EP0643171A1 - Means for spraying longitudinal road markings - Google Patents

Means for spraying longitudinal road markings Download PDF

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Publication number
EP0643171A1
EP0643171A1 EP94402030A EP94402030A EP0643171A1 EP 0643171 A1 EP0643171 A1 EP 0643171A1 EP 94402030 A EP94402030 A EP 94402030A EP 94402030 A EP94402030 A EP 94402030A EP 0643171 A1 EP0643171 A1 EP 0643171A1
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EP
European Patent Office
Prior art keywords
marking
road
vehicle
pistols
vision system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP94402030A
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German (de)
French (fr)
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EP0643171B1 (en
Inventor
Hugues Vialletel
Christian Jacob
Philippe Alvarez
Yannick Guillard
Jacques Masson
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GENERALE DE SIGNALISATION ROUTIERE
Laboratoire Central des Ponts et Chaussees
Etat Francais
Original Assignee
GENERALE DE SIGNALISATION ROUTIERE
Laboratoire Central des Ponts et Chaussees
Etat Francais
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Publication of EP0643171A1 publication Critical patent/EP0643171A1/en
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    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
    • E01C23/16—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings
    • E01C23/163—Devices for marking-out, applying, or forming traffic or like markings on finished paving; Protecting fresh markings for marking-out the location of the markings; Guiding or steering devices for marking apparatus, e.g. sights

Definitions

  • the present invention relates to an ironing device for longitudinal road markings comprising a vehicle, at least one first set of guns intended for spraying ironing materials onto a longitudinal road markings, this set of guns being integral with the lower part of the vehicle and directed towards the road.
  • Such a device also comprises means for controlling the opening and closing of the gun assembly, as well as a near vision system, associated with a local control unit and comprising a local optical sensor, placed near the '' set of pistols and intended to visualize locally the marking to be ironed.
  • This local optical sensor is associated with signal processing means and with calculation means for determining the position of the theoretical longitudinal axis of the marking to be ironed.
  • the device further comprises means for positioning the gun assembly.
  • the "theoretical" longitudinal axis of the marking will be referred to as the locally precisely determined axis, while the “approximate” longitudinal axis is the overall axis of the marking, for example as seen by the driver of the vehicle.
  • a device of this type is known from European patent application EP 0 129 551.
  • the local optical sensor keeps under surveillance, by transverse investigation, a predetermined road width. It detects the presence or absence of marking as a function of which a signal is transmitted to the means for controlling the opening and closing of the guns.
  • the guns and adjust the projection of the ironing materials on the marking can be rotated about a vertical axis and around a horizontal axis.
  • This known device has several drawbacks. On the one hand, and although it is partially automated, the ironing speed it allows is limited since the near vision system must locally identify the contours of each element of the road marking, analyze the data and transmit , each time, the command to open and close the guns and the command to adjust their position.
  • the pistols having a defined opening angle must be placed at a precise height above the road so that the width of projection of the ironing materials corresponds to the width of the markings to be ironed.
  • these guns must be precisely positioned on the axis of the marking and their opening / closing sequence must be such that, depending on the speed of the vehicle, they are open for a time necessary to iron the lines constituting the marking. to iron, and closed on the intervals between these lines.
  • the device known from document EP 0129 551 is not suitable for the simultaneous ironing of two longitudinal road markings, respectively placed on the axis and on the bank of the road.
  • the invention aims to remedy these drawbacks by proposing an ironing device for longitudinal road markings which allows increased ironing speed and improves ironing precision.
  • the means for positioning the gun assembly include first means for vertical displacement of the first gun assembly, first means for horizontal displacement of the first gun assembly, intended to move said assembly horizontally, in a transverse direction to the direction of movement of the vehicle, and first means for adjusting the first set of guns.
  • the device further comprises a main servo means comprising a far vision system associated with a main control unit, said far vision system comprising a global optical sensor for viewing the width, the module and the position of the longitudinal axis of the first iron-on marking, associated with signal processing means and calculation means for determining the width, modulus and position of the approximate longitudinal axis of the first iron-on marking, said main control unit being intended to control the first means of vertical displacement of the first assembly to pistols, so as to correspond the width of projection of the ironing materials with the width of the first marking to be ironed, to control the first means of horizontal displacement of the first set of guns, so as to place said set above the approximate longitudinal axis of the first ironing mark, and to control the first means for controlling the opening and closing of the first set of guns, so as to match the sequences of projection of ironing materials with the module of the first ironing mark .
  • a main servo means comprising a far vision system associated with a main control unit, said far vision system comprising a global optical
  • the first near vision system and the first local control unit are part of a first secondary control means, said first local control unit being intended to control said first adjustment means of the first set of pistols, so as to correct the main control unit controls.
  • the means for adjusting the first set of pistols may comprise means for horizontally adjusting the latter, which the local control unit controls to correct the position of this first set of pistols and make it coincide with the theoretical longitudinal axis of the marking to be ironed.
  • These adjustment means may also include means for vertical adjustment of the first set of guns, controlled by the local control unit to obtain a projection width equal to that of the marking and thus refine the control of the main control unit.
  • They may also include means for adjusting the opening and closing of the guns.
  • the invention allows greater tolerances of deviations from the trajectory of the vehicle.
  • the ironing speed can be increased.
  • the far vision system associated with the main control unit, is used to globally configure the pistols. Determining the modulus of the marking is particularly important, since it makes it possible to calculate the opening and closing sequences of the pistols. Thus, when the vehicle is moving at constant speed over a section on which the marking module remains unchanged, the opening and closing of the guns does not require any additional transmission. However, when the far vision system detects a modification of the module, the opening and closing sequence of the guns is modified.
  • the main servo means determines, using the far vision system, the module of the ironing marking. He can then, depending on the speed of the vehicle, calculate the durations of the opening and closing of the guns, according to which he directly controls the opening and closing.
  • the secondary control means may intervene by means of adjustment means, to take account of any local variations in the marking module or momentary variations in the speed of the vehicle.
  • the main control means only determines the duration of the opening of the guns, the secondary control means then giving the command to open the guns, these being automatically closed, after the duration prescribed by the main control unit.
  • the main control unit pre-positions the guns by controlling the means of horizontal and vertical movement, so that the secondary means of enslavement only has to readjust their position if the need arises locally.
  • the gun assemblies generally consist of three guns, the first projecting paint, mixed before its deposition on the road with reflective glass microbeads projected by the second, and the third projecting a layer of glass microbeads used to improve the thinking and increasing the life of road markings.
  • the device according to the invention can be used with a single set of guns for ironing a single marking or with two sets of guns, for example, in the axis and at the edge, for ironing two markings of axis and shore.
  • the far vision system therefore views the road ahead of the vehicle, possibly over a width sufficient to include the axis and shore markings.
  • the invention comprises one or two secondary control means depending on the number of gun sets.
  • a secondary servo means associated with a gun assembly.
  • the two servo means which are associated with them operate independently of one another.
  • the operation of the second secondary control means being similar to that of the first secondary control means, described above.
  • a set of pistols or the two sets of pistols may be integral with one or two carriages, themselves integral with the lower part of the vehicle.
  • This or these carriages are connected to the vehicle by a vertical displacement member, making it possible, during the transfer of the vehicle, to raise the carriages and to allow normal speed.
  • These trolleys are fitted with wheels which are placed in contact with the road surface, by means of the trolley vertical displacement member, for the purpose of ironing the markings.
  • the device also includes a horizontal carriage displacement member, in a direction transverse to the direction of advance of the vehicle. This horizontal carriage displacement member may form part of the aforementioned means for horizontal displacement of the gun assembly.
  • the pistol assemblies preferably being placed at mid-transverse stroke by their horizontal adjustment means, for pre-positioning said assemblies substantially above the axis approached by the marking to be ironed.
  • the horizontal and transverse adjustment of the gun assemblies will at most be only a relative adjustment, of limited amplitude.
  • the means for vertical displacement of the pistol assemblies, as well as their possible vertical adjustment means move said assemblies relative to the carriages, more precisely, relative to a part of the carriages maintained at a substantially constant distance from the road surface thanks to the wheels of these carts, to determine the projection width of the ironing materials.
  • the carriages are advantageously provided with a suspension by means of which they are connected to the vehicle.
  • This suspension makes it possible to decouple the vertical movements of the vehicle from those of the carriages so that the latter remain linked to the road.
  • the local optical sensor or sensors are advantageously mounted on these carriages.
  • the pistol assemblies are mounted on load-bearing structures such as chassis, secured to the vehicle by vertical displacement members and, optionally, horizontal displacement members, while the vision system or systems nearby are equipped with distance sensors. These measure the distance between the supporting structures and the road surface. If this measured distance deviates from the target height at which it is desired to maintain the support structures, the secondary control means or means control the vertical displacement members to correct the difference observed. These provisions make it possible to maintain the pistols at the desired height, even if the road has local reliefs.
  • the distance sensors are for example constituted by ultrasonic systems or, more generally, by contactless measurement systems.
  • the vertical displacement members of the supporting structures can then play the role of means for vertical displacement of the gun assemblies.
  • they are generally controlled by the unit of main control and are, if necessary, readjusted by the corresponding secondary control unit.
  • the vertical displacement means and the vertical adjustment means of a gun assembly can be constituted by the same member, globally controlled by the main control unit, and precisely adjusted by the local control unit. corresponding.
  • a local optical sensor can visualize approximately 50 cm of road width.
  • the near vision system includes means for processing the displayed image line by line from an edge of the displayed region. In a preferred arrangement, each line treated corresponds to 1 cm of road width.
  • This near vision system also includes a memory operating like First In / First Out batteries, which stores at most 15 consecutive values, each of which corresponds to a processed line. This makes it possible to determine, to the nearest centimeter, the width of the lines constituting the marking to be ironed and the position of the lateral edges of these lines. The following calculations effectively determine the theoretical axis of the marking by eliminating sources of error, so as to calibrate the guns on this axis.
  • the global optical sensor is advantageously secured to the vehicle and placed on its front part, preferably at a height sufficient for its field of vision to be suitable for the simultaneous viewing of the axis and edge markings.
  • the various main and local control units, as well as the calculation means and the signal processing means, are advantageously on board the vehicle.
  • the main control unit controls the connection and disconnection of the secondary control means or means. More specifically, in the case where the far vision system locates a non-longitudinal marking, for example a transverse stop marking or a median marking with zebras, the main control unit disconnects the secondary servo means and controls the closing of the gun assembly (s). In the case where the non-longitudinal markings give way to longitudinal markings, the main control unit reconnects the secondary control means. When two markings are ironed and in the case where only one of them becomes non-longitudinal, the disconnection only affects the set of pistols concerned.
  • a non-longitudinal marking for example a transverse stop marking or a median marking with zebras
  • the main control unit controls the means for controlling the opening and closing of the gun assemblies as a function of the module of the markings to be ironed and the speed of the vehicle.
  • the optical sensors global and local, are constituted by cameras and the signal processing means are image processing means. It goes without saying that these signal processing or image processing means can be constituted by a single calculation system, connected to the various optical sensors.
  • Figure 1 shows schematically, seen from the front, a vehicle, such as that of Figure 3, provided with the device according to the invention.
  • the organization of the different elements is explained by the flowchart in Figure 6.
  • the device for ironing longitudinal road markings comprises a vehicle 10 and a first set of pistols 12 intended to spray ironing materials onto a first longitudinal road marking A.
  • the device also comprises first means for vertical displacement of the first set of pistols 12. These means may consist of a member 14 of vertical displacement, for example a rack or a hydraulic cylinder, a motor 15 and a circuit 16.
  • First horizontal displacement means of the first pistol assembly 12 are provided and are intended to move said pistol assembly in a direction transverse to the direction of movement of the vehicle 10.
  • These horizontal displacement means can be constituted by a member 18 for horizontal movement, for example a rack or a hydraulic cylinder, a motor 19 and a control circuit 20.
  • the device also comprises first means for controlling the opening and closing of the first set of pistols 12. These means are for example constituted by a valve or a valve 22, a motor 23 and an actuator 24.
  • This device further comprises a main servo means comprising a far vision system associated with a main control unit UCP.
  • the far vision system comprises a global optical sensor 30 for visualizing the roadway and the markings, as well as signal processing means TS and calculation means MC to determine, as a function of the image of the global optical sensor 30, the width L, module M and the position of the longitudinal axis approached by marking A to be ironed.
  • the main control unit UCP is intended to control the first means 14, 15, 16 for vertical displacement of the first set of guns 12, so as to match the projection width of the ironing materials with the width L of the first marking A to redo. It is therefore by adjusting the height of the pistols relative to the road that the projection width is adapted to that of the marking, which, the orientation of the pistols relative to the road remaining unchanged, is done very precise.
  • This main control unit UCP also serves to control the first means 18, 19, 20 for horizontal displacement of the first set of guns 12, so as to place it above the longitudinal axis approached by the first marking to be ironed.
  • the main control unit UCP also serves to control the means 22, 23, 24 for controlling the opening and closing of the first set of guns 12, so as to match the sequences of projection of ironing materials with the module M of the first marking A to be ironed.
  • the device according to the invention comprises a first secondary control means comprising a first near vision system associated with a first local control unit UCL1.
  • This first near vision system comprises a first local optical sensor 40, placed near the first set of pistols 12 and intended to locally display the first marking A to be ironed.
  • the first local optical sensor 40 is associated with signal processing means TS1 and with calculation means MC1 to determine the position of the theoretical longitudinal axis of the first marking to be ironed.
  • the first local control unit UCL1 controls the first horizontal adjustment means of the first set of pistols 12, so as to correct the position of said set and to make it coincide with the theoretical longitudinal axis of the first marking A to redo.
  • These first horizontal adjustment means comprise a horizontal displacement member 42, a motor 43 and a control circuit 44.
  • the local control unit does not control any additional horizontal adjustment of the gun assembly.
  • the device of the invention further comprises a second set of pistols 13, integral with the lower part of the vehicle 10, directed towards the road and intended to project materials ironing on a second longitudinal road marking A '.
  • These two sets of pistols 12 and 13 are for example respectively placed in axis and on the bank of the road.
  • the far vision system comprises means (global optical sensor 30, signal processing means TS and calculation means MC) for determining the widths L and L ', the modules M and M' and the positions of the axes longitudinal approaches of the two markings A and A 'to be ironed.
  • the main control unit UCP is then intended to simultaneously control the first and second means for vertical displacement of the first and second gun assemblies 12 and 13, the first and second means for horizontal displacement of the first and second gun assemblies and the first and second means for controlling the opening and closing of the first and second gun assemblies, this so as to match the projection widths of ironing materials of each gun assembly with the widths L and L 'of the two ironing marks, placing each of the two gun sets respectively above the two approximate axes of the two ironing marks and making the projection sequences correspond to the modules M and M 'of the two ironing marks.
  • a second secondary control means is provided for the second set of pistols 13. It comprises a second near vision system and a second local control unit. Like the first, the second near vision system comprises a second local optical sensor 40 ′, placed near the second set of pistols 13 and intended to locally display the second marking to be ironed. This sensor 40 ′ is associated with means for processing the signal TS2 and with calculation means MC2 for determining the position of the theoretical longitudinal axis of the second marking A ′ to be ironed.
  • the second local control unit UCL2 controls second horizontal adjustment means 42 ′, 43 ′, 44 ′ of the second set of pistols 13, so as to correct its position and make it coincide with the theoretical longitudinal axis of the second marking to iron.
  • a set of guns or the two sets of guns 12, 13 are integral with a carriage or two carriages 50, 50 '.
  • One of these carriages is shown in detail in Figures 4 and 5, while the transfer and use positions are respectively presented by FIGS. 2 and 3.
  • FIGS. 2 and 3 To simplify, we will speak hereinafter of a carriage 50 and of a pistol assembly 12 integral with this carriage.
  • the carriage 50 is integral with the lower part of the vehicle 10 by means of a member 52 for vertically moving the carriage, intended to raise the carriage 50 during the transfer of the vehicle 10 and to place its wheels 54 in contact with the surface of the road when ironing a road marking.
  • a member 56 for moving the carriage horizontally, integral with the vehicle or the member 52, is capable of moving the carriage 50 horizontally transversely to the direction of movement of the vehicle 10, with a view to placing it in a region of the road which comprises an ironing marking.
  • This horizontal displacement member 56 may be part of the horizontal displacement means 18, 19, 20 or 18 ', 19', 20 'of the pistol assembly 12 or 13 considered.
  • a suspension 58 is advantageously provided between the carriage 50 and the lower part of the vehicle 10. This suspension makes it possible, independently of the vertical movements of the vehicle, to maintain the carriage at a constant height relative to the road surface. It can, moreover, be associated with blocking means, capable of blocking the carriage 50 in the raised position during its transfer.
  • the local optical sensor 40 or 40 ′ is integral and placed inside a box 60 which has an upper wall and side walls. The free end of these side walls is directed towards the road surface and is at least at a very short distance from this surface.
  • Lighting means 64 are placed in the box 60, so as to illuminate the part of the road viewed by the local optical sensor concerned.
  • a strip of flexible material 62 is advantageously fixed to the free ends of the side walls of the box 60, so as to graze the surface of the road and to prevent any natural light from inside the box.
  • each carriage can be replaced by a support structure, integral with the vehicle but not coming into contact with the road.
  • This structure which carries the corresponding pistol assembly, is then connected to the vehicle by vertical displacement members.
  • the near vision system associated with the pistol assembly carried by the supporting structure includes a distance sensor which measures the height relative to the road.
  • the vertical displacement members of the supporting structure are controlled, preferably by the corresponding secondary servo means , so as to keep the height of the supporting structure constant with respect to the road.
  • the structure can also be associated with horizontal displacement members, serving to place it globally in the axis of the marking to be ironed.
  • the vertical and horizontal displacement members of the support structure can respectively be part of the vertical and horizontal displacement means of the corresponding gun assembly and can be controlled by the main control unit as a function of the width and the position of the approximate axis of the marking to be ironed.
  • these horizontal and vertical displacement members can then be controlled by the corresponding secondary servo means.
  • the above-mentioned horizontal adjustment means are part of the horizontal displacement members.
  • the gun assembly with horizontal, but also vertical adjustment means, locally controlled by the corresponding secondary servo means, and moving the gun assembly relative to the supporting structure.
  • the local optical sensor 40 or 40 ′ and the box 60 can be mounted on the carriage 50 or 50 ′, or on the supporting structure.
  • the local optical sensor is preferably at least partially integral in horizontal displacement with the corresponding gun assembly, but it does not necessarily accompany the horizontal adjustment.
  • a local optical sensor 40 or 40 ′ preferably displays approximately 50 cm of road width.
  • the near vision system advantageously comprises signal processing means and calculation means for processing the displayed image line by line, from an edge of the displayed region.
  • each line treated corresponds to 1 cm of road width.
  • Each line relating to a calculated value, a maximum of 15 consecutive values are then stored, so as to determine the position of the two lateral edges of the marking to be ironed and to determine the real axis of this marking.
  • the number of stored values is preferably limited to 15, this number can be fixed at 20 or more depending on the memory capacities and the precision sought.
  • the overall optical sensor 30 is advantageously secured to the front part of the vehicle.
  • the main control unit UCP of the main servo means disconnects the first and / or the second secondary servo means and commands the closing the first and / or second set of pistols.
  • the main control unit UCP reconnects the first and / or the second secondary means d servo and controls the first and / or second means for controlling the opening and closing of the gun assemblies 12, 13.
  • the main control unit UCP advantageously controls the means for controlling the opening and closing of the pistol assemblies as a function of the module M of the markings to be ironed and taking into account the data of the forward speed of the vehicle.
  • optical sensors 30, 40, 40 ′ are preferably cameras, the signal processing means then being image processing means.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Road Repair (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

