AU2009202638A1 - System for storing and dispensing delineation devices - Google Patents

Description

Q:\OPERSSB\209UfX )un09UD710377 complet.doly29AW06/209 Regulation 3.2 AUSTRALIA Patents Act 1990 COMPLETE SPECIFICATION FOR A STANDARD PATENT (ORIGINAL) Name of Applicant: Kim McLeod Actual Inventor: Kim McLeod Address for Service: DAVIES COLLISON CAVE, Patent Attorneys, of 1 Nicholson Street, Melbourne, Victoria 3000. Invention Title: "System for storing and dispensing delineation devices" The following statement is a full description of this invention, including the best method of performing it known tome: SYSTEM FOR STORING AND DISPENSING DELINEATION DEVICES Technical Field Described embodiments relate to a handling system for delineation devices. 5 Background Posts, poles, fences and bollards, such as the T-top temporary bollard, are simple and effective delineation devices for uses such as traffic control and site designation. When used in large scale projects, such as highway roadworks, many bollards may require 10 deployment, to designate the site being delineated, with the requirement for subsequent collection upon completion of the works. Methods for deployment and collection generally include an operator removing a bollard from a rear open tray of a vehicle, deploying the bollard to a work site, and collecting the 15 bollard from the work site and returning it to the tray upon completion of the work. This repetitive, laborious and potentially dangerous task, can be detrimental to the wellbeing of operators, and can be time and resource inefficient. 20 In addition, during collection, delineation devices are generally thrown into the tray of a vehicle in a disorderly manner. Delineation devices may also shift or fall over whilst in transit due to vehicle movements. This makes it difficult to deploy the devices on later days of work or can, in any event, require that the devices be reorganised before use. 25 It is therefore desirable that there be provided a bollard handling system that removes, or at least ameliorates, at least one of the aforementioned disadvantages. Summary In accordance with a first aspect of the present invention, there is provided a system 30 mountable on a vehicle for storing and dispensing delineation devices, each delineation device having a base and an upright portion, the system including: P:AOPER\SSBU090710377 29June09 SSBdoc-29/06/2W09 -2 a plurality of guide structures each arranged to store and to limit movement of the base of each delineation device within the guide structure while permitting the upright portion to extend away from the guide structure; and mounting means for mounting the guide structures to the vehicle. 5 Brief Description of the Drawings Preferred embodiments will now be described, by way of non-limiting example only, with reference to the drawings, in which: Figure 1 is a perspective view of an apparatus in accordance with a preferred 10 embodiment of the present invention; Figure 2 is a perspective view of a system in accordance with a preferred embodiment of the present invention; Figure 3 is a perspective view of a module in accordance with a preferred embodiment of the present invention; 15 Figure 4 is a perspective view of a tilt mechanism in accordance with a preferred embodiment of the present invention; Figures 5A and 5B are front perspective and front views respectively, of a body of modules containing bollards; Figures 6A and 6B are front and rear views of a module mounted to a vehicle; 20 Figure 7 is a close-up view of a two-way door; Figure 8 is a side view of a module, mounted to a vehicle, depicting various tilt angles used in dispensing and collecting bollards; Figure 9A and 9B shows a robotic arm used in dispensing and collection of delineation devices; 25 Figures 1OA to 1OF show various positions of a robotic arm about the tray of a vehicle, and mechanisms affording manoeuvring of the robotic arm; and Figure 11 shows an exploded view of a gripper claw of the robotic arm; and Figure 12A and 12B are exemplary flow charts of the operation of a robotic arm. 30 Detailed Description An apparatus 14, as shown in Figure 1, is used for dispensing and collecting delineation P:OPER\SSBU009O710377 29Jum09 SSB.do-29106/2009 -3 devices 16, each delineation device having a generally cylindrical upright portion 18 and an octagonal base 20, although delineation devices having other configurations of base and upright portion may be used with embodiments of the present invention. The apparatus 14 includes a channel 22 having generally rectangular walls 22a, 22c and base 22b, for 5 guiding movement of the delineation device 16, a run 24 of cylindrical rollers 26 mounted to the channel 22, and a guide member 28 for restricting movement of the base 20 away from the rollers 26. The apparatus 14 is configured for arrangement on a vehicle 30, in the present 10 circumstances, by way of feet 32 which are bolted to the tray 34 of the vehicle 30. However, any other fastening method may be used, such as directly welding the feet 32 or apparatus 14 to the tray 34. The upright portion 18 of the delineation device 16 extends from the base 20 in a direction 15 away from the vehicle 30, and the base 20 itself lies in a plane tangent to the surface of each of the rollers 26. As a delineation device 16 is being dispensed, it can be brought towards the operator along the rollers 26, thereby avoiding dragging the base 20 of the delineation device 16 along the 20 tray 34 of the vehicle 30. This significantly reduces friction and, consequently, the force experienced by the operator in drawing the delineation device 16 from the tray 34. Similarly, when collecting and loading delineation devices 16, each delineation device 16 can be placed onto the run 24 of rollers 26 and easily urged therealong, thereby creating 25 room on the run 24 of rollers 26 for subsequent delineation devices 16 to be loaded. To prevent the delineation device 16 from falling out of the channel 22, or otherwise toppling over, for example whilst in transit, the guide device 28 partially overlaps the run 24 of rollers 26, restricting movement of the base 18 away from the rollers 26. Therefore, 30 the guide device 16 retains the base 20 of the delineation device 16 and, consequently, the delineation device 16 itself, within the channel 22 of the apparatus 14.

