REHABILITATED.

Abstract

The present invention relates to a semi-automatic repair method for a carcass (1) of a retreaded tire comprising the transmission, by a camera (5), of the image of angular sectors (S) of the outer surface (13) of said carcass (1), said transmission being made to an operator interface (8) allowing an operator to search for possible damage (10) present on the carcass (1).The operator then selects damage types (10) and treatment zones (Zt) surrounding said damage (10) so as to allow the operator interface (8) to communicate with a control device (7), which controls a treatment device (14), in order to perform, with a treatment tool (6) corresponding to said damage (10), the treatment of said treatment zone (Zt) to allow the operator to visualize the condition of the reinforcing cables (12) and determine if said reinforcing cables (12) are still able to perform their function of reinforcing the frame (1). Figure 3.

Description

Title of the invention: METHOD FOR SEMI-AUTOMATIC TREATMENT OF DEFECTS IN A CARCASS TO BE REHABILITATED.

[0001] The present invention relates to the general field of devices and methods for processing a tire casing.

[0002] More particularly, the present invention finds application in the field of repairing tire casings for retreading.

[0003] Tires usually have, at their periphery, a tread designed to wear down during rolling, comprising one or more components of rubbery materials of varying thicknesses. A tread most often includes a molded pattern with cutouts separating raised elements, designed to ensure the tire's grip on the road.

[0004] During tire rolling, the tread wears down and its thickness decreases. When the tread thickness is no longer sufficient to properly perform the various functions of the tire, it must then be replaced.

[0005] The retreading process makes it possible to avoid the complete replacement of a worn tire by replacing only the tread of said worn tire in order to extend its life.

[0006] Retreading a tire, particularly a tire intended for a heavy vehicle, most often includes a step of removing the tread from the worn tire using known processes, such as machining or grinding. The tire to be retreaded without its tread is usually called the "carcass".

[0007] The next step in a retreading process is to inspect the carcass to be retreaded for any damage, such as holes, rubber tears, cuts, or traces of corrosion of the reinforcing cords, and, where possible, to repair this damage, before laying a new tread on the carcass.

[0008] It is known to begin the repair of damage present on the carcass of a tire to be retreaded by digging out the superficial layer of rubber surrounding said damage to check the extent of the damage and to ensure that the repair can be carried out properly.

[0009] By way of example, when the carcass has a cut in its surface gum layer, it is known to cut out said gum layer over its entire The extent of the cut is measured, down to the underlying reinforcing cables, to check that they have not also been damaged. If the reinforcing cables are intact, the hole is then filled with a gum-based repair compound.

[0010] Most of the time, the tasks of detecting damage, removing rubber, and checking the condition of reinforcing cables are carried out manually. In particular, the removal operation is generally performed by abrasion, using, for example, a wire-bristled brush operated by a technician. These manual removal operations are often lengthy and tedious for the technician.

[0011] Automatic systems have been developed to perform the tasks of detecting, digging and verifying damage present on tire casings to be retreaded.

[0012] Patent EP3551443B1 discloses an automatic repair system for damage to a tire casing to be retreaded. The system comprises a remote, fixed laser profilometer that scans the entire tread when the casing is rotated. A gouging tool is used to automatically remove the rubber surrounding the damage. The system also includes a color camera mounted on a robot that takes photographs of the damage after the rubber covering it has been removed. These color images are used to detect the possible presence of corrosion by analyzing the colors in the image (for example, by looking for the color red on reinforcing cords). This type of system is complex and requires the use of a virtual library containing a large number of photographs including examples of damage and levels of corrosion.Until a substantial library is established, the system cannot function or will function with a very low level of reliability.

[0013] Patent EP2414153B1 discloses a machine that also automatically detects and repairs damage to a tire casing. The disclosed machine includes a vision system using an infrared camera to detect damage and compare it to damage images contained in a virtual library. Depending on the type of damage detected, the machine selects a suitable repair tool and automatically performs the repair. As before, this type of machine is complex and requires the development of a substantial library to achieve a good level of reliability. A significant number of preliminary tests are often necessary to expand the virtual damage library and to make the machine's selections more robust.

[0014] The objects assigned to the invention therefore aim to remedy the aforementioned drawbacks and to propose a semi-automatic repair method implementing a repair machine, said repair method making it possible to detect and repair damage reliably and reproducibly from the start-up of said repair machine, while saving tedious work for an operator.

[0015] The objects assigned to the invention are achieved by means of a method for repairing the casing of a retreaded tire, said casing comprising an outer surface and reinforcing cords, said repair method being characterized by the following steps: a) identification and placement of the frame on a rotating support, and division of the outer surface into N angular sectors, b) activation of the rotating support to rotate the casing so as to position a first angular sector in front of a camera, c) transmission, via an operator interface, of a two-dimensional image of the angular sector positioned in front of the camera, d) Search by an operator for the presence of damage on the two-dimensional image of the angular sector displayed on the operator interface: -when no damage is detected by the operator, proceed to step f), -when at least one damage is detected on the angular sector, the operator selects a type of treatment to be performed from pre-recorded treatment types using the operator interface, e) archiving, in a temporary virtual list, of the two-dimensional image of the angular sector and the type of treatment to be carried out on the damage to be treated, f) rotation of the frame to position a new angular sector in front of the camera and execution of steps c) to f), (g) when all angular sectors have been inspected, for each image and each type of damage listed in the temporary virtual list: - gl) delimitation by the operator of an area to be treated on the two-dimensional image using the operator interface, said area to be treated surrounding said detected damage, - g2) transmission, via the operator interface, of information concerning the type of treatment and the area to be treated to a control device, - g3) control of a processing device by the control device to, firstly, choose and select a processing tool adapted to the type of processing selected, and, secondly, perform the processing of the area to be treated, - g4) visualization by the operator of the image transmitted by the camera of a treated area corresponding to the processing carried out in the area to be treated, - g5) repetition of steps gl) to g4) until the operator can visualize and determine whether the reinforcing cables are still capable of performing their reinforcing function in the frame, h) when all damage has been treated: -If all the reinforcement cables identified for all the damage present on the casing are suitable, the various treated areas are sealed and the casing can continue its retreading process, -if damage presents reinforcing cables that are no longer suitable, the carcass is sent to another downstream recycling process.