Device for reapplying longitudinal road markings (A), comprising a vehicle (10), one or two spray-gun assemblies (12, 13) which can be positioned vertically (14, 15, 16) and horizontally (18, 19, 20), transversely to the direction of advance of the vehicle, opening and closing (22, 23, 24) of the spray-gun assemblies also being adjustable. This device comprises a main (servo) control (slaving) means (UCP, 30, TS, MC) and has overall control of the position of the spray-gun assemblies (12, 13), their opening and closing sequences, as well as one or two means (UCL1, UCL2; 40, TS1, MC1; 40', TS2, MC2) which locally control at least the adjustment of the spray-gun assembly in question, transversely to the direction of advance of the vehicle (10). <IMAGE>

Description

La présente invention concerne un dispositif de repassage des marquages routiers longitudinaux comprenant un véhicule, au moins un premier ensemble à pistolets destiné à projeter des matériaux de repassage sur un marquage routier longitudinal, cet ensemble à pistolets étant solidaire de la partie inférieure du véhicule et dirigé vers la route.The present invention relates to an ironing device for longitudinal road markings comprising a vehicle, at least one first set of guns intended for spraying ironing materials onto a longitudinal road markings, this set of guns being integral with the lower part of the vehicle and directed towards the road.

Un tel dispositif comprend également des moyens de commande d'ouverture et de fermeture de l'ensemble à pistolets, ainsi qu'un système de vision proche, associé à une unité de commande locale et comportant un capteur optique local, placé à proximité de l'ensemble à pistolets et destiné à visualiser localement le marquage à repasser. Ce capteur optique local est associé à des moyens de traitement du signal et à des moyens de calcul pour déterminer la position de l'axe longitudinal théorique du marquage à repasser. Le dispositif comporte, en outre, des moyens de positionnement de l'ensemble à pistolets.Such a device also comprises means for controlling the opening and closing of the gun assembly, as well as a near vision system, associated with a local control unit and comprising a local optical sensor, placed near the '' set of pistols and intended to visualize locally the marking to be ironed. This local optical sensor is associated with signal processing means and with calculation means for determining the position of the theoretical longitudinal axis of the marking to be ironed. The device further comprises means for positioning the gun assembly.