PAOPER\SSB2OO93O0710317 29JuncO9 sSBA do.29m6/2009 -4 A system 36, as shown in Figure 2, can also be used for dispensing and collecting delineation devices 16. The system 36 includes two first channels 38i, 38ii, a second channel 40 and guide members 28. Each channel 38i, 38ii, 40 operates in the same manner 5 as the channel 22 of Figure 1. The second channel 40 is mounted on the first channels 38i, 38ii such that the respective runs 24 of rollers 26 of each channel 38i, 38ii, 40 are substantially in parallel. Furthermore, the second channel 40 is arranged on the first channels 38i, 38ii in a manner that does not 10 inhibit movement of a delineation device 16 along either of the first channels 38i, 38ii. Therefore, this arrangement allows stacking of delineation devices 16 closer to one another than would be possible if all of the channels 38i, 38ii, 40 were on the same level (i.e. if the axes of the rollers 26 of all of the channels 38i, 38ii, 40 were located in the same plane). In particular circumstances, the base 20 of a delineation device 16 in the second channel 40 15 may overlap bases 20 of delineation devices 16 in each of the first channels 38i, 38ii. A module 42, as shown in Figure 3, incorporates an apparatus 14 similar to that shown in Figure 1, for collecting and dispensing delineation devices 16. The module 42 includes a generally rectangular storage compartment 44 to which the apparatus 14 is mounted. 20 The storage compartment 44 includes a hinged door 46, having hinges 48, a lock (not shown) and a handle 50, thereby allowing objects stored within the storage compartment 44 to be securely contained. The storage compartment 44 may include shelving and/or a power outlet (not shown). 25 In addition, the storage compartment 44 and module 42 can be shaped to fit inside the tray 34 of the vehicle 30 without restraint. However, it is preferred that the module 42 be coupled with the tray 34 using a connection system such as the pin and socket system of which the pin 52 is shown as being attached to the module 42. 30 Some embodiments, such as are shown in Figure 4, may include a tilt mechanism 54 and -5 an apparatus 14 for dispensing and collecting delineation devices 16, operatively associated with the tilt mechanism 54. The tilt mechanism 54 comprises an axle 56, a bearing 58 at either end 60, 62 of the axle 56 (bearings may also be placed intermittently at the ends 60, 62 if required) for rotatably coupling the axle 56 with the vehicle 30, and a 5 coupling system, in this case a weld 63, for coupling the apparatus 14 with the axle 56, such that the axle 56 and apparatus 14 rotate in unison. When the apparatus 14 is in the position shown (i.e. tilting in a clockwise manner with respect to the end 60), a delineation device 16 in the channel 22 of the apparatus 14 will 10 tend to pass along the rollers 26 in the direction shown by the arrow X. If the tilt mechanism 54 rotates the apparatus 14 counter-clockwise, a delineation device 16 in the channel 22 will tend to pass along the rollers 26 in the opposite direction. Therefore, the tilt mechanism 54 induces (under gravity) the delineation device 16 to approach or move away from an operator to facilitate dispensing and collecting of delineation devices 16. 15 This can reduce the amount of labour required to dispense and collect delineation devices 16, or in walking around the tray 34 to reach objects on the other side. As will be apparent from the examples described hereafter, the tilt mechanism 54 can equally be used in combination with systems 36 and modules 42 such as those shown in 20 Figures 2 and 3. The modular structure afforded by various embodiments is apparent from Figures 5A and 5B. Two modules 42 are connected to form a storage body 64, by a two-part connection system 66, in this case comprising opposing leaves 68i, 68ii and grooves 70i, 70ii (see 25 Figure 5C). The leaf 68i of one module 42i is received in the opposite groove 70ii, between the leaf 68ii and module wall 72ii, and vice versa. This interlocking system inhibits movement of modules 42i, 42ii away from each other. The modules 42 also include pins 52, for locking into sockets of a vehicle 30 (not shown), 30 to prevent lateral movement of the modules 42, and releasable securing means 72 for preventing rotational movement of the systems 36 relative to the storage compartments 44.