[0016] Essentially, the repair method of the invention makes it possible to carry out operations to treat damage present on a carcass by a treatment device, thus making it possible to avoid an operator having to perform tedious and delicate tasks, requiring good experience and skill.

[0017] The use, by an operator, of an operator interface combined with a camera makes it possible to identify damage present on the frame, to delimit the area to be treated, and to select the type of treatment to be carried out with a high level of reliability and good precision, without having to resort to the use of complex and expensive automated systems, which have insufficient reliability rates for an industrial environment. The choices made by the operator via the operator interface make it possible to use the method of the invention on an industrial scale immediately after the start-up of the damage repair machine.

[0018] In addition, storing the different types of damage in a temporary virtual list allows the operator to define the areas to be treated even when the treatment device is in operation, thus shortening the overall cycle time required to repair the entire carcass to be retreaded.

[0019] In another embodiment, steps gl) to g5) are carried out immediately after step d) for each detected damage, thus avoiding the visualization and selection of all damage present on a frame, when, in the first damages treated, it appears that the frame cannot be repaired.

[0020] According to a first embodiment of step gl), the selection of the area to be treated includes the operator using the operator interface to position: - a first point A, - a second point B, - a third point C, - a fourth point D, the four points A, B, C and D forming the four vertices of a quadrilateral ABCD surrounding the damage to be treated, said quadrilateral ABCD corresponding to the area to be treated.

[0021] Positioning four points on the image of the angular sector including the damage makes it possible to define the area to be treated with ease and very good precision.

[0022] According to a second embodiment of step gl), the selection of the area to be treated includes the operator using the operator interface to position: - a first point Al at the center of the damage to be repaired, - a second point B1, distant from the first point Al along a first direction, - a third point C', at a distance d, taken perpendicularly with respect to the segment [A1B1], the positioning of the third point C' automatically triggering the positioning of a point Cl, said point Cl being positioned at the distance d from Bl, said point Cl being positioned to obtain a segment [C1B1] perpendicular to the segment [A1B1], said point Cl being positioned in order to allow to automatically define a rectangular quadrilateral ABCD surrounding the damage to be treated, said rectangular quadrilateral ABCD corresponding to the area to be treated with the point A corresponding to the point Cl, the segment [AB] being collinear with the segment [C1B1] and having a length corresponding to twice the length C1B1, the segment [AD] being a segment parallel to the segment [A1B1], the segment [AD] having a length corresponding to twice the segment [A1B1].

[0023] Selecting the area to be treated by positioning three points on the image of the angular sector including the damage allows for quick and easy selection, while ensuring that the area to be treated is centered around said damage to be treated.

[0024] In a third embodiment of step gl), the selection of the area to be treated includes the operator using the operator interface to position: - a first point A2 at the center of the damage to be repaired, - a second point B2, distant from the first point A2, allowing to define a rectangular quadrilateral ABCD surrounding the damage to be treated, said rectangular quadrilateral ABCD corresponding to the area to be treated, said point B2 being located in the middle of the segment [AB], said segment [AB] having a length equal to the tool width L of the processing tool corresponding to the type of processing selected, the segments [AB] and [DC] being perpendicular to the segment [A2B2] and the length of the segments [AD] and [BC] being equal to twice the length of the segment [A2B2].

[0025] Positioning only two points on the image of the angular sector containing the damage allows for the rapid and highly precise definition of the area to be treated and the direction of the treatment. This third embodiment of step gl) is particularly well suited when the damage is small and has an elongated shape, for example, when the damage is a crack.

[0026] Advantageously, the processing step g3) comprises: - the use of a robot equipped with a gripper to grasp the processing tool adapted to the type of processing selected, said processing tool having a tool width L, - the use of the robot to move the processing tool so as to perform NI processing passes in a direction parallel to the segment [AD], each of the NI processing passes having a width corresponding to the tool width L of the processing tool, each of the NI processing passes having a length sufficient so that the set of NI processing passes made allows to treat an area corresponding at least to the whole of the area to be treated.

[0027] The use of a robot allows good reproducibility of the treatment carried out and the movement of the treatment tool according to a direction predefined by the order of positioning of the points forming the area to be treated allows a more efficient treatment and without intervention of the operator on the carcass.

[0028] Preferably, when the number of NI processing passes is at least 2, each of the passes performed after the first pass is carried out: -by moving the processing tool always in the direction parallel to segment [AD] and always in the same direction, -by shifting the processing tool, after the first pass and after subsequent passes, always in the same direction, along the AB direction and by a distance corresponding to the tool width L of said processing tool, the first pass performed being positioned so that all the NI passes performed allow to treat a treated area corresponding at least to the entire area to be treated.

[0029] Preferably, the types of treatment include cleaning operations, digging operations, brushing operations, the diversity of the types of treatment allowing the damage to be treated very quickly and very precisely, without risking aggravating said damage.

[0030] Advantageously, the operator interface includes a touch screen allowing the operator to select or position points directly on the images displayed by said operator interface, the use of a touch screen allowing a very fast and very direct exchange between the operator and the operator interface.