Dans toute la suite, on appellera axe longitudinal "théorique" du marquage, l'axe déterminé localement de façon précise, tandis que l'axe longitudinal "approché" est l'axe global du marquage, par exemple tel que le voit le conducteur du véhicule.In the following, the "theoretical" longitudinal axis of the marking will be referred to as the locally precisely determined axis, while the "approximate" longitudinal axis is the overall axis of the marking, for example as seen by the driver of the vehicle.

Un dispositif de ce type est connu par la demande de brevet europeen EP 0 129 551. Pendant le déplacement du véhicule, le capteur optique local maintient sous surveillance, par investigation transversale, une largeur de chaussée prédéterminée. Il détecte la présence ou l'absence de marquage en fonction de quoi un signal est transmis aux moyens de commande d'ouverture et de fermeture des pistolets.A device of this type is known from European patent application EP 0 129 551. During the movement of the vehicle, the local optical sensor keeps under surveillance, by transverse investigation, a predetermined road width. It detects the presence or absence of marking as a function of which a signal is transmitted to the means for controlling the opening and closing of the guns.

Par ailleurs, pour positionner les pistolets et régler la projection des matériaux de repassage sur le marquage, selon la largeur voulue, on peut les faire pivoter autour d'un axe vertical et autour d'un axe horizontal.Furthermore, to position the guns and adjust the projection of the ironing materials on the marking, according to the desired width, they can be rotated about a vertical axis and around a horizontal axis.

Ce dispositif connu présente plusieurs inconvénients. En effet, d'une part, et bien qu'il soit partiellement automatisé, la vitesse de repassage qu'il autorise est limitée puisque le système de vision proche doit localement repérer les contours de chaque élément du marquage routier, analyser les données et transmettre, à chaque fois, la commande d'ouverture et de fermeture des pistolets et la commande de réglage de leur position.This known device has several drawbacks. On the one hand, and although it is partially automated, the ironing speed it allows is limited since the near vision system must locally identify the contours of each element of the road marking, analyze the data and transmit , each time, the command to open and close the guns and the command to adjust their position.

D'autre part, le fonctionnement de ce dispositif nécessite une attention soutenue de la part du chauffeur du véhicule, qui doit constamment veiller à globalement maintenir le véhicule dans l'axe du marquage à repasser. Ceci limite également la vitesse du repassage.On the other hand, the operation of this device requires sustained attention from the driver of the vehicle, who must constantly take care to keep the vehicle generally in line with the marking to be ironed. This also limits the speed of ironing.

En outre, le réglage du positionnement des pistolets réalisé par pivotement et par parallélogramme déformable n'a pas une précision qui permette toujours d'atteindre la qualité de repassage requise.In addition, the adjustment of the positioning of the guns carried out by pivoting and by deformable parallelogram does not have an accuracy which always makes it possible to achieve the required ironing quality.

En fait pour le repassage des marquages routiers, les pistolets ayant un angle d'ouverture défini doivent être placés à une hauteur précise au-dessus de la route pour que la largeur de projection des matériaux de repassage corresponde à la largeur des marquages à repasser. De plus, ces pistolets doivent être précisément positionnés sur l'axe du marquage et leur séquence d'ouverture/fermeture doit être telle que, en fonction de la vitesse du véhicule, ils soient ouverts pendant un temps nécessaire au repassage des traits constituant le marquage à repasser, et fermés sur les intervalles entre ces traits.In fact for the ironing of road markings, the pistols having a defined opening angle must be placed at a precise height above the road so that the width of projection of the ironing materials corresponds to the width of the markings to be ironed. In addition, these guns must be precisely positioned on the axis of the marking and their opening / closing sequence must be such that, depending on the speed of the vehicle, they are open for a time necessary to iron the lines constituting the marking. to iron, and closed on the intervals between these lines.

Enfin, le dispositif connu par le document EP 0129 551 n'est pas adapté au repassage simultané de deux marquages routiers longitudinaux, respectivement placés sur l'axe et sur la rive de la route.Finally, the device known from document EP 0129 551 is not suitable for the simultaneous ironing of two longitudinal road markings, respectively placed on the axis and on the bank of the road.

L'invention vise à remédier à ces inconvénients en proposant un dispositif de repassage des marquages routiers longitudinaux qui autorise une vitesse de repassage accrue et améliore la précision du repassage.The invention aims to remedy these drawbacks by proposing an ironing device for longitudinal road markings which allows increased ironing speed and improves ironing precision.

Dans ce but, les moyens de positionnement de l'ensemble à pistolets comportent des premiers moyens de déplacement vertical du premier ensemble à pistolet, des premiers moyens de déplacement horizontal du premier ensemble à pistolets, destinés à déplacer ledit ensemble horizontalement, dans une direction transversale à la direction de déplacement du véhicule, et des premiers moyens de réglage du premier ensemble à pistolets.To this end, the means for positioning the gun assembly include first means for vertical displacement of the first gun assembly, first means for horizontal displacement of the first gun assembly, intended to move said assembly horizontally, in a transverse direction to the direction of movement of the vehicle, and first means for adjusting the first set of guns.

Le dispositif comporte, en outre, un moyen principal d'asservissement comprenant un système de vision lointaine associé à une unité de commande principale, ledit système de vision lointaine comportant un capteur optique global pour visualiser la largeur, le module et la position de l'axe longitudinal du premier marquage à repasser, associé à des moyens de traitement du signal et à des moyens de calcul pour déterminer la largeur, le module et la position de l'axe longitudinal approché du premier marquage à repasser, ladite unité de commande principale étant destinée à commander les premiers moyens de déplacement vertical du premier ensemble à pistolets, de manière à faire correspondre la largeur de projection des matériaux de repassage avec la largeur du premier marquage à repasser, à commander les premiers moyens de déplacement horizontal du premier ensemble à pistolets, de manière à placer ledit ensemble au-dessus de l'axe longitudinal approché du premier marquage à repasser, et à commander les premiers moyens de commande d'ouverture et de fermeture du premier ensemble à pistolets, de manière à faire correspondre les séquences de projection de matériaux de repassage avec le module du premier marquage à repasser.The device further comprises a main servo means comprising a far vision system associated with a main control unit, said far vision system comprising a global optical sensor for viewing the width, the module and the position of the longitudinal axis of the first iron-on marking, associated with signal processing means and calculation means for determining the width, modulus and position of the approximate longitudinal axis of the first iron-on marking, said main control unit being intended to control the first means of vertical displacement of the first assembly to pistols, so as to correspond the width of projection of the ironing materials with the width of the first marking to be ironed, to control the first means of horizontal displacement of the first set of guns, so as to place said set above the approximate longitudinal axis of the first ironing mark, and to control the first means for controlling the opening and closing of the first set of guns, so as to match the sequences of projection of ironing materials with the module of the first ironing mark .

Le premier système de vision proche et la première unité de commande locale font partie d'un premier moyen secondaire d'asservissement, ladite première unité de commande locale étant destinée à commander lesdits premiers moyens de réglage du premier ensemble à pistolets, de manière à corriger les commandes de l'unité de commande principale.The first near vision system and the first local control unit are part of a first secondary control means, said first local control unit being intended to control said first adjustment means of the first set of pistols, so as to correct the main control unit controls.

Comme on le verra dans la suite, les moyens de réglage du premier ensemble à pistolets peuvent comprendre des moyens de réglage horizontal de ce dernier, que l'unité de commande locale commande pour corriger la position de ce premier ensemble à pistolets et la faire coïncider avec l'axe longitudinal théorique du marquage à repasser.As will be seen below, the means for adjusting the first set of pistols may comprise means for horizontally adjusting the latter, which the local control unit controls to correct the position of this first set of pistols and make it coincide with the theoretical longitudinal axis of the marking to be ironed.

Ces moyens de réglage peuvent également comprendre des moyens de réglage vertical du premier ensemble à pistolets, commandés par l'unité de commande locale pour obtenir une largeur de projection égale à celle du marquage et affiner ainsi la commande de l'unité de commande principale.These adjustment means may also include means for vertical adjustment of the first set of guns, controlled by the local control unit to obtain a projection width equal to that of the marking and thus refine the control of the main control unit.

Ils peuvent également comporter des moyens de réglage de l'ouverture et de la fermeture des pistolets.They may also include means for adjusting the opening and closing of the guns.

Grâce à ces dispositions, l'invention permet des tolérances d'écarts de la trajectoire du véhicule plus grandes. De plus, la vitesse du repassage peut être augmentée.Thanks to these provisions, the invention allows greater tolerances of deviations from the trajectory of the vehicle. In addition, the ironing speed can be increased.

Le système de vision lointaine, associé à l'unité de commande principale, sert à paramétrer globalement les pistolets. La détermination du module du marquage est particulièrement importante, puisqu'elle permet de calculer les séquences d'ouverture et de fermeture des pistolets. Ainsi, lorsque le véhicule avance à vitesse constante sur un tronçon sur lequel le module du marquage reste inchangé, l'ouverture et la fermeture des pistolets ne nécessitent aucune transmission supplémentaire. En revanche, lorsque le système de vision lointaine détecte une modification du module, la séquence d'ouverture et de fermeture des pistolets est modifiée.The far vision system, associated with the main control unit, is used to globally configure the pistols. Determining the modulus of the marking is particularly important, since it makes it possible to calculate the opening and closing sequences of the pistols. Thus, when the vehicle is moving at constant speed over a section on which the marking module remains unchanged, the opening and closing of the guns does not require any additional transmission. However, when the far vision system detects a modification of the module, the opening and closing sequence of the guns is modified.

Le moyen principal d'asservissement détermine, à l'aide du système de vision lointaine, le module du marquage à repasser. Il peut alors, en fonction de la vitesse du véhicule, calculer les durées de l'ouverture et de la fermeture des pistolets, en fonction desquelles il commande directement l'ouverture et la fermeture. Le moyen secondaire d'asservissement peut intervenir par le biais des moyens de réglage, pour tenir compte d'éventuelles variations locales du module du marquage ou de variations momentanées de la vitesse du véhicule.The main servo means determines, using the far vision system, the module of the ironing marking. He can then, depending on the speed of the vehicle, calculate the durations of the opening and closing of the guns, according to which he directly controls the opening and closing. The secondary control means may intervene by means of adjustment means, to take account of any local variations in the marking module or momentary variations in the speed of the vehicle.

Il est également possible que le moyen principal d'asservissement ne détermine que la durée de l'ouverture des pistolets, le moyen secondaire d'asservissement donnant alors la commande de l'ouverture des pistolets, ceux-ci étant automatiquement fermés, après la durée prescrite par l'unité de commande principale.It is also possible that the main control means only determines the duration of the opening of the guns, the secondary control means then giving the command to open the guns, these being automatically closed, after the duration prescribed by the main control unit.