P:10PER\SB\2009\3710377 29June09 SSB.doo-2906/2009 -6 This can be particularly useful when the vehicle 30 is in transit as delineation devices 16 will be less inclined to move. With reference to Figure 5B, the axles 56 of respective tilt mechanisms 54 are shown to be 5 in engagement with one another in the region 74. This engagement may be by way of a pair of clutch plates, male-female interlocking tongue and groove mechanism or other appropriate engagement mechanism. However, in many circumstances, it will be desirable for one system 36 to be rotatable independently of the other. In these circumstances, the axles 56 will not be in engagement. 10 Figure 5B also shows an added first channel 38. This first channel 38 is mounted to a second channel 40 from each module 42. In the present case, the first channel 38 is mounted to each of the second channels 40 by bolting, though the skilled person will appreciate that many other mounting methods may be suitable. 15 This additional first channel 38 increases the storage capacity of the combination of modules 42. By connecting modules 42 in the manner shown in Figures 5A and 5B, the length of the 20 storage body 64 can be adapted to suit various vehicle dimensions. In addition, the size of individual modules 42 can be adapted to suit individual vehicle tray lengths, or be such that multiples of modules 42 fit generally to a variety of standard vehicle trays 34. A storage body 64 of modules 42, as shown in Figures 6A and 6B, includes a pair of 25 interlocked modules 42 (indicated behind skirting 76, as described hereafter). As shown in Figure 5B these are interlocked by the aforementioned leaf and groove system, and skirting 76 running around the modules 42. The main purpose of the skirting 76 is to restrict movement of delination devices 16. In addition, the skirting 76 serves to protect the modules 42 from ingress of large objects, such as rocks, from incidental collisions that 30 might otherwise dislodge or disfigure rollers 26, to assist in maintaining the modules 42 in their interlocked state and for aesthetic reasons.