[0031] Advantageously, the operator interface includes a screen and a device for moving a cursor to select or position points on the image displayed by the operator interface, the use of a screen and a device for moving a cursor and interacting with the operator interface even when the screen is soiled by the surrounding workshop environment or when the operator is wearing gloves.

[0032] Preferably, the treatment tool is a blow gun, a rotary brush, a knife, a rasp, a carding tool, a milling cutter or a grinding wheel, the diversity of treatment tools allowing the treatment to be precisely adapted to the nature of the damage to be repaired.

[0033] Advantageously, a safety system is used during step g5) in order not to damage the reinforcing cables, said safety system comprising: - a first electrode which is arranged to be positioned opposite the frame, at a distance from the electrically conductive reinforcing cables of said frame, so as to form with said electrically conductive reinforcing cables a first dipole, such that a first terminal is formed by the first electrode and a second terminal is formed by the electrically conductive reinforcing cables, - a second electrode which is associated with the processing tool in such a way that, when the processing tool comes into contact with the electrically conductive reinforcing cables, an electrical connection is established between the second electrode and the electrically conductive reinforcing cables forming the second terminal of the first dipole, and - a control unit which is arranged to measure an impedance of a detection circuit including the first dipole and thus detect a variation in impedance of the detection circuit caused by the electrical connection of the first dipole with the second electrode caused by the entry of the processing tool with the electrically conductive reinforcement cables, and when a contact between the processing tool and the reinforcement cables is detected, the control unit sends the information to the control device which stops the processing in progress in the processing area.

[0034] The use of a safety system prevents damage to the reinforcing cables during the repair process. This also facilitates the operation of the repair device, as the tool stops instantly upon contact with the reinforcing cables.

[0035] Preferably, the identification of the carcass and the correspondence with the images generated by the camera, the selections of the area to be treated made by the operator, the types of treatment chosen by the operator and the classification of the carcass after treatment are stored in a database.

[0036] Storing images and actions performed by the operator in a database makes it possible to create a virtual library containing a large number of damage repair cases on vehicle frames. This virtual library can then be used to train neural networks or artificial intelligence systems that control an automated repair system. Furthermore, Storing the identification and classification data provided by the operator allows for the retrieval, if needed, of the treatments that have been carried out on a specific carcass.

[0037] In certain embodiments, the information stored in the database is used by the control device to propose to the operator, via the operator interface, a type of treatment and an area to be treated corresponding to the type of damage present on the angular sector being treated, the operator being able to accept or refuse the proposal of the control device, and in case of refusal, to manually make, using the operator interface, the choice of the area to be treated and the type of treatment.

[0038] Suggesting a treatment type and an area to be treated can, in certain cases, accelerate decision-making and the operations to be performed by the operator on the operator interface. Furthermore, when the operator does not accept the control device's suggestion and manually corrects the choice of the area to be treated and the treatment type, the correction is also stored in the database and contributes to improving the control device's self-learning capabilities, making the suggested treatment types and area selections more reliable.

[0039] Preferably, the operator interface is located in a workshop or factory remote from the workshop in which the repair machine is located.

[0040] The ability to position the operator interface away from the processing device prevents contamination of said interface by particles that may be generated during damage repair. Furthermore, a single operator can work on several machines located in workshops or factories far apart without having to travel. In addition, the training of new operators is also simplified by the ability to remotely view the choices made by the experienced operator in various situations encountered during the repair of a frame.

[0041] Other objects, features and advantages of the invention will become apparent in more detail from the following description and with the aid of the accompanying drawings, which are provided by way of illustration only and are not intended to be limiting, among which: -[Fig.1]: Overview and two-dimensional view of a damage treatment machine used for the implementation of the method of the invention. -[Fig.2]: Two-dimensional view of the cutting into N angular sectors of a tire carcass to be retreaded. -[Fig.3]: View of a diagram showing an example of the architecture of a damage treatment machine used for the implementation of the method of the invention. -[Fig.4]: View of the operator interface screen. -[Fig.5]: Two-dimensional view of an image of an angular sector of a tire casing to be retreaded, said casing including damage to be treated. -[Fig.6]: Two-dimensional view of an image of an angular sector of a tire carcass to be retreaded, said image illustrating the first step of defining the area to be treated according to a first embodiment. -[Fig.7]: Two-dimensional view of an image of an angular sector of a tire carcass to be retreaded, said image illustrating the second step of defining the area to be treated according to a first embodiment. -[Fig.8]: Two-dimensional view of an image of an angular sector of a tire carcass to be retreaded, said image illustrating the third and fourth stages of defining the area to be treated according to a first embodiment. -[Fig.9]: Two-dimensional view of an image of an angular sector of a tire carcass to be retreaded, said image illustrating the first step of defining the area to be treated according to a second embodiment. -[Fig. 10]: Two-dimensional view of an image of an angular sector of a tire carcass to be retreaded, said image illustrating the second step of defining the area to be treated according to a second embodiment. -[Fig. 11]: Two-dimensional view of an image of an angular sector of a tire carcass to be retreaded, said image illustrating the third step of defining the area to be treated according to a second embodiment. -[Fig. 12]: Two-dimensional view of an image of an angular sector of a tire carcass to be retreaded, said image illustrating the first step of defining the area to be treated according to a third embodiment. -[Fig. 13]: Two-dimensional view of an image of an angular sector of a tire carcass to be retreaded, said image illustrating the second step of defining the area to be treated according to a third embodiment. -[Fig. 14]: Two-dimensional view of an image of an angular sector of a tire carcass to be retreaded, said image illustrating an area treated with visible reinforcing cables. -[Fig. 15]: Two-dimensional view of an example of processing carried out by performing three passes with a processing tool. -[Fig. 16]: Overview and two-dimensional view of a damage treatment machine using a safety system.