Par ailleurs, l'axe longitudinal approché du marquage à repasser, de même que la largeur de son module, étant déterminés, I'unité de commande principale prépositionne les pistolets en commandant les moyens de déplacement horizontal et vertical, de sorte que le moyen secondaire d'asservissement n'a plus qu'à recaler leur position si le besoin s'en fait localement sentir.In addition, the approximate longitudinal axis of the marking to be ironed, as well as the width of its module, being determined, the main control unit pre-positions the guns by controlling the means of horizontal and vertical movement, so that the secondary means of enslavement only has to readjust their position if the need arises locally.

C'est au moyen principal d'asservissement, et non au conducteur, qu'incombe le rôle de globalement maintenir les pistolets sur l'axe approché du marquage à repasser. Ceci permet d'améliorer la qualité du repassage du marquage sans ralentir le véhicule, dont la trajectoire peut ne pas rigoureusement suivre l'axe de marquage à repasser.It is the main servo means, and not the driver, that has the role of generally keeping the guns on the axis approached by the marking to be ironed. This makes it possible to improve the quality of the marking ironing without slowing down the vehicle, the trajectory of which may not strictly follow the marking axis to be ironed.

Enfin, le fait que les pistolets puissent être déplacés dans un plan vertical et, horizontalement, transversalement à la direction de déplacement du véhicule, améliore la précision avec laquelle les matériaux de repassage sont projetés sur la route.Finally, the fact that the guns can be moved in a vertical plane and, horizontally, transversely to the direction of movement of the vehicle, improves the precision with which the ironing materials are projected onto the road.

Les ensembles à pistolets sont généralement constitués par trois pistolets, le premier projetant de la peinture, mélangée avant son dépôt sur la route à des microbilles de verre réfléchissant projetées par le second, et le troisième projetant une couche de microbilles de verre servant à améliorer la réflexion et à augmenter la durée de vie des marquages routiers.The gun assemblies generally consist of three guns, the first projecting paint, mixed before its deposition on the road with reflective glass microbeads projected by the second, and the third projecting a layer of glass microbeads used to improve the thinking and increasing the life of road markings.

Le dispositif selon l'invention peut être utilisé avec un seul ensemble à pistolets pour le repassage d'un seul marquage ou avec deux ensembles à pistolets, par exemple, en axe et en rive, pour le repassage de deux marquages respectivement d'axe et de rive.The device according to the invention can be used with a single set of guns for ironing a single marking or with two sets of guns, for example, in the axis and at the edge, for ironing two markings of axis and shore.

On peut également accoler plusieurs ensembles à pistolets pour réaliser des marquages parallèles et accolés les uns aux autres. Cette possibilité est par exemple mise à profit, avec deux ou trois ensembles accolés, pour repasser un marquage d'axe comprenant des bandes de pointillés accolées à droite ou à gauche d'une ligne continue.It is also possible to attach several sets of pistols to make markings parallel and contiguous to each other. This possibility is, for example, taken advantage of, with two or three sets joined together, to pass over an axis marking comprising dotted bands joined to the right or to the left of a solid line.

Le système de vision lointaine visionne donc la route en avant du véhicule, éventuellement sur une largeur suffisante pour englober les marquages d'axe et de rive.The far vision system therefore views the road ahead of the vehicle, possibly over a width sufficient to include the axis and shore markings.

Pour éviter que la qualité du repassage ne pâtisse d'éventuelles perturbations extérieures telles que de légers écarts du véhicule occasionnés par le conducteur ou de légères modifications purement locales du tracé des marquages, l'invention comporte un ou deux moyens secondaires d'asservissement suivant le nombre d'ensembles à pistolets. Pour simplifier, on présentera seulement le fonctionnement d'un moyen secondaire d'asservissement associé à un ensemble à pistolets. Dans le cas où le dispositif de l'invention comporte deux ensembles à pistolets, les deux moyens d'asservissement qui y sont associés fonctionnent de façon indépendante l'un de l'autre. Le fonctionnement du second moyen secondaire d'asservissement étant analogue à celui du premier moyen secondaire d'asservissement, décrit précédemment.To prevent the quality of the ironing from suffering from any external disturbances such as slight deviations from the vehicle caused by the driver or slight purely local modifications to the layout of the markings, the invention comprises one or two secondary control means depending on the number of gun sets. To simplify, we will only present the operation of a secondary servo means associated with a gun assembly. In the case where the device of the invention comprises two sets of guns, the two servo means which are associated with them operate independently of one another. The operation of the second secondary control means being similar to that of the first secondary control means, described above.

Selon un mode de réalisation particulier, un ensemble à pistolets ou les deux ensembles à pistolets peuvent être solidaires d'un ou de deux chariots, eux-mêmes solidaires de la partie inférieure du véhicule. Ce ou ces chariots sont reliés au véhicule par un organe de déplacement vertical, permettant, lors du transfert du véhicule de relever les chariots et d'autoriser une vitesse normale. Ces chariots sont munis de roues qui sont placées au contact de la surface de la route, par l'intermédiaire de l'organe de déplacement vertical de chariot, en vue du repassage des marquages. Le dispositif comporte également un organe de déplacement horizontal de chariot, dans une direction transversale à la direction d'avancement du véhicule. Cet organe de déplacement horizontal de chariot peut faire partie des moyens précités de déplacement horizontal de l'ensemble à pistolets. Il permet, les ensembles à pistolets étant de préférence placés à mi-course transversale par leurs moyens de réglage horizontal, de pré-positionner lesdits ensembles sensiblement au-dessus de l'axe approché du marquage à repasser. Ainsi, lors du repassage de ce marquage, le réglage horizontal et transversal des ensembles à pistolets ne sera tout au plus qu'un réglage relatif, d'une amplitude limitée. Les moyens de déplacement vertical des ensembles à pistolets, de même que leurs éventuels moyens de réglage vertical, déplacent lesdits ensembles relativement aux chariots, plus précisément, relativement à une partie des chariots maintenue à une distance sensiblement constante de la surface de la route grâce aux roues de ces chariots, pour déterminer la largeur de projection des matériaux de repassage.According to a particular embodiment, a set of pistols or the two sets of pistols may be integral with one or two carriages, themselves integral with the lower part of the vehicle. This or these carriages are connected to the vehicle by a vertical displacement member, making it possible, during the transfer of the vehicle, to raise the carriages and to allow normal speed. These trolleys are fitted with wheels which are placed in contact with the road surface, by means of the trolley vertical displacement member, for the purpose of ironing the markings. The device also includes a horizontal carriage displacement member, in a direction transverse to the direction of advance of the vehicle. This horizontal carriage displacement member may form part of the aforementioned means for horizontal displacement of the gun assembly. he allows, the pistol assemblies preferably being placed at mid-transverse stroke by their horizontal adjustment means, for pre-positioning said assemblies substantially above the axis approached by the marking to be ironed. Thus, during the ironing of this marking, the horizontal and transverse adjustment of the gun assemblies will at most be only a relative adjustment, of limited amplitude. The means for vertical displacement of the pistol assemblies, as well as their possible vertical adjustment means, move said assemblies relative to the carriages, more precisely, relative to a part of the carriages maintained at a substantially constant distance from the road surface thanks to the wheels of these carts, to determine the projection width of the ironing materials.

Les chariots sont avantageusement pourvus d'une suspension par l'intermédiaire de laquelle ils sont reliés au véhicule. Cette suspension permet de désaccoupler les mouvements verticaux du véhicule de ceux des chariots afin que ces derniers restent liés à la route.The carriages are advantageously provided with a suspension by means of which they are connected to the vehicle. This suspension makes it possible to decouple the vertical movements of the vehicle from those of the carriages so that the latter remain linked to the road.

Dans le cas où les chariots font partie du dispositif, le ou les capteurs optiques locaux sont avantageusement montés sur ces chariots.In the case where the carriages are part of the device, the local optical sensor or sensors are advantageously mounted on these carriages.

Selon un autre mode de réalisation particulier, les ensembles à pistolets sont montés sur des structures porteuses telles que des châssis, solidaires du véhicule par des organes de déplacement vertical et, éventuellement, des organes de déplacement horizontal, tandis que le ou les systèmes de vision proche sont munis de capteurs de distance. Ces derniers mesurent la distance entre les structures porteuses et la surface de la route. Si cette distance mesurée s'écarte de la hauteur cible à laquelle on souhaite maintenir les structures porteuses, le ou les moyens secondaires d'asservissement commandent les organes de déplacement vertical pour corriger l'écart constaté. Ces dispositions permettent de maintenir les pistolets à la hauteur souhaitée, même si la route présente des reliefs locaux.According to another particular embodiment, the pistol assemblies are mounted on load-bearing structures such as chassis, secured to the vehicle by vertical displacement members and, optionally, horizontal displacement members, while the vision system or systems nearby are equipped with distance sensors. These measure the distance between the supporting structures and the road surface. If this measured distance deviates from the target height at which it is desired to maintain the support structures, the secondary control means or means control the vertical displacement members to correct the difference observed. These provisions make it possible to maintain the pistols at the desired height, even if the road has local reliefs.

Les capteurs de distance sont par exemple constitués par des systèmes à ultrasons ou, plus généralement, par des systèmes de mesure sans contact.The distance sensors are for example constituted by ultrasonic systems or, more generally, by contactless measurement systems.

Les organes de déplacement vertical des structures porteuses peuvent alors jouer le rôle de moyens de déplacement vertical des ensembles à pistolets. Dans ce cas ils sont globalement commandés par l'unité de commande principale et sont, si nécessaire, recalés par l'unité de commande secondaire correspondante.The vertical displacement members of the supporting structures can then play the role of means for vertical displacement of the gun assemblies. In this case they are generally controlled by the unit of main control and are, if necessary, readjusted by the corresponding secondary control unit.

En fait, les moyens de déplacement vertical et les moyens de réglage vertical d'un ensemble à pistolets peuvent être constitués par un même organe, globalement commandé par l'unité de commande principale, et réglé de façon précise par l'unité de commande locale correspondante.In fact, the vertical displacement means and the vertical adjustment means of a gun assembly can be constituted by the same member, globally controlled by the main control unit, and precisely adjusted by the local control unit. corresponding.

Le cas échéant, il peut en aller de même pour les moyens de déplacement horizontal et les moyens de réglage horizontal d'une part, et pour les moyens de commande d'ouverture et de fermeture des pistolets et les moyens de réglage de l'ouverture et de la fermeture des pistolets d'autre part.If necessary, the same can be true for the means for horizontal displacement and the means for horizontal adjustment on the one hand, and for the means for controlling the opening and closing of the guns and the means for adjusting the opening. and closing the guns on the other hand.