P.\OPER\SSB\20090710377 29JuneO9 SSB.doo290)6/2an9 -7 The skirting 76 is secured to respective apparatuses 14 (indicated behind skirting 76) by any appropriate means, such as bolting or riveting. 5 The skirting 76 includes a two-way spring loaded door 78 at the end of each channel 22, to allow delineation devices 16 to pass through the skirting 76. Each door 78 may be locked into position, whilst the vehicle is in transit, by any known means, such as a key-lock or a pin and socket system 80 (as shown in Figure 7). 10 As shown in previous figures, the modules 42 have pins 52 in order to secure them to the vehicle 30. Figure 6A shows the pins 52 being received in sockets 82 on the tray 34 of the vehicle 30. The modules 42 are also bolted down, or otherwise secured, to ensure they do not slide out of the sockets 82. Alternatively, the pins 52 of the modules 42 may be configured to be inserted into sockets 82 in opposite directions, with the modules 42 15 thereafter being secured together. In this case, modules 42 with pins 52 have been inserted in one direction will prevent the movement of modules 42 with pins 52 having been inserted in the opposite direction. Furthermore, it may be desirable to add the storage body 64 to a vehicle 30 that does not have a tray 34. In such cases, the modules 42 can be connected, by bolts or otherwise, directly to the chassis 84. 20 Especially in the case of road works, delineation devices 16 will tend to be dispensed from one side of the vehicle 30 only. Therefore, the side of the vehicle 30 not generally used for dispensing delineation devices 16 may have a skirting 76 having no doors 78, as shown in Figure 6B. However, the skirting 76 on each side may be interchangeable to allow 25 deployment and collection of delineation devices from either side, depending on the nature of required bollard collection works. As this arrangement has consistent height and length, it is stronger than the skirting 76 in which the doors 78 are secured (see Figure 6A). Therefore, strength may be added to the 30 delineation device dispensing storage body 64, and to respective channels 22, due to the added rigidity of the skirting material. Alternatively, the thickness of the skirting 76 may P:OPER\SSBU00900710377 29Jnc09 SSB doc-29//O2009 -8 be slightly reduced, thereby reducing material cost, by using skirting 76 having equivalent strength to the skirting 76 in which the doors 78 are secured. A two-way door 78, as shown in Figure 7, includes a pair of two-way hinges 86 attached to 5 both the door 78 and skirting 76. When a delineation device 16 is being inserted into a channel 22, the door 78 will open inwardly as shown. When a delineation device 16 is being dispensed, the door 78 will open outwardly (not shown). In addition, to prevent the doors 78 from opening outwardly whilst the vehicle 30 (not 10 shown) is in transit, pins 88 (shown by a dotted line) may be inserted into sockets 90 to inhibit outward opening of the doors 78. Furthermore, all channels 22 will tend to be tilted in unison as the modules 42 are interlockingly engaged. Therefore, the delineation device 16 of channels 22 from which delineation device 16 are not currently being dispensed may, under their own weight, cause the doors 78 to open, allowing the delineation device 16 to 15 fall from the vehicle 30. The pins 90 may also prevent this circumstance, allowing the operator to select which doors 78 are to be able to be opened outwardly at any given time. The doors 78 are preferably large enough to accommodate a delineation device 16 having more than one base 20, or baseplate, as particular circumstances may require heavier, 20 larger or a higher number of bases 20. It is preferable that the doors 78 be able to accommodate as large a base 20, or number of bases 20, as the channels 22 are able to, thereby maintain usefulness of the overall body 64 over the entire spectrum of applications for which the channels 22 were designed. 25 As described above, the body 64 containing the delineation device 16 may tilt towards or away from the operator, to assist in dispensing and collecting delineation device 16 respectively. Various exemplary tilt angles Pi, Pi, piii are shown in Figure 8, however, it has been found that a tilt angle P of 2 degrees is around optimal for allowing the delineation devices 16 to roll in the direction of the tilt, in a controlled manner. 30 In the examples, if an operator (not shown) were standing on the right hand side of the P:AUPER\SSB\2009Uo710377 29June9 SSB doC-29A16/2009 -9 vehicle 30, the tilt of the body 64 would encourage delineation devices 16 to move toward the operator, making them easier to dispense than might otherwise be the case. If the body 64 were tilted in the opposite direction, the delineation devices 16 would be easier to collect, as urging them towards the other side of the vehicle 30 would be with the 5 assistance of the rollers 26, and gravity. In order to remove the operator and, consequently, the labour from the tasks of dispensing and collecting delineation devices 16, an additional robotic arm 92 may be installed, as shown in Figures 9A, 9B and 1OA to IOF. 10 A robotic arm 92, as shown in Figure 9A, includes a drive, in this case a pneumatic drive 94, pneumatic pistons 96, a base 98, three arm sections 100i, 100ii, 100iii and a gripper claw 102. The pneumatic drive 94 manipulates the pneumatic pistons 96 to control the position, in 3-dimensional space, of the gripper claw 102, and moves the base 98 of the 15 robotic arm 92 along an operating platform 104. By having a pneumatically driven base 98, once the robotic arm 92 is in position on the operating platform 104, it can move itself to the position required in order to access a delineation device 16 in a particular channel 22, or to collect a delineation device 16 and place it in a particular channel 22. 