[0042] The present invention relates to a method of repairing a tire casing 1 to be retreaded.

[0043] In what follows, the circumferential or longitudinal direction refers to the direction of rotation of the tire, the axial or transverse direction refers to the direction parallel to the axis of rotation of the tire and the radial direction designates a direction perpendicular to the axis of rotation of the tire.

[0044] A tire generally comprises, radially from the inside to the outside: - a carcass 1 comprising an assembly of different rubber components which can be reinforced by a plurality of reinforcing cables 12, - a tread, generally made of rubber materials which can also be reinforced by reinforcing cables 12, said tread being intended to come into contact with a ground.

[0045] When the tread is worn, the tire is no longer suitable for use on a vehicle and must be replaced. In some cases, the worn tire may be sent to a retreading process which includes a multitude of processing steps. As is well known, one of the first steps in a retreading process is to remove the worn tread to obtain a single casing 1, so as to visualize an outer surface 13, as shown in [Fig. 2].

[0046] Generally, the next step includes an inspection of the carcass 1, and, in particular, of the outer surface 13, in order to detect the presence of damage 10, such as holes, rubber tears, cuts, or traces of corrosion of the reinforcing cables 12. As can be seen in [Fig. 5], the damage 10 can be of different shapes and sizes and can be located anywhere on the outer surface 13.

[0047] In a known manner, the inspection step is followed by a repair step, during which an operator digs out the superficial layer of gum surrounding the damage 10 in order to ensure that said damage 10 can be repaired.

[0048] The present invention is a repair method for inspecting and repairing damage 10 present on the casing 1 in a semi-automatic manner.

[0049] As can be seen in [Fig. 1], the repair method of the invention employs a repair machine 100 comprising: - a rotating support 2, intended to receive and rotate around its axis of revolution a frame 1, - a processing device 14 comprising a robot 3 including a gripper 4 for manipulating a processing tool 6, - a camera 5 that can be mounted on the robot 3, - an operator interface 8, - a control device 7, - a database.

[0050] The robot 3 can be, for example, a Cartesian robot, a multi-jointed robot, or a mechanical device with pneumatic cylinders, electric cylinders or electromagnetic cylinders.

[0051] The gripper 4 can be, for example, a mechanical, hydraulic, pneumatic or electromechanical device so as to cooperate reversibly with the processing tool 6.

[0052] The camera 5 may be, for example, an industrial type camera comprising a CCD (Charge Couple Device), CMOS (Complementary Metal Oxide Semiconductor), or FPA (Focal Plane Array) sensor

[0053] The camera 5 can be mounted on a fixed support located near the frame 1, or in other embodiments, the camera 5 can be mobile and mounted on the robot 3 or on any other mobile system allowing said camera 5 to be brought close to the frame 1. In such embodiments, when the camera 5 is not in use, it can be moved away from the frame 1 in order to avoid possible damage during repair operations carried out on said frame 1.

[0054] As can be seen in [Fig. 3], the repair machine 100 can have an architecture in which bidirectional information exchanges are carried out between: - the operator and the operator interface 8, - the operator interface 8 and the control device 7, - the control device 7 and the processing device 14, - the processing device 14 and the database.

[0055] The control device 7 can be a computer, a programmable logic controller (PLC) or any other equivalent device capable, for example, of processing, exchanging, analyzing data, executing tasks and transmitting orders.

[0056] Information exchanges can take place either directly or via a communication network which manages the communication flows between the different elements of the repair machine 100. Information exchanges can take place via wired or wireless communication.

[0057] The method of the invention includes a first step a) of identifying and placing the carcass 1 on the rotating support 2, and of dividing the outer surface 13 into N angular sectors S.

[0058] Identification can be done using, for example, an RFID reader when the casing 1 is equipped with an RFID chip, a barcode reader when the casing 1 includes a barcode, a QR-code reader when the casing 1 has a QR-code or more simply by a visual reading, manual or automatic, of an identification code written on the side of said casing 1.

[0059] Figure 2 gives an example of dividing the frame 1 into eight angular sectors S, each angular sector S corresponding to an arc of a circle delimited by two radial lines forming an angle α. Depending on the size of the frame 1 and therefore depending on the outer diameter of said frame 1, the number of angular sectors S and the angle α can vary so as to allow the camera 5 to transmit a 2D image of the entirety of at least one angular sector S.

[0060] The rotating support 2 may include, in a known manner, a fixed frame and a rotating motor for rotating a drum intended to receive the casing 1. Generally, the drum includes variable axial and radial dimensions so as to receive casings 1 of different dimensions.

[0061] A second step b) of the method of the invention is carried out by activating the rotating support 2 to rotate the casing 1 so as to place a first angular sector S in front of the camera 5.

[0062] As can be seen in [Fig.2], in order to optimize the image capture performed by the camera 5, the placement of the angular sector S in front of said camera 5 is carried out so that the center of the field of vision of the camera 5 is radial with respect to the frame 1 and corresponds to the median of the angular sector S.

[0063] The method of the invention includes a third step c) in which a two-dimensional image of the angular sector S arranged in front of the camera 5 is transmitted on the operator interface 8.

[0064] The transmission is done via the control device 7 which records the image from the camera 5 before transmitting it to the operator interface 8.

[0065] The operator interface 8 allows the operator to interact with the image in order to transmit commands to the control device 7. By way of example and as shown in [Fig.4], the operator can select points on the image transmitted by the camera 5, activate virtual buttons displayed on the screen or take notes and associate them with damage 10.