Un capteur optique local peut visualiser environ 50 cm de largeur de route. Avantageusement, le système de vision proche comporte des moyens pour traiter l'image visualisée ligne par ligne à partir d'un bord de la région visualisée. Dans une disposition préférée, chaque ligne traitée correspond à 1 centimètre de largeur de chaussée. Ce système de vision proche comporte également une mémoire fonctionnant à la façon des piles First In/First Out, qui stocke au plus 15 valeurs consécutives dont chacune correspond à une ligne traitée. Ceci permet de déterminer, au centimètre près, la largeur des traits constituant le marquage à repasser et la position des bords latéraux de ces traits. Les calculs qui suivent permettent de déterminer effectivement l'axe théorique du marquage en éliminant les sources d'erreur, de manière à caler les pistolets sur cet axe.A local optical sensor can visualize approximately 50 cm of road width. Advantageously, the near vision system includes means for processing the displayed image line by line from an edge of the displayed region. In a preferred arrangement, each line treated corresponds to 1 cm of road width. This near vision system also includes a memory operating like First In / First Out batteries, which stores at most 15 consecutive values, each of which corresponds to a processed line. This makes it possible to determine, to the nearest centimeter, the width of the lines constituting the marking to be ironed and the position of the lateral edges of these lines. The following calculations effectively determine the theoretical axis of the marking by eliminating sources of error, so as to calibrate the guns on this axis.

Le capteur optique global est avantageusement solidaire du véhicule et placé sur sa partie avant, de préférence à une hauteur suffisante pour que son champ de visualisation soit adapté à la visualisation simultanée des marquages d'axe et de rive.The global optical sensor is advantageously secured to the vehicle and placed on its front part, preferably at a height sufficient for its field of vision to be suitable for the simultaneous viewing of the axis and edge markings.

Les différentes unités de commande principales et locales, ainsi que les moyens de calcul et les moyens de traitement du signal, sont avantageusement embarqués dans le véhicule.The various main and local control units, as well as the calculation means and the signal processing means, are advantageously on board the vehicle.

L'unité de commande principale commande la connexion et la déconnexion du ou des moyens secondaires d'asservissement. Plus précisément, au cas où le système de vision lointaine repère un marquage non longitudinal, par exemple un marquage transversal d'arrêt ou un marquage médian avec des zébras, l'unité de commande principale déconnecte les moyens secondaires d'asservissement et commande la fermeture du ou des ensembles à pistolets. Au cas où les marquages non longitudinaux font place à des marquages longitudinaux, l'unité de commande principale reconnecte les moyens secondaires d'asservissement. Lorsque deux marquages sont repassés et dans le cas où seul l'un d'entre eux devient non longitudinal, la déconnexion n'affecte que l'ensemble à pistolets concerné.The main control unit controls the connection and disconnection of the secondary control means or means. More specifically, in the case where the far vision system locates a non-longitudinal marking, for example a transverse stop marking or a median marking with zebras, the main control unit disconnects the secondary servo means and controls the closing of the gun assembly (s). In the case where the non-longitudinal markings give way to longitudinal markings, the main control unit reconnects the secondary control means. When two markings are ironed and in the case where only one of them becomes non-longitudinal, the disconnection only affects the set of pistols concerned.

Dans le cas du repassage d'un marquage routier constitué par une bande continue, l'utilisation du dispositif est simplifiée, puisque l'unité de commande principale laisse les ensembles à pistolets en position d'ouverture.In the case of ironing a road marking consisting of a continuous strip, the use of the device is simplified, since the main control unit leaves the gun assemblies in the open position.

L'unité de commande principale commande les moyens de commande d'ouverture et de fermeture des ensembles à pistolets en fonction du module des marquages à repasser et de la vitesse du véhicule.The main control unit controls the means for controlling the opening and closing of the gun assemblies as a function of the module of the markings to be ironed and the speed of the vehicle.

Selon un mode préféré de réalisation, les capteurs optiques, global et locaux, sont constitués par des caméras et les moyens de traitement du signal sont des moyens de traitement d'image. Il va de soi que ces moyens de traitement du signal ou de traitement d'image peuvent être constitués par un seul système de calcul, relié aux différents capteurs optiques.According to a preferred embodiment, the optical sensors, global and local, are constituted by cameras and the signal processing means are image processing means. It goes without saying that these signal processing or image processing means can be constituted by a single calculation system, connected to the various optical sensors.

D'autres caractéristiques et avantages de la présente invention apparaîtront mieux à la lecture de la description qui suit d'un mode de réalisation de l'invention donné à titre d'exemple non limitatif. La description se réfère aux figures annexées sur lesquelles :

  • la figure 1 représente de façon schématique l'organisation des différents éléments de l'invention en position d'utilisation,
  • la figure 2 montre une partie de ces éléments en position relevée de transfert,
  • la figure 3 montre, vu de côté, un véhicule pourvu du dispositif selon l'invention,
  • la figure 4 représente un chariot vu en perspective,
  • la figure 5 est une vue en coupe longitudinale d'un chariot,
  • la figure 6 présente un organigramme du dispositif selon l'invention.
Other characteristics and advantages of the present invention will appear better on reading the following description of an embodiment of the invention given by way of non-limiting example. The description refers to the appended figures in which:
  • FIG. 1 schematically represents the organization of the various elements of the invention in the position of use,
  • FIG. 2 shows part of these elements in the raised transfer position,
  • FIG. 3 shows, seen from the side, a vehicle provided with the device according to the invention,
  • FIG. 4 represents a carriage seen in perspective,
  • FIG. 5 is a view in longitudinal section of a carriage,
  • FIG. 6 presents a flow diagram of the device according to the invention.

La figure 1 représente schématiquement, vu de face, un véhicule, tel que celui de la figure 3, pourvu du dispositif selon l'invention. L'organisation des différents éléments est explicitée par l'organigramme de la figure 6.Figure 1 shows schematically, seen from the front, a vehicle, such as that of Figure 3, provided with the device according to the invention. The organization of the different elements is explained by the flowchart in Figure 6.

Le dispositif de repassage des marquages routiers longitudinaux selon l'invention comprend un véhicule 10 et un premier ensemble à pistolets 12 destiné à projeter des matériaux de repassage sur un premier marquage routier longitudinal A.The device for ironing longitudinal road markings according to the invention comprises a vehicle 10 and a first set of pistols 12 intended to spray ironing materials onto a first longitudinal road marking A.

Ce premier ensemble à pistolets est solidaire de la partie inférieure du véhicule et dirigé vers la route. Le dispositif comporte également des premiers moyens de déplacement vertical du premier ensemble à pistolets 12. Ces moyens peuvent être constitués d'un organe 14 de déplacement vertical, par exemple une crémaillère ou un vérin hydraulique, d'un moteur 15 et d'un circuit de commande 16. Des premiers moyens de déplacement horizontal du premier ensemble à pistolets 12 sont prévus et sont destinés à déplacer ledit ensemble à pistolets dans une direction transversale à la direction de déplacement du véhicule 10. Ces moyens de déplacement horizontal peuvent être constitués par un organe 18 de déplacement horizontal, par exemple une crémaillère ou un vérin hydraulique, un moteur 19 et d'un circuit de commande 20. Le dispositif comporte en outre des premiers moyens de commande d'ouverture et de fermeture du premier ensemble à pistolets 12. Ces moyens sont par exemple constitués par une vanne ou un clapet 22, un moteur 23 et un actuateur 24.This first set of pistols is integral with the lower part of the vehicle and directed towards the road. The device also comprises first means for vertical displacement of the first set of pistols 12. These means may consist of a member 14 of vertical displacement, for example a rack or a hydraulic cylinder, a motor 15 and a circuit 16. First horizontal displacement means of the first pistol assembly 12 are provided and are intended to move said pistol assembly in a direction transverse to the direction of movement of the vehicle 10. These horizontal displacement means can be constituted by a member 18 for horizontal movement, for example a rack or a hydraulic cylinder, a motor 19 and a control circuit 20. The device also comprises first means for controlling the opening and closing of the first set of pistols 12. These means are for example constituted by a valve or a valve 22, a motor 23 and an actuator 24.

Ce dispositif comporte, en outre, un moyen principal d'asservissement comprenant un système de vision lointaine associé à une unité de commande principale UCP. Le système de vision lointaine comporte un capteur optique global 30 pour visualiser la chaussée et les marquages, ainsi que des moyens de traitement du signal TS et des moyens de calcul MC pour déterminer, en fonction de l'image du capteur optique global 30, la largeur L, le module M et la position de l'axe longitudinal approché du marquage A à repasser.This device further comprises a main servo means comprising a far vision system associated with a main control unit UCP. The far vision system comprises a global optical sensor 30 for visualizing the roadway and the markings, as well as signal processing means TS and calculation means MC to determine, as a function of the image of the global optical sensor 30, the width L, module M and the position of the longitudinal axis approached by marking A to be ironed.

L'unité de commande principale UCP est destinée à commander les premiers moyens 14,15,16 de déplacement vertical du premier ensemble à pistolets 12, de manière à faire correspondre la largeur de projection des matériaux de repassage avec la largeur L du premier marquage A à repasser. C'est donc en réglant la hauteur des pistolets par rapport à la route que l'on adapte la largeur de projection à celle du marquage, ce qui, l'orientation des pistolets par rapport à la route restant inchangée, se fait de manière très précise.The main control unit UCP is intended to control the first means 14, 15, 16 for vertical displacement of the first set of guns 12, so as to match the projection width of the ironing materials with the width L of the first marking A to redo. It is therefore by adjusting the height of the pistols relative to the road that the projection width is adapted to that of the marking, which, the orientation of the pistols relative to the road remaining unchanged, is done very precise.

Cette unité de commande principale UCP sert également à commander les premiers moyens 18, 19, 20 de déplacement horizontal du premier ensemble à pistolets 12, de manière à le placer au-dessus de l'axe longitudinal approché du premier marquage à repasser. L'unité de commande principale UCP sert encore à commander les moyens 22, 23, 24 de commande d'ouverture et de fermeture du premier ensemble à pistolets 12, de manière à faire correspondre les séquences de projection de matériaux de repassage avec le module M du premier marquage A à repasser.This main control unit UCP also serves to control the first means 18, 19, 20 for horizontal displacement of the first set of guns 12, so as to place it above the longitudinal axis approached by the first marking to be ironed. The main control unit UCP also serves to control the means 22, 23, 24 for controlling the opening and closing of the first set of guns 12, so as to match the sequences of projection of ironing materials with the module M of the first marking A to be ironed.

De plus, le dispositif selon l'invention comporte un premier moyen secondaire d'asservissement comprenant un premier système de vision proche associé à une première unité de commande locale UCL1. Ce premier système de vision proche comporte un premier capteur optique local 40, placé à proximité du premier ensemble à pistolets 12 et destiné à visualiser localement le premier marquage A à repasser. Le premier capteur optique local 40 est associé à des moyens de traitement du signal TS1 et à des moyens de calculs MC1 pour déterminer la position de l'axe longitudinal théorique du premier marquage à repasser.In addition, the device according to the invention comprises a first secondary control means comprising a first near vision system associated with a first local control unit UCL1. This first near vision system comprises a first local optical sensor 40, placed near the first set of pistols 12 and intended to locally display the first marking A to be ironed. The first local optical sensor 40 is associated with signal processing means TS1 and with calculation means MC1 to determine the position of the theoretical longitudinal axis of the first marking to be ironed.