20 The pneumatic drive 94 may be controlled by the operator of the vehicle 30 in a similar manner to a garbage collection robotic arm unit. The operator locates the claw 102 in the general desired area (i.e. in the vicinity of the delineation device 16 desired to be collected/dispensed), and then triggers the claw 102 to grip the bollard appropriately. The claw 102 may have position sensors (not shown) to fine tune the position of the claw 102 25 before gripping the delineation device 16. As can be seen in Figure 9B, the base 98 of the robotic arm 92 includes channels 106 which wrap around the edges of the operating platform 104 to retain the robotic arm 92 on the operating platform 104. 30 Pneumatic drive 94, pistons 96 and arm sections 100i, 100ii, 100iii may operate in a P:AUP'ERMS5HUUO9O7I)377 29JuwcU9 SSH4d29IAfln9 -10 manner similar to, for example, 6-axis robots used for welding in the automotive industry. However, one significant difference is the gripper claw 102 as will be discussed hereafter. Robotic arm 92 is mounted to a side operating platform 104. During collection of 5 delineation devices 16 (as shown in Figure 10A), the gripper claw 102 of the robotic arm 92 grasps a delineation device 16 intermediate its ends and guides it into position in one of the channels 22. As can be seen, the channels 22 are tilted slightly downwardly towards the left hand side of the figure, thereby, under the force of gravity, inducing delineation devices 16 to move away from the robotic arm 92 once in the channels 22. 10 Conversely, during collection (as shown in Figure 10B) the robotic arm 92 grasps a delineation device 16 from a channel 22 and guides it to the ground. The channels 22 are tilted towards the right hand side of the figure, encouraging delineation devices 16 to move towards the robotic arm 92, thereby making them easier and more efficient to dispense. 15 At least the initial positioning of the robotic arm 92 will generally be performed by the vehicle operator. The operator has a cabin mounted remote control 108 similar to that of a garbage collection truck, which is communicatively connected with the computer system (not shown) of the robotic arm 92, via a cable 110. The gripper claw 102 is moved by 20 remote control 108 into a position of general alignment with a delineation device 16 desired to be grasped, and the robotic arm 92 is then activated to grasp the delineation device 16 either automatically, using proximity sensors (not shown), or again via remote control 108. A further set of controls 112 may be provided at the back of the vehicle 30 (note that the present vehicle 30 has no tray 34 and the modules 42 are connected directly 25 with the chassis 84), to allow an operator to operate the robotic arm 92 from a better vantage point, or to allow more accurate control in the event the delineation devices 16 are difficult to reach. While not in use, the robotic arm 92 can be stored between the body 64 and the cabin 114 30 of the vehicle 30, as shown in Figure 10C. In order to manoeuvre into position behind the cabin 114, the end of the side operating platform 104 may be provided with a pivotable end P:\OPERSSD200940710377 29Junc09 SSA.do-29I6/2009 - 11 portion 116, as shown in Figures 1OD to 1OF. The pivotable end portion 116 is attached by means of a hinge to the storage compartment 44 of the module nearest 42 the cabin 114. It can be controlled electronically, however, as 5 the pivoting of the end portion 116 is only performed at the beginning and conclusion of dispensing or collection of delineation devices 16, there is very little labour required to perform this task and, consequently, it is likely to be a manual operation. Now referring to Figure 11, the gripper claw 102 includes two circlips 118, two main 10 housing plates 120, a support plate 122, a gear system 124, fingers 126, and compressible polymer inserts 128. The circlips 118 bolt through the entire claw assembly 102, thereby holding the claw 102 together. They will generally have nuts on both ends (not shown) with washers 130 disposed between the nuts and the main housing plates 120. 15 The main housing plates 120 generally protect the internal workings of the gripper claw 102 and also serve to guide movement of the fingers 126. The support plate 122 provides support to the gear system 124 and wrist (not shown). The gear system 124 drives the fingers 126 of the gripper claw 102. A shaft 132 passes 20 through an orifice 134 in the support plate 122 and into a worm gear 136. The worm gear 136 rotates, thereby rotating main gears 138 which operate the fingers 126. The main gears 138 may also be arranged in mating engagement, to ensure that the fingers 126 open and close at the same rate. 25 The fingers 126 are rigid crescent shaped elements. They are mounted to the claw 102 by way of the circlips 118, and are brought together to grip a delineation device 16 or, alternatively, are moved apart to release a delineation device 16. They contain compressible inserts 128 that provide friction between the gripper claw 102 and the delineation device 16, to ensure secure gripping of the delineation device 16. The 30 inserts 128 may be a rubber, such as isobutylene isoprene rubber, which has been found to have a good ratio of compressibility to friction force.