[0066] In a fourth step d) an operator searches for the presence of damage 10 on the two-dimensional image of the angular sector S displayed on the operator interface 8: -when no damage 10 is detected by the operator, proceed to a later step f), -when at least one damage 10 is detected on the angular sector S, the operator selects a type of treatment to be performed from among pre-recorded treatment types using the operator interface 8.

[0067] A fifth step e) includes archiving, in a temporary virtual list, the two-dimensional image of the angular sector S and the type of treatment to be carried out on the damage 10 to be treated.

[0068] The virtual list is stored in a virtual data storage means that can be linked to the operator interface 8 or the control device 7. The virtual data storage means can be, for example, hard drives, flash memories, compact discs or any other equivalent device.

[0069] The method of the invention includes a sixth step f) during which the frame 1 is rotated to position a new angular sector S in front of the camera 5 and steps c) to f) of the method are carried out again.

[0070] The seventh step g) of the method is carried out when all the angular sectors S have been inspected, said seventh step g) comprising, for each image and each type of damage 10 listed in the temporary virtual list: -gl) the operator's delimitation of a treatment area Zt on the two-dimensional image using the operator interface 8, said treatment area Zt surrounding said detected damage 10, -g2) the transmission, via the operator interface 8, of information concerning the type of treatment and the area to be treated Zt to a control device 7, -g3) the control of the processing device 14 by the control device 7 to, firstly, choose and take a processing tool 6 adapted to the type of processing selected, and, secondly, carry out the processing of the area to be treated Zt, -g4) the visualization by the operator of the image transmitted by the camera 5 of a treated area Ztt corresponding to the processing carried out in the area to be treated Zt, -g5) the repetition of steps gl) to g4) until the operator can visualize and determine whether the reinforcing cables 12 are still able to perform their reinforcing function in the carcass 1.

[0071] The processing of damages 10 during steps gl) to g5) can be done, for example, by taking the damages 10 listed in the virtual list in any order, or by following the order in which said damages 10 were archived in said virtual list, according to a FIFO (First In, First Out) method.

[0072] Figure 15 shows an image of an angular sector S with damage 10 that has just been treated according to step g5) of the method of the invention. The reinforcing cables 12 have become visible, and the operator can decide whether said reinforcing cables 12 are still capable of performing their function. Furthermore, if, following the treatment, notable features have appeared, the operator can use the operator interface 8 to add comments that will be associated with the damage 10 that has just been treated.

[0073] The method of the invention includes an eighth step h) which is performed when all the damage 10 has been treated. During this eighth step h), if all the Reinforcing cables 12 viewed for all damage 10 present on carcass 1 are suitable, the different treated areas Ztt are sealed and carcass 1 can continue its retreading process.

[0074] The filling of the treated areas Ztt is carried out by filling the holes formed with a gum-based repair coating.

[0075] Subsequent steps in the retreading process may include, for example, a step of laying a new tread, a baking step, an inspection step and a shipping step.

[0076] Still during the eighth step h), if a damage 10 presents reinforcing cables 12 that are no longer suitable, the carcass 1 is sent to another downstream recovery process.

[0077] In another embodiment, steps gl) to g5) are performed immediately after step d) for each detected damage 10. In this embodiment, as soon as the operator visualizes damage 10 on a two-dimensional image of an angular sector S, they select, using the operator interface 8, a damage type 10 and the area to be treated Zt. This information is immediately transmitted to the control device 7, which initiates the processing of the identified damage 10.

[0078] As can be seen in [Fig.6], the step gl) of selecting the area to be treated Zt includes a first embodiment in which the operator uses the operator interface 8 to position a first point A.

[0079] As illustrated in [Fig.7], the first embodiment of step gl) of selecting the area to be treated Zt also includes the use, by the operator, of the operator interface 8 to position a second point B, distant from the first point A and forming a segment [AB].

[0080] As can be seen in [Fig.8], the first embodiment of step gl) of selecting the area to be treated Zt also includes the use, by the operator, of the operator interface 8 to position a third point C and a fourth point D, said third and fourth points C, D being distant from the first and second points A, B, said first, second, third and fourth points A, B, C and D forming the four vertices of a quadrilateral ABCD surrounding the damage 10 to be treated, said quadrilateral ABCD corresponding to the area to be treated Zt.

[0081] In this first embodiment of step gl), the operator is free to position and define a quadrilateral ABCD having the shape most suited to the shape of the damage 10 to be treated.

[0082] As shown in [Fig.9], step gl) includes a second embodiment, in which the operator uses the operator interface 8 to position a first point Al at the center of the damage 10 to be repaired.

[0083] As illustrated in [Fig. 10], the second embodiment of step gl) of selecting the area to be treated Zt also includes the use, by the operator of the operator interface 8 to position a second point B1, distant from the first point Al in a first direction.

[0084] In this second embodiment of step gl), as shown in [Fig.[l 1], the operator then positions a third point C', at a distance d, taken perpendicularly to the segment [A1B1], the positioning of the third point C' automatically triggering the positioning of a point Cl, said point Cl being positioned at the distance d from Bl, said point Cl being positioned to obtain a segment [C1B1] perpendicular to the segment [A1B1], said point Cl being positioned in order to allow to automatically define a rectangular quadrilateral ABCD surrounding the damage 10 to be treated, said rectangular quadrilateral ABCD corresponding to the area to be treated Zt with the point A corresponding to the point Cl, the segment [AB] being collinear with the segment [C1B1] and having a length corresponding to twice the length C1B1, the segment [AD] being a segment parallel to the segment [A1B1], the segment [AD] having a length corresponding to twice the segment [A1B1]. .