Dans l'exemple représenté, la première unité de commande locale UCL1 commande des premiers moyens de réglage horizontal du premier ensemble à pistolets 12, de manière à corriger la position dudit ensemble et à la faire coïncider avec l'axe longitudinal théorique du premier marquage A à repasser. Ces premiers moyens de réglage horizontal comprennent un organe de déplacement horizontal 42, un moteur 43 et un circuit de commande 44.In the example shown, the first local control unit UCL1 controls the first horizontal adjustment means of the first set of pistols 12, so as to correct the position of said set and to make it coincide with the theoretical longitudinal axis of the first marking A to redo. These first horizontal adjustment means comprise a horizontal displacement member 42, a motor 43 and a control circuit 44.

Bien entendu, si l'axe approché et l'axe théorique coïncident, l'unité de commande locale ne commande aucun réglage horizontal supplémentaire de l'ensemble à pistolets.Of course, if the approached axis and the theoretical axis coincide, the local control unit does not control any additional horizontal adjustment of the gun assembly.

De manière avantageuse, comme le montre la partie droite de la figure 1, le dispositif de l'invention comporte en outre un second ensemble à pistolets 13, solidaire de la partie inférieure du véhicule 10, dirigé vers la route et destiné à projeter des matériaux de repassage sur un second marquage routier longitudinal A'. Ces deux ensembles à pistolets 12 et 13 sont par exemple respectivement placés en axe et en rive de la route.Advantageously, as shown in the right-hand part of FIG. 1, the device of the invention further comprises a second set of pistols 13, integral with the lower part of the vehicle 10, directed towards the road and intended to project materials ironing on a second longitudinal road marking A '. These two sets of pistols 12 and 13 are for example respectively placed in axis and on the bank of the road.

Il est alors prévu, pour le second ensemble à pistolets 13, des seconds moyens de déplacement vertical 14', 15', 16', des seconds moyens de déplacement horizontal 18', 19', 20' transversalement à la direction d'avancement du véhicule, et des seconds moyens de commande d'ouverture et de fermeture 22', 23', 24'. Dans ce cas, le système de vision lointaine comporte des moyens (capteur optique global 30, moyens de traitement du signal TS et moyens de calcul MC) pour déterminer les largeurs L et L', les modules M et M' et les positions des axes longitudinaux approchés des deux marquages A et A' à repasser.There is then provided, for the second set of pistols 13, second means for vertical displacement 14 ′, 15 ′, 16 ′, second means for horizontal movement 18 ′, 19 ′, 20 ′ transversely to the direction of advance of the vehicle, and second opening and closing control means 22 ′, 23 ′, 24 ′. In this case, the far vision system comprises means (global optical sensor 30, signal processing means TS and calculation means MC) for determining the widths L and L ', the modules M and M' and the positions of the axes longitudinal approaches of the two markings A and A 'to be ironed.

L'unité de commande principale UCP est alors destinée à commander simultanément les premiers et les seconds moyens de déplacement vertical des premier et second ensembles à pistolets 12 et 13, les premiers et les seconds moyens de déplacement horizontal des premier et second ensembles à pistolets et les premiers et les seconds moyens de commande d'ouverture et de fermeture des premier et second ensembles à pistolets, ceci de manière à faire correspondre les largeurs de projection de matériaux de repassage de chaque ensemble à pistolets avec les largeurs L et L' des deux marquages à repasser, à placer chacun des deux ensembles à pistolets respectivement au-dessus des deux axes approchés des deux marquages à repasser et à faire correspondre les séquences de projection aux modules M et M' des deux marquages à repasser.The main control unit UCP is then intended to simultaneously control the first and second means for vertical displacement of the first and second gun assemblies 12 and 13, the first and second means for horizontal displacement of the first and second gun assemblies and the first and second means for controlling the opening and closing of the first and second gun assemblies, this so as to match the projection widths of ironing materials of each gun assembly with the widths L and L 'of the two ironing marks, placing each of the two gun sets respectively above the two approximate axes of the two ironing marks and making the projection sequences correspond to the modules M and M 'of the two ironing marks.

Un second moyen secondaire d'asservissement est prévu pour le second ensemble à pistolets 13. Il comprend un second système de vision proche et une seconde unité de commande locale. A l'instar du premier, le second système de vision proche comporte un second capteur optique local 40', placé à proximité du second ensemble à pistolets 13 et destiné à visualiser localement le second marquage à repasser. Ce capteur 40' est associé à des moyens de traitement du signal TS2 et à des moyens de calcul MC2 pour déterminer la position de l'axe longitudinal théorique du second marquage A' à repasser. La seconde unité de commande locale UCL2 commande des seconds moyens de réglage horizontal 42', 43', 44' du second ensemble à pistolets 13, de manière à corriger sa position et à la faire coïncider avec l'axe longitudinal théorique du second marquage à repasser.A second secondary control means is provided for the second set of pistols 13. It comprises a second near vision system and a second local control unit. Like the first, the second near vision system comprises a second local optical sensor 40 ′, placed near the second set of pistols 13 and intended to locally display the second marking to be ironed. This sensor 40 ′ is associated with means for processing the signal TS2 and with calculation means MC2 for determining the position of the theoretical longitudinal axis of the second marking A ′ to be ironed. The second local control unit UCL2 controls second horizontal adjustment means 42 ′, 43 ′, 44 ′ of the second set of pistols 13, so as to correct its position and make it coincide with the theoretical longitudinal axis of the second marking to iron.

Selon un mode de réalisation particulier, un ensemble à pistolets ou les deux ensembles à pistolets 12, 13 sont solidaires d'un chariot ou de deux chariots 50, 50'. Un de ces chariots est représenté en détails sur les figures 4 et 5, tandis que les positions de transfert et d'utilisation sont respectivement présentées par les figures 2 et 3. Pour simplifier, on parlera dans la suite d'un chariot 50 et d'un ensemble à pistolets 12 solidaire de ce chariot.According to a particular embodiment, a set of guns or the two sets of guns 12, 13 are integral with a carriage or two carriages 50, 50 '. One of these carriages is shown in detail in Figures 4 and 5, while the transfer and use positions are respectively presented by FIGS. 2 and 3. To simplify, we will speak hereinafter of a carriage 50 and of a pistol assembly 12 integral with this carriage.

Le chariot 50 est solidaire de la partie inférieure du véhicule 10 par l'intermédiaire d'un organe 52 de déplacement vertical de chariot, destiné à relever le chariot 50 lors du transfert du véhicule 10 et à placer ses roues 54 au contact de la surface de la route lors du repassage d'un marquage routier. Un organe 56 de déplacement horizontal de chariot, solidaire du véhicule ou de l'organe 52, est susceptible de déplacer horizontalement le chariot 50 transversalement à la direction de déplacement du véhicule 10, en vue de le placer dans une région de la route qui comporte un marquage à repasser. Cet organe 56 de déplacement horizontal peut faire partie des moyens de déplacement horizontal 18, 19, 20 ou 18', 19', 20' de l'ensemble à pistolets 12 ou 13 considéré.The carriage 50 is integral with the lower part of the vehicle 10 by means of a member 52 for vertically moving the carriage, intended to raise the carriage 50 during the transfer of the vehicle 10 and to place its wheels 54 in contact with the surface of the road when ironing a road marking. A member 56 for moving the carriage horizontally, integral with the vehicle or the member 52, is capable of moving the carriage 50 horizontally transversely to the direction of movement of the vehicle 10, with a view to placing it in a region of the road which comprises an ironing marking. This horizontal displacement member 56 may be part of the horizontal displacement means 18, 19, 20 or 18 ', 19', 20 'of the pistol assembly 12 or 13 considered.

Une suspension 58 est avantageusement prévue entre le chariot 50 et la partie inférieure du véhicule 10. Cette suspension permet, indépendamment des mouvements verticaux du véhicule, de maintenir le chariot à une hauteur constante par rapport à la surface de la route. Elle peut, par ailleurs, être associée à des moyens de blocage, susceptibles de bloquer le chariot 50 en position relevée lors de son transfert.A suspension 58 is advantageously provided between the carriage 50 and the lower part of the vehicle 10. This suspension makes it possible, independently of the vertical movements of the vehicle, to maintain the carriage at a constant height relative to the road surface. It can, moreover, be associated with blocking means, capable of blocking the carriage 50 in the raised position during its transfer.

Dans l'exemple représenté, le capteur optique local 40 ou 40' est solidaire et placé à l'intérieur d'un caisson 60 qui comporte une paroi supérieure et des parois latérales. L'extrémité libre de ces parois latérales est dirigée vers la surface de la route et est au moins à une distance très faible de cette surface. Des moyens d'éclairage 64 sont placés dans le caisson 60, de manière à éclairer la partie de la route visualisée par le capteur optique local concerné. Une bande de matière flexible 62 est avantageusement fixée aux extrémités libres des parois latérales du caisson 60, de manière à effleurer la surface de la route et à empêcher tout éclairage naturel de l'intérieur du caisson.In the example shown, the local optical sensor 40 or 40 ′ is integral and placed inside a box 60 which has an upper wall and side walls. The free end of these side walls is directed towards the road surface and is at least at a very short distance from this surface. Lighting means 64 are placed in the box 60, so as to illuminate the part of the road viewed by the local optical sensor concerned. A strip of flexible material 62 is advantageously fixed to the free ends of the side walls of the box 60, so as to graze the surface of the road and to prevent any natural light from inside the box.

Selon une variante non représentée, on peut remplacer chaque chariot par une structure porteuse, solidaire du véhicule mais n'entrant pas en contact avec la route. Cette structure, qui porte l'ensemble à pistolets correspondant, est alors reliée au véhicule par des organes de déplacement vertical.According to a variant not shown, each carriage can be replaced by a support structure, integral with the vehicle but not coming into contact with the road. This structure, which carries the corresponding pistol assembly, is then connected to the vehicle by vertical displacement members.

Ces organes sont commandés de manière à placer la structure porteuse, et donc l'ensemble à pistolets qu'elle porte, à une hauteur déterminée au-dessus de la route.These members are controlled so as to place the supporting structure, and therefore the pistol assembly which it carries, at a determined height above the road.

Le système de vision proche associé à l'ensemble à pistolets que porte la structure porteuse, comporte un capteur de distance qui mesure la hauteur par rapport à la route.The near vision system associated with the pistol assembly carried by the supporting structure, includes a distance sensor which measures the height relative to the road.