P:AOPER\SSB\2009U0710377 29Junc9 SSB.doc-29/06/2009 -12 As mentioned above, the claw 102 may also have proximity sensors (not shown) mounted to the housing 120, to sense when a delineation device 16 is within the fingers 126. The operator may then allow the position sensors to trigger the fingers 126 to close 5 concentrically about the delineation device 16 during collection from either the tray 34 or the ground. The implementation of software programs used to control decisions of the robotic arm 92 will be apparent to a skilled person, such as a person who programs similar arms for the 10 automotive manufacturing industry. An exemplary flow chart of bollard collection is shown in Figure 12A. The robotic arm is initialised (at 140). At this stage, the arm will test that all of its internal systems are functioning properly, and may undertake a movement test to ensure that all of 15 the joints and claw are performing as desired. Software controlling the arm may also be provided with data detailing the positions of bollards at present on the tray (i.e. channels in which bollards are located, and how many bollards in respective channels). The operator then aligns (at 142) the claw with the bollard to be collected. Although this 20 step can be automated, it is preferable that the operator perform initial alignment as bollards can be moved during use (i.e. by a road worker) and the system may require significantly fewer sensors and time to ascertain the position of the bollard and relocate to align to that position. 25 The operator or software controlling the robotic arm then checks whether the claw is aligned with the bollard (at 144). Once aligned, the claw must be closed around the bollard. This operation can be performed by the operator, which is an exercise in fine tuning the position of the claw (at 146i), if 30 required, and then causing the claw to close (at 148). Alternatively, this operation may be automated. In this instance, the claw will generally have proximity sensors mounted on the PA0PER\SSBU2090710377 29JuncO9 SSB.doo-29I06/2009 - 13 housing, which sensors determine whether there is a bollard within proximity of the claws (at 146ii). Once a bollard has been identified as being within proximity, the system causes the claw to close about the bollard (at 148). 5 The system then checks whether the claw has grasped the bollard (at 150). If the claw closes without a bollard between the fingers, there will be little, if no, force applied to the compressible inserts, and the claw is controlled to automatically retract and proceed to locate the next available bollard. However, if a bollard is within the grasp of the claw then the compressible inserts will experience some application of force. Registering this 10 application of force, through a piezoelectric crystal, strain gauge etc, will alert the system as to whether the claw has grasped the bollard or not. The system must then determine the appropriate channel in which to place the bollard and whether that channel is within reach (at 152). It may do this by reviewing the data provided 15 during initialisation. If the nearest channel is full, then the bollard will not fit and the system must determine the next nearest channel into which a bollard may be inserted (at 154). If there is no channel within reach that has room for a bollard, the robotic arm must 20 determine the next nearest channel in which a bollard may be placed, or a channel having room for a bollard, and move the base in the direction of that channel. The robotic arm then places the bollard in the channel (at 156) and alerts the operator that the process has been completed and another bollard may be collected (at 158). 25 The initialisation function (at 160) is essentially the same as that performed for the collection process. From the data received during initialisation, the system then determines where the nearest bollard is located (at 162). 30 The robotic arm then moves the claw along the appropriate channel (at 164), as a delineation device may shift to any position along the channel whilst the vehicle is in P:OPER\SSBUM0900710377 29Junc09 SSBdoc-29R06/2009 -14 transit to the work site, until the delineation device is located. The claw determines whether a delineation device has been located through proximity sensors that alert the system to the presence of an object in proximity of the claw. 5 If a bollard is not located (at 166), then incorrect data may have been supplied during initialisation. The operator must then provide the system with corrected data to ensure the robotic arm can locate the bollards. Once located, the claw grasps the delineation device (at 168). If the delineation device is 10 not within grasp (at 170), the claw opens and retracts and searches for the delineation device. The search (steps from 162 to 168) is performed again as an error must have occurred for the claw to have sensed a delineation device within grasp but been unable to grasp it. 15 Once a delineation device is grasped (at 170), it is moved along and out of the channel (at 172). It is then placed on the ground (at 174), the claw opens (at 176) and the system alerts the operator that it is ready to deploy the next bollard (at 178). These functions described with reference to Figures 12A and 12B do not necessarily 20 require software automation and can equally be performed by an operator with a remote control. However, automating various aspects of the operation of the robotic arm can significantly reduce the labour requirements and increase accuracy of the collection and dispensing tasks. 25 It is envisaged that the operator will perform functions that are relatively quick, such as generally aligning the claw with a bollard to be collected, and the system will control the robotic arm to perform fine tuning and progress the collection/dispensing task to completion. 30 In addition, if skirting is used that provides two-way doors on both sides of the vehicle, two robotic arms (one on either side), or one robotic arm and an operator , may be used to r:Vrr.m35m2UUWVuU71UJ77 uU9 55H400-2ZV/UAf/2009 - 15 more rapidly dispense and collect bollards. Many modifications will be apparent to those skilled in the art without departing from the scope of the present invention as hereinbefore described with reference to the 5 accompanying drawings. Throughout this specification and claims which follow, unless the context requires otherwise, the word "comprise", and variations such as "comprises" and "comprising", will be understood to imply the inclusion of a stated integer or step or group of integers or steps 10 but not the exclusion of any other integer or step or group of integers or steps. The reference in this specification to any prior publication (or information derived from it), or to any matter which is known, is not, and should not be taken as an acknowledgment or admission or any form of suggestion that that prior publication (or information derived 15 from it) or known matter forms part of the common general knowledge in the field of endeavour to which this specification relates.

