Chaining of tires by robotic means using three-dimensional viewing

A method for automatically lacing tires from a group of tires in an unknown arrangement and intended for lacing in a predetermined target location, the method being implemented by at least one processor comprising an image processing module that uses a positioning algorithm to select an optimal location of a target tire to be laced and the method comprising the following steps:

• a step of providing a lacing system including the at least one processor, wherein the lacing system comprises at least one picking device that picks up a target tire from the group of tires;
• a step of estimating dimensions of a target location intended for the tires of the group of tires for lacing, this step comprising a step of scanning the target location in order to determine parameters of the target location;
• a step of creating an origin of a location-device reference, during which step the lacing system creates a reference in order to determine positioning coordinates of a first tire in the target location;
• a step of estimating dimensions of the target tire to be laced in the target location, during which step the at least one picking device identifies the first tire to be taken from the group of tires;
• a positioning step for positioning each tire to be laced, this step comprising the following steps:
• a step of performing a tire positioning process that is performed for each tire to be laced;
• a step of approaching the at least one picking device towards the identified target tire;
• and
• a step of picking up the identified target tire;
• a step of scanning the tire after the tire is positioned during the positioning step;
• and
• a final step of updating the position of the tire, during which step an actual position of a last-positioned tire, estimated during the step of scanning the positioned tire, includes a 2D center of the positioned tire and an orientation of the positioned tire, thereby updating the positioning algorithm,
• wherein the updating allows the estimated actual position to be checked to determine that the estimated actual position is consistent with physical boundaries of the target location, and
• wherein the lacing of the tires is achieved when the at least one picking device releases the tire.