[0085] As can be seen in [Fig. 12], the step gl) of selecting the area to be treated Zt includes a third embodiment in which the operator uses the operator interface 8 to position a first point A2 at the center of the damage 10 to be repaired.

[0086] As illustrated in [Fig. 13], the third embodiment of step gl) of selecting the area to be treated Zt also includes the use, by the operator, of the operator interface 8 to position a second point B2, distant from the first point A2, allowing to define a rectangular quadrilateral ABCD surrounding the damage 10 to be treated, said rectangular quadrilateral ABCD corresponding to the area to be treated Zt, said point B2 being located in the middle of the segment [AB], said segment [AB] having a length equal to the tool width L of the processing tool 6 corresponding to the type of processing selected, the segments [AB] and [DC] being perpendicular to the segment [A2B2] and the length of the segments [AD] and [BC] being equal to twice the length of the segment [A2B2].

[0087] In this third embodiment of step gl), the dimension of segments [AD] and [BC] is equivalent to the tool width L of the processing tool 6 corresponding to the selected processing type. This dimension AD, BC can therefore vary depending on the type of processing tool 6 used.

[0088] This third embodiment of step gl), will preferably be used when the damage 10 is of small dimensions, and when a single pass of the processing tool 6 is sufficient to process the entirety of said damage 10.

[0089] Advantageously, the processing step g3) comprises: -the use of a robot 3 equipped with a gripper 4 to grasp the processing tool 6 adapted to the type of processing selected, said processing tool 6 having a tool width L, -the use of the robot 3 to move the processing tool 6 so as to perform NI processing passes in a direction parallel to the segment [AD], each of the NI processing passes having a width corresponding to the tool width L of the processing tool 6, each of the NI processing passes having a length sufficient so that the set of NI processing passes made allows to treat an area corresponding at least to the whole of the area to be treated Zt.

[0090] Preferably, in order to ensure that the entire area to be processed Zt is effectively processed by the processing tool 6, and as illustrated in [Fig. 14] or [Fig. 15], the processed area Ztt will have a slightly larger surface area than the area to be processed Zt. As shown in [Fig. 14] or [Fig. 15], when the area to be processed Zt is formed by a rectangular quadrilateral ABCD, the processed area Ztt will substantially be a rectangular quadrilateral having dimensions slightly larger than those of the rectangular quadrilateral ABCD, and in particular, the distance traveled by the processing tool 6 along the direction AD will be greater than the distance AD ​​and the sum of the tool widths L will be greater than the distance AB.

[0091] As shown in [Fig. 15], preferably, when the number of NI processing passes is at least 2, each of the passes performed after the first pass is carried out: -by moving the processing tool 6 always in the direction parallel to segment [AD] and always in the same direction, -by shifting the processing tool 6, after the first pass and after the following passes, always in the same direction, according to the direction AB and according to a distance corresponding to the tool width L of said processing tool 6, the first pass carried out being positioned so that the set of NI passes carried out allows to treat a treated area Ztt corresponding at least to the entire area to be treated Zt.

[0092] When the number of processing passes NI is at least 2, the positioning of the first processing pass is performed automatically by the control device 7, which calculates the maximum width of the area to be treated Zt and compares it to the tool width L of the processing tool 6 in order to determine the number of processing passes to be performed. Based on the number of processing passes to be performed and the tool width L of the processing tool 6, the control device 7 determines the position and trajectory of the first processing pass. Figure 15 illustrates an example of processing, carried out during step g3), with a number NI of processing passes equal to 3. In this example, the first The processing pass starts at point al, located near point B, and proceeds along the direction AD and in the direction from A to D to reach point bl. The second treatment pass is performed: - by offsetting the processing tool 6, along the direction AB and in the direction from B to A, by a distance corresponding to the tool width L, - by moving the processing tool 6 from point cl, along the AD direction from A to D, to reach point dl, Similarly, the third processing pass is performed: - by offsetting the processing tool 6, along the direction AB and in the direction from B to A, by a distance corresponding to the tool width L, - by moving the processing tool 6 from point el, along the AD direction from A to D, to reach point fl. It should be noted that the distance traveled by the processing tool 6 during each of the three processing passes is slightly greater than the length of segment [AD], in order to ensure that the entire treatment area Zt is properly treated. Furthermore, as shown in [Fig. 14] and [Fig. 15], the treated area Ztt is preferably centered relative to the treatment area Zt.

[0093] Preferably, the types of treatments include cleaning operations, digging operations, brushing operations.

[0094] Advantageously, the operator interface 8 includes a touch screen allowing the operator to select or position points directly on the images displayed by said operator interface 8.

[0095] When the screen is a touch screen, the interaction between the operator and the operator interface 8 can be made by direct contact with the screen, either through limbs such as fingers, or by using a tool such as a stylus or any other equivalent means.

[0096] Advantageously, the operator interface 8 includes a screen and a device for moving a cursor to select or position points on the image displayed by the operator interface 8.

[0097] The device for moving the cursor can be, for example, a computer mouse, or a voice control system.

[0098] Preferably, the processing tool 6 is a blow gun, a rotary brush, a knife, a rasp, a carding tool, a milling cutter or a grinding wheel.