Pour éviter que la largeur de projection ne soit altérée par d'éventuelles irrégularités de la surface de la route détectées par le capteur de distance, les organes de déplacement vertical de la structure porteuse sont commandés, de préférence par le moyen secondaire d'asservissement correspondant, de manière à garder constante la hauteur de la structure porteuse par rapport à la route.To prevent the projection width from being altered by possible road surface irregularities detected by the distance sensor, the vertical displacement members of the supporting structure are controlled, preferably by the corresponding secondary servo means , so as to keep the height of the supporting structure constant with respect to the road.

La structure peut également être associée à des organes de déplacement horizontal, servant à la placer globalement dans l'axe du marquage à repasser.The structure can also be associated with horizontal displacement members, serving to place it globally in the axis of the marking to be ironed.

En fait, les organes de déplacement vertical et horizontal de la structure porteuse peuvent respectivement faire partie des moyens de déplacement vertical et horizontal de l'ensemble à pistolets correspondant et être commandés par l'unité de commande principale en fonction de la largeur et de la position de l'axe approché du marquage à repasser.In fact, the vertical and horizontal displacement members of the support structure can respectively be part of the vertical and horizontal displacement means of the corresponding gun assembly and can be controlled by the main control unit as a function of the width and the position of the approximate axis of the marking to be ironed.

Pour s'adapter aux caractéristiques locale du marquage à repasser, déterminées par le système de vision proche, ces organes de déplacement horizontal et vertical peuvent ensuite être commandés par le moyen secondaire d'asservissement correspondant. Dans ce cas, les moyens de réglage horizontal précités font partie des organes de déplacement horizontal.To adapt to the local characteristics of the marking to be ironed, determined by the near vision system, these horizontal and vertical displacement members can then be controlled by the corresponding secondary servo means. In this case, the above-mentioned horizontal adjustment means are part of the horizontal displacement members.

De manière alternative, on peut munir l'ensemble à pistolets de moyens de réglage horizontal, mais aussi vertical, commandés localement par le moyen secondaire d'asservissement correspondant, et déplaçant l'ensemble à pistolets par rapport à la structure porteuse.Alternatively, it is possible to provide the gun assembly with horizontal, but also vertical adjustment means, locally controlled by the corresponding secondary servo means, and moving the gun assembly relative to the supporting structure.

Le capteur optique local 40 ou 40' et le caisson 60 peuvent être montés sur le chariot 50 ou 50', ou sur la structure porteuse. Le capteur optique local est, de préférence, au moins partiellement solidaire en déplacement horizontal de l'ensemble à pistolets correspondant, mais il n'accompagne pas nécessairement le réglage horizontal.The local optical sensor 40 or 40 ′ and the box 60 can be mounted on the carriage 50 or 50 ′, or on the supporting structure. The local optical sensor is preferably at least partially integral in horizontal displacement with the corresponding gun assembly, but it does not necessarily accompany the horizontal adjustment.

Un capteur optique local 40 ou 40' visualise de préférence environ 50 cm de largeur de route.A local optical sensor 40 or 40 ′ preferably displays approximately 50 cm of road width.

Le système de vision proche comporte avantageusement des moyens de traitement du signal et des moyens de calcul pour traiter l'image visualisée ligne par ligne, à partir d'un bord de la région visualisée. Dans une disposition préférée, chaque ligne traitée correspond à 1 centimètre de largeur de chaussée. Chaque ligne se rapportant à une valeur calculée, un maximum de 15 valeurs consécutives sont alors stockées, de manière à déterminer la position des deux bords latéraux du marquage à repasser et à déterminer l'axe réel de ce marquage. Bien que le nombre de valeurs stockées soit de préférence limité à 15, on peut fixer ce nombre à 20 ou plus suivant les capacités de mémoire et la précision recherchée.The near vision system advantageously comprises signal processing means and calculation means for processing the displayed image line by line, from an edge of the displayed region. In a preferred arrangement, each line treated corresponds to 1 cm of road width. Each line relating to a calculated value, a maximum of 15 consecutive values are then stored, so as to determine the position of the two lateral edges of the marking to be ironed and to determine the real axis of this marking. Although the number of stored values is preferably limited to 15, this number can be fixed at 20 or more depending on the memory capacities and the precision sought.

Le capteur optique global 30 est avantageusement solidaire de la partie avant du véhicule.The overall optical sensor 30 is advantageously secured to the front part of the vehicle.

Il est avantageux que, lorsque le système de vision lointaine repère un marquage non longitudinal de la route, l'unité de commande principale UCP du moyen principal d'asservissement déconnecte le premier et/ou le second moyen secondaire d'asservissement et commande la fermeture du premier et/ou du second ensemble à pistolets.It is advantageous that, when the far vision system locates a non-longitudinal marking of the road, the main control unit UCP of the main servo means disconnects the first and / or the second secondary servo means and commands the closing the first and / or second set of pistols.

Dans ce cas, il est en outre avantageux que, lorsque le système de vision lointaine repère un marquage longitudinal de la route faisant suite à un marquage non longitudinal, l'unité de commande principale UCP reconnecte le premier et/ou le second moyen secondaire d'asservissement et commande les premiers et/ou les seconds moyens de commande d'ouverture et de fermeture des ensembles à pistolets 12, 13.In this case, it is also advantageous that, when the far vision system locates a longitudinal marking of the road following a non-longitudinal marking, the main control unit UCP reconnects the first and / or the second secondary means d servo and controls the first and / or second means for controlling the opening and closing of the gun assemblies 12, 13.

L'unité de commande principale UCP commande avantageusement les moyens de commande d'ouverture et de fermeture des ensembles à pistolets en fonction du module M des marquages à repasser et en prenant en compte la donnée de la vitesse d'avancement du véhicule.The main control unit UCP advantageously controls the means for controlling the opening and closing of the pistol assemblies as a function of the module M of the markings to be ironed and taking into account the data of the forward speed of the vehicle.

Les capteurs optiques 30, 40, 40' sont de préférence des caméras, les moyens de traitement du signal étant alors des moyens de traitement d'image.The optical sensors 30, 40, 40 ′ are preferably cameras, the signal processing means then being image processing means.

Claims (16)