Claims (12)

1. A system mountable on a vehicle for storing and dispensing delineation devices, each delineation device having a base and an upright portion, the system including: 5 a plurality of guide structures each arranged to store and to limit movement of the base of each delineation device within the guide structure while permitting the upright portion to extend away from the guide structure; and mounting means for mounting the guide structures to the vehicle. 10

2. The system of claim 1, wherein each guide structure is configured to allow movement of the delineation devices along a longitudinal axis of the guide structure and to inhibit movement in directions transverse to the longitudinal axis.

3. The system of claim 2, further including friction-reducing means within the guide 15 structures for facilitating movement of the delineation devices within the guide structures along the longitudinal axis.

4. The system of claim 3, wherein the friction-reducing means comprises a plurality of rollers. 20

5. The system of any one of claims 1 to 4, wherein the guide structures are arranged substantially in parallel and have an insertion aperture positioned in at least one side of the vehicle for receiving at least the base of each delineation device. 25

6. The system of any one of claims 1 to 5, wherein each guide structure has a longitudinal slot extending therethrough to permit passage of the upright portion along the slot during storage or dispensing of the delineation devices.

7. The system of any one of claims 1 to 6, wherein each guide structure is vertically 30 displaced from each adjacent guide structure. -17

8. The system of any one of claims 1 to 7, wherein each guide structure is positioned to partially horizontally overlap with each adjacent guide structure.

9. The system of any one of claims 1 to 8, further including robotic apparatus 5 mounted in relation to the guide structures to transport delineation devices from a ground position into one or more of the guide structures.

10. The system of claim 9, wherein the robotic apparatus includes a robot arm configured to pick up one of the delineation devices and position it in one of the guide 10 structures.

11. The system of claim 10, wherein the robot arm is movable along a frame to be positioned in relation to a selected one of the guide structures. 15

12. The system of any one of claims 1 to 11, wherein the guide structures are arranged to be tiltable together about a transverse axis.