[0099] Advantageously, and as can be seen in [Fig. 16], a safety system 400 is used in step g5) in order to prevent damage to the reinforcing cables 12, said safety system comprising: - a first electrode 402 which is arranged to be positioned opposite the casing 1, at a distance from the electrically conductive reinforcing cables 12 of said frame 1, so as to form with said electrically conductive reinforcing cables 12 a first dipole, such that a first terminal is formed by the first electrode 402 and a second terminal is formed by the electrically conductive reinforcing cables 12, - a second electrode 406 which is associated with the processing tool 6 in such a way that, when the processing tool 6 comes into contact with the electrically conductive reinforcing cables 12, an electrical connection is established between the second electrode 406 and the electrically conductive reinforcing cables 12 forming the second terminal of the first dipole, and - a control unit 408 which is arranged to measure an impedance of a detection circuit 410 comprising the first dipole and thus detect a variation in impedance of the detection circuit 410 caused by the electrical connection of the first dipole with the second electrode 406 caused by the contact of the processing tool 6 with the electrically conductive reinforcement cables 12, and when a contact between the processing tool 6 and the reinforcement cables 12 is detected, the control unit 408 sends the information to the control device 7 which stops the processing in progress in the processing zone Zt.

[0100] Thanks to the safety system 400, the operator does not have to specify a treatment depth during a treatment operation in the treatment zone Zt. Preferably, the treatment will take place in the treatment zone Zt as long as the reinforcing cables 12 have not been reached; the different treatment passes may, in some cases, be repeated until the treatment is stopped by the safety system 400.

[0101] Preferably, and as can be visualized on the diagram in [Fig.3], the identification of the carcass 1 and the correspondence with the images generated by the camera 5, the selections of the area to be treated Zt made by the operator, the types of treatment chosen by the operator and the classification of the carcass 1 after treatment are stored in a database.

[0102] This database may be separate from the control device 7 or integrated within said control device 7, with exchanges between the database and the control device 7 being bidirectional. Images associated with actions performed by the operator are thus sent to the database, or information contained in the database is sent to the control device 7. The database may include, for example, virtual data storage means such as hard drives, flash memory, compact discs, or any other equivalent device.

[0103] In certain embodiments, the information stored in the database is used by the control device 7 to propose to the operator, via the operator interface 8, a type of treatment and an area to be treated Zt corresponding to the type of damage 10 present on the angular sector S being treated, the operator being able to accept or refuse the proposal of the control device 7, and in case of refusal, to manually perform, using the operator interface 8, the choice of the area to be treated Zt and the type of treatment.

[0104] Advantageously, the control device 7 can include a neural network communicating with the database and enriching itself with the information stored in the database. Thus, progressively during the use of the repair machine 100 according to the method of the invention, the suggestions made by the control device 7 to the operator improve and become increasingly reliable.

[0105] Preferably, the operator interface 8 is located in a workshop or factory remote from the workshop in which the repair machine 100 is located, communication between the operator interface 8 and the workshop being able to take place, for example, by a computer network, by a communication by waves, such as a mobile telephone network, or by any other equivalent remote means of communication.

[0106] In certain embodiments, steps a) to f), during which the frame 1 is rotated and the camera 5 transmits images of the different angular sectors S to the operator interface 8, can be carried out in a first workshop, while steps g) and h), during which the processing device 14 performs the processing of the frame 1, can be carried out in a second workshop, distant from said first workshop.

Claims

1. Demands Method for repairing a carcass (1) of a retreaded tire, said carcass (1) comprising an outer surface (13) and reinforcing cords (12), said repair method being characterized by the following steps: a) identification and placement of the frame (1) on a rotating support (2), and division of the outer surface (13) into N angular sectors (S), b) activation of the rotating support (2) to rotate the casing (1) so as to position a first angular sector (S) in front of a camera (5), c) transmission on an operator interface (8) of a two-dimensional image of the angular sector (S) positioned in front of the camera (5), d) search by an operator for the presence of damage (10) on the two-dimensional image of the angular sector (S) displayed on the operator interface (8): -when no damage (10) is detected by the operator, proceed to step f), -when at least one damage (10) is detected on the angular sector (S), the operator selects a type of treatment to be performed from among pre-recorded treatment types using the operator interface (8), e) archiving, in a temporary virtual list, of the two-dimensional image of the angular sector (S) and the type of treatment to be carried out on the damage (10) to be treated, f) rotation of the frame (1) to position a new angular sector (S) in front of the camera (5) and execution of steps c) to f), g) when all angular sectors (S) have been inspected, for each image and each type of damage (10) listed in the temporary virtual list: - gl) delimitation by the operator of a treatment area (Zt) on the two-dimensional image using the operator interface (8), said treatment area (Zt) surrounding said detected damage (10), - g2) transmission, via the operator interface (8), of information concerning the type of treatment and the area to be treated (Zt) to a control device (7), - g3) control of a processing device (14) by the control device (7) to, firstly, select and take a processing tool (6) adapted to the type of processing selected, and, secondly, perform the processing of the area to be treated (Zt), - g4) visualization by the operator of the image transmitted by the camera (5) of a treated area (Ztt) corresponding to the processing carried out in the area to be treated (Zt), - g5) repetition of steps g1) to g4) until the operator can visualize and determine if the reinforcing cables (12) are still able to perform their reinforcing function in the carcass (1), h) when all the damage (10) has been treated: -if all the reinforcing cables (12) visualized for all the damage (10) present on the carcass (1) are able, the different treated areas (Ztt) are sealed and the carcass (1) can continue its retreading process,-if damage (10) presents reinforcing cables (12) that are no longer suitable, the carcass (1) is sent to another downstream recycling process.

2. Repair method according to claim 1 wherein steps gl) to g5) are carried out immediately after step d) for each damage (10) detected.

3. Repair method according to any one of claims 1 or 2, wherein the step gl) of selecting the area to be treated (Zt) includes the use, by the operator, of the operator interface (8) to position: - a first point A, - a second point B, - a third point C, - a fourth point D, the four points A, B, C and D forming the four vertices of a quadrilateral ABCD surrounding the damage (10) to be treated, said quadrilateral ABCD corresponding to the area to be treated (Zt).

4. A repair method according to any one of claims 1 or 2, wherein the step gl) of selecting the area to be treated (Zt) includes the use, by the operator, of the operator interface (8) to position: -a first point Al at the center of the damage (10) to be repaired,

5.

6. -a second point Bl, located away from the first point Al along a first direction, - a third point C', at a distance d, taken perpendicularly to the segment [A1B1], the positioning of the third point C' automatically triggering the positioning of a point Cl, said point Cl being positioned at a distance d from B1, said point Cl being positioned to obtain a segment [C1B1] perpendicular to the segment [A1B1], said point Cl being positioned to allow the automatic definition of a rectangular quadrilateral ABCD surrounding the damage (10) to be treated, said rectangular quadrilateral ABCD corresponding to the area to be treated Zt with the point A corresponding to the point Cl, the segment [AB] being collinear with the segment [C1B1] and having a length corresponding to twice the length C1B1, the segment [AD] being a segment parallel to the segment [A1B1], the segment [AD] having a length corresponding to twice the segment [A1B1]. A repair method according to any one of claims 1 or 2, wherein the step gl) of selecting the area to be treated (Zt) includes the use, by the operator, of the operator interface (8) to position: - a first point A2 at the center of the damage (10) to be repaired, - a second point B2, distant from the first point A2, allowing to define a rectangular quadrilateral ABCD surrounding the damage (10) to be treated, said rectangular quadrilateral ABCD corresponding to the area to be treated (Zt), said point B2 being located in the middle of the segment [AB], said segment [AB] having a length equal to the tool width L of the processing tool (6) corresponding to the type of processing selected, the segments [AB] and [DC] being perpendicular to the segment [A2B2] and the length of the segments [AD] and [BC] being equal to twice the length of the segment [A2B2]. A repair method according to any one of claims 1 to 5, wherein the processing step according to step g3) comprises: - the use of a robot (3) equipped with a gripper (4) to grasp the processing tool (6) adapted to the selected type of processing, said processing tool (6) having a tool width L, - the use of the robot (3) to move the processing tool (6) so as to perform NI processing passes in a direction parallel to segment [AD], each of the NI processing passes having a width corresponding to the tool width L of the processing tool (6), each of the NI processing passes having a sufficient length so that the set of NI processing passes made allows to treat an area corresponding at least to the entire area to be treated (Zt).

7. Repair method according to claim 6, wherein, when the number of treatment passes NI is at least equal to 2, each of the passes carried out after the first pass is carried out: -by moving the treatment tool (6) always in the direction parallel to the segment [AD] and always in the same direction, -by offsetting the treatment tool (6), after the first pass and after the following passes, always in the same direction, along the direction AB and by a distance corresponding to the tool width L of said treatment tool (6), the first pass carried out being positioned so that the set of NI passes carried out makes it possible to treat a treated area (Ztt) corresponding at least to the entire area to be treated (Zt).

8. A repair method according to any one of claims 1 to 7, wherein the types of treatments include cleaning operations, digging operations, and brushing operations.

9. Repair method according to any one of claims 1 to 8 wherein the operator interface (8) includes a touch screen enabling the operator to select or position points directly on the images displayed by said operator interface (8).

10. A repair method according to any one of claims 1 to 8, wherein the operator interface (8) includes a screen and a device for moving a cursor to select or position points on the image displayed by the operator interface (8).

11. Repair method according to any one of the preceding claims, wherein the processing tool (6) is a blow gun, a rotary brush, a knife, a rasp, a carding tool, a milling cutter or a grinding wheel.

12. A repair method according to any one of claims 1 to 11, wherein a safety system (400) is used during step g5) so as not to damage the reinforcing cables (12), said safety system comprising: - a first electrode (402) which is arranged to be positioned opposite the frame (1), at a distance from the electrically conductive reinforcing cables (12) of said frame (1), so as to form with said electrically conductive reinforcing cables (12) a first dipole, such that a first terminal is formed by the first electrode (402) and a second terminal is formed by the electrically conductive reinforcing cables (12), - a second electrode (406) which is associated with the processing tool (6) in such a way that, when the processing tool (6) comes into contact with the electrically conductive reinforcing cables (12), an electrical connection is established between the second electrode (406) and the electrically conductive reinforcing cables (12) forming the second terminal of the first dipole,and - a control unit (408) which is arranged to measure an impedance of a detection circuit (410) comprising the first dipole and thus detect a variation in impedance of the detection circuit (410) caused by the electrical connection of the first dipole with the second electrode (406) caused by the contact of the processing tool (6) with the electrically conductive reinforcement cables (12), and when contact between the processing tool (6) and the reinforcement cables (12) is detected, the control unit (408) sends the information to the control device (7) which stops the ongoing processing in the processing zone (Zt).

13. Repair method according to any one of claims 1 to 12 wherein the identification of the carcass (1) and the correspondence with the images generated by the camera (5), the selections of the area to be treated (Zt) made by the operator, the types of treatment chosen by the operator and the classification of the carcass (1) after treatment are stored in a database.

14. A repair method according to claim 13, wherein the information stored in the database is used by the control device (7) to propose to the operator, via the operator interface (8), a type of treatment and an area to be treated (Zt) corresponding to the type of damage (10) present on the angular sector (S) being treated, the operator being able to accept or reject the device's proposal

15. command (7), and in case of refusal, manually select the area to be treated (Zt) and the type of treatment using the operator interface (8). Repair method according to any one of claims 1 to 14, wherein the operator interface (8) is located in a workshop or factory remote from the workshop in which the repair machine (100) is located.

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