Dispositif de repassage des marquages routiers longitudinaux comprenant
   un véhicule (10),
   un premier ensemble à pistolets (12) destiné à projeter des matériaux de repassage sur un premier marquage routier longitudinal (A), solidaire de la partie inférieure du véhicule (10) et dirigé vers la route,
   des premiers moyens (22, 23, 24) de commande d'ouverture et de fermeture du premier ensemble à pistolets (12),
   un premier système de vision proche associé à une première unité de commande locale (UCL1), ledit premier système de vision proche comportant un premier capteur optique local (40) placé à proximité du premier ensemble à pistolets (12) et destiné à visualiser localement le premier marquage (A) à repasser, ledit premier capteur optique local (40) étant associé à des moyens de traitement du signal (TS1) et à des moyens de calcul (MC1)) pour déterminer la position de l'axe longitudinal théorique du premier marquage (A) à repasser, le dispositif comportant en outre des moyens (42, 43, 44 ; 14, 15, 16 ; 18, 19, 20 ; 56) de positionnement du premier ensemble à pistolets,
le dispositif étant caractérisé en ce que lesdits moyens de positionnement comprennent :
   des premiers moyens (14, 15, 16) de déplacement vertical du premier ensemble à pistolets (12),
   des premiers moyens (18, 19, 20 ; 56) de déplacement horizontal du premier ensemble à pistolets (12), destinés à déplacer ledit ensemble (12) horizontalement, dans une direction transversale à la direction de déplacement du véhicule (10), et
   des premiers moyens (42, 43, 44) de réglage du premier ensemble à pistolets,
   en ce que le dispositif comporte, en outre, un moyen principal d'asservissement comprenant un système de vision lointaine associé à une unité de commande principale (UCP), ledit système de vision lointaine comportant un capteur optique global (30) pour visualiser la largeur (L), le module (M) et la position de l'axe longitudinal du premier marquage à repasser, associé à des moyens de traitement du signal (TS) et à des moyens de calcul (MC) pour déterminer la largeur (L), le module (M) et la position de l'axe longitudinal approché du premier marquage (A) à repasser, ladite unité de commande principale (UCP) étant destinée à commander les premiers moyens (14, 15, 16) de déplacement vertical du premier ensemble à pistolets (12), de manière à faire correspondre la largeur de projection des matériaux de repassage avec la largeur (L) du premier marquage à repasser, à commander les premiers moyens (18, 56, 19, 20) de déplacement horizontal du premier ensemble à pistolets (12), de manière à placer ledit ensemble (12) au-dessus de l'axe longitudinal approché du premier marquage à repasser, et à commander les premiers moyens (22, 23, 24) de commande d'ouverture et de fermeture du premier ensemble à pistolets (12), de manière à faire correspondre les séquences de projection de matériaux de repassage avec le module (M) du premier marquage à repasser, et
   en ce que ledit premier système de vision proche et la première unité de commande locale (UCL1) font partie d'un premier moyen secondaire d'asservissement, ladite première unité de commande locale (UCL1) étant destinée à commander lesdits premiers moyens (42, 43, 44) de réglage du premier ensemble à pistolets (12), de manière à corriger les commandes de l'unité de commande principale (UCP).Longitudinal road marking ironing device comprising
a vehicle (10),
a first set of guns (12) intended to project ironing materials onto a first longitudinal road marking (A), integral with the lower part of the vehicle (10) and directed towards the road,
first means (22, 23, 24) for controlling the opening and closing of the first set of pistols (12),
a first near vision system associated with a first local control unit (UCL1), said first near vision system comprising a first local optical sensor (40) placed near the first set of guns (12) and intended to locally view the first marking (A) to be ironed, said first local optical sensor (40) being associated with signal processing means (TS1) and calculation means (MC1)) to determine the position of the theoretical longitudinal axis of the first marking (A) to be ironed, the device further comprising means (42, 43, 44; 14, 15, 16; 18, 19, 20; 56) for positioning the first set of guns,
the device being characterized in that said positioning means comprise:
first means (14, 15, 16) for vertical displacement of the first set of pistols (12),
first means (18, 19, 20; 56) for horizontal movement of the first gun assembly (12), intended to move said assembly (12) horizontally, in a direction transverse to the direction of movement of the vehicle (10), and
first means (42, 43, 44) for adjusting the first set of pistols,
in that the device further comprises a main servo means comprising a far vision system associated with a main control unit (UCP), said far vision system comprising a global optical sensor (30) for viewing the width (L), the module (M) and the position of the longitudinal axis of the first marking to be ironed, associated with signal processing means (TS) and with means computer (MC) to determine the width (L), the module (M) and the position of the approximate longitudinal axis of the first marking (A) to be ironed, said main control unit (UCP) being intended to control the first means (14, 15, 16) for vertical displacement of the first set of guns (12), so as to match the projection width of the ironing materials with the width (L) of the first marking to be ironed, to control the first means (18, 56, 19, 20) for horizontal displacement of the first set of pistols (12), so as to place said set (12) above the longitudinal axis approached by the first marking to be ironed, and to control the first means (22, 23, 24) for controlling the opening and closing of the first set of guns (12), so as to match the sequences of projection of ironing materials with the module (M) of the first marking to be ironed, and
in that said first near vision system and the first local control unit (UCL1) are part of a first secondary control means, said first local control unit (UCL1) being intended to control said first means (42, 43, 44) for adjusting the first gun assembly (12), so as to correct the commands of the main control unit (UCP). Dispositif selon la revendication 1, caractérisée en ce qu'il comporte, en outre :
   un second ensemble à pistolets (13) solidaire de la partie inférieure du véhicule (10), dirigé vers la route et destiné à projeter des matériaux de repassage sur un second marquage routier longitudinal,
   des moyens (14', 15', 16' ; 18', 19', 20' ; 42', 43', 44') de positionnement du second ensemble à pistolets, comprenant des seconds moyens (14',15',16') de déplacement vertical du second ensemble à pistolets (13) et des seconds moyens (18', 19', 20') de déplacement horizontal du second ensemble à pistolets (13), destinés à déplacer ledit second ensemble à pistolets (13) horizontalement, dans une direction transversale à la direction du déplacement du véhicule (10),
   des seconds moyens (22', 23', 24') de commande d'ouverture et de fermeture du second ensemble à pistolets (13),
   des seconds moyens (42', 43', 44') de réglage du second ensemble à pistolets,
en ce que le système de vision lointaine comporte des moyens pour déterminer les largeurs (L, L'), les modules (M, M') et les positions des axes longitudinaux approchés des premier et second marquages (A, A') à repasser,
en ce que l'unité de commande principale (UCP) est destinée à commander simultanément les premiers moyens (14, 15, 16) de déplacement vertical, les premiers moyens (18, 19, 20) de déplacement horizontal et les premiers moyens (22, 23, 24) de commande d'ouverture et de fermeture du premier ensemble à pistolets (12) d'une part, et les seconds moyens (14', 15', 16') de déplacement vertical, les seconds moyens (18', 19', 20') de déplacement horizontal et les seconds moyens (22', 23', 24') de commande d'ouverture et de fermeture du second ensemble à pistolets (13) d'autre part, de manière à faire correspondre les largeurs de projection des premier et second ensembles à pistolets (12, 13) avec les largeurs (L, L') des premier et second marquages à repasser, à placer lesdits premier et second ensembles (12, 13) respectivement au-dessus des axes approchés des premier et second marquages à repasser et à faire correspondre les séquences de projection des premier et second ensembles à pistolets (12, 13) avec les modules (M, M') des premier et second marquages à repasser, et
en ce qu'il comporte en outre un second moyen secondaire d'asservissement comprenant un second système de vision proche et une seconde unité de commande locale (UCL2), ledit second système de vision proche comportant un second capteur optique local (40') placé à proximité du second ensemble à pistolets (13) et destiné à visualiser localement le second marquage (A') à repasser, ledit second capteur optique local (40') étant associé à des moyens de traitement du signal (TS2) et à des moyens de calcul (MC2) pour déterminer la position de l'axe longitudinal théorique du second marquage à repasser, ladite seconde unité de commande locale (UCL2) étant destinée à commander lesdits seconds moyens (42', 43', 44') de réglage du second ensemble à pistolets (13), de manière à corriger les commandes de l'unité de commande principale.Device according to claim 1, characterized in that it further comprises:
a second set of pistols (13) secured to the lower part of the vehicle (10), directed towards the road and intended to project ironing materials onto a second longitudinal road marking,
means (14 ', 15', 16 ';18', 19 ', 20'; 42 ', 43', 44 ') for positioning the second gun assembly, comprising second means (14', 15 ', 16 ') for vertical displacement of the second pistol assembly (13) and second means (18', 19 ', 20') for horizontal displacement of the second pistol assembly (13), intended to move said second pistol assembly (13) horizontally, in a direction transverse to the direction of movement of the vehicle (10),
second means (22 ', 23', 24 ') for controlling the opening and closing of the second set of pistols (13),
second means (42 ′, 43 ′, 44 ′) for adjusting the second set of guns,
in that the far vision system includes means for determining the widths (L, L '), the modules (M, M') and the positions of the approximate longitudinal axes of the first and second markings (A, A ') to be ironed ,
in that the main control unit (UCP) is intended to simultaneously control the first means (14, 15, 16) of vertical movement, the first means (18, 19, 20) of horizontal movement and the first means (22 , 23, 24) for opening and closing control of the first set of pistols (12) on the one hand, and the second means (14 ', 15', 16 ') for vertical movement, the second means (18' , 19 ', 20') for horizontal movement and the second means (22 ', 23', 24 ') for controlling the opening and closing of the second set of guns (13) on the other hand, so as to make them correspond the projection widths of the first and second sets of pistols (12, 13) with the widths (L, L ') of the first and second ironing marks, to place said first and second sets (12, 13) respectively above the approximate axes of the first and second markings to be ironed and to match the projection sequences of the first and second lessons pistol guns (12, 13) with the modules (M, M ') of the first and second ironing marks, and
in that it further comprises a second secondary servo means comprising a second near vision system and a second local control unit (UCL2), said second near vision system comprising a second local optical sensor (40 ') placed near the second set of pistols (13) and intended to locally display the second marking (A ') to be ironed, said second local optical sensor (40') being associated with signal processing means (TS2) and with means computer (MC2) to determine the position of the theoretical longitudinal axis of the second ironing marking, said second local control unit (UCL2) being intended to control said second means (42 ', 43', 44 ') for adjusting the second set of guns (13), so as to correct the commands of the main control unit. Dispositif selon l'une des revendications 1 et 2, caractérisé en ce que les moyens de réglage du premier ensemble à pistolets (12), respectivement du second ensemble à pistolets (13), comportent des moyens de réglage horizontal (42, 43, 44 ; 42', 43', 44') dudit ensemble à pistolets.Device according to either of Claims 1 and 2, characterized in that the adjustment means of the first gun assembly (12) and of the second gun assembly (13), respectively, comprise horizontal adjustment means (42, 43, 44 ; 42 ', 43', 44 ') of said pistol assembly. Dispositif selon l'une quelconque des revendications 1 à 3, caractérisé en ce que les moyens de réglage du premier ensemble à pistolets (12), respectivement du second ensemble à pistolets (13) comportent des moyens de réglage vertical dudit ensemble à pistolets.Device according to any one of claims 1 to 3, characterized in that the adjustment means of the first gun assembly (12), respectively of the second gun assembly (13) comprise means for vertical adjustment of said gun assembly. Dispositif selon l'une quelconque des revendications 1 à 4, caractérisé en ce que les moyens de réglage du premier ensemble à pistolets (12), respectivement du second ensemble à pistolets (13) comportent des moyens de réglage de l'ouverture et de la fermeture dudit ensemble à pistolets.Device according to any one of Claims 1 to 4, characterized in that the means for adjusting the first gun assembly (12) and the second gun assembly (13), respectively, comprise means for adjusting the opening and the closing said gun assembly. Dispositif selon l'une quelconque des revendications 1 à 5, caractérisé en ce qu'au moins l'un des premier et second ensembles à pistolets (12, 13) est solidaire d'un chariot (50, 50'), solidaire de la partie inférieure du véhicule (10) par l'intermédiaire d'un organe (52) de déplacement vertical de chariot destiné à relever ledit chariot (50) lors du transfert du véhicule et à placer les roues (54) de ce chariot au contact de la surface de la route lors du repassage d'un marquage routier longitudinal, et d'un organe (56) de déplacement horizontal de chariot, pour déplacer horizontalement le chariot (50) dans une direction transversale à la direction de déplacement du véhicule (10), en vue de placer ledit chariot dans une région de la route qui comporte un marquage longitudinal à repasser.Device according to any one of claims 1 to 5, characterized in that at least one of the first and second gun assemblies (12, 13) is integral with a carriage (50, 50 '), integral with the lower part of the vehicle (10) by means of a member (52) for vertically moving the carriage intended to raise said carriage (50) during the transfer of the vehicle and to place the wheels (54) of this carriage in contact with the surface of the road when ironing a longitudinal road marking, and of a member (56) for horizontal movement of the carriage, for horizontally moving the carriage (50) in a direction transverse to the direction of movement of the vehicle (10 ), with a view to placing said carriage in a region of the road which has a longitudinal marking to be ironed. Dispositif selon la revendication 6, caractérisé en ce qu'il comprend en outre une suspension (58) prévue entre le chariot (50) et la partie inférieure du véhicule (10), de telle façon que le chariot soit maintenu à hauteur constante par rapport à la surface de la route.Device according to claim 6, characterized in that it further comprises a suspension (58) provided between the carriage (50) and the lower part of the vehicle (10), so that the carriage is kept at constant height relative to on the road surface. Dispositif selon l'une quelconque des revendications 1 à 4, caractérisé en ce qu'il comporte une première structure porteuse, respectivement une deuxième structure porteuse, solidaire du véhicule par l'intermédiaire d'organes de déplacement vertical et portant le premier ensemble à pistolets (12), respectivement le deuxième ensemble à pistolets (13), en ce que le premier système de vision proche, respectivement le deuxième système de vision proche, comporte un capteur de distance destiné à mesurer la hauteur de ladite structure porteuse par rapport à la surface de la route et en ce que, en fonction de ladite hauteur, le premier moyen secondaire d'asservissement, respectivement le deuxième moyen secondaire d'asservissement, est susceptible de commander les organes de déplacement vertical de la première structure porteuse, respectivement de la deuxième structure porteuse.Device according to any one of claims 1 to 4, characterized in that it comprises a first support structure, respectively a second support structure, secured to the vehicle by means of vertical displacement members and carrying the first set of pistols (12), respectively the second pistol assembly (13), in that the first near vision system, respectively the second near vision system, comprises a distance sensor intended to measure the height of said supporting structure relative to the road surface and in that, as a function of said height, the first secondary control means, respectively the second secondary control means, is capable of controlling the vertical displacement members of the first support structure, respectively of the second supporting structure. Dispositif selon la revendication 8, caractérisé en ce que les organes de déplacement vertical de la première structure porteuse, respectivement de la deuxième structure porteuse, jouent le rôle de premiers moyens de déplacement vertical du premier ensemble à pistolets, respectivement de seconds moyens de déplacement vertical du second ensemble à pistolets.Device according to claim 8, characterized in that the vertical displacement members of the first support structure, respectively of the second support structure, play the role of first means of vertical displacement of the first set of guns, respectively of second means of vertical displacement of the second set of pistols. Dispositif selon l'une quelconque des revendications 1 à 9, caractérisé en ce que le premier et/ou le second capteur optique local (40, 40') est solidaire en déplacement horizontal du premier et/ou du second ensemble à pistolets (12, 13).Device according to any one of Claims 1 to 9, characterized in that the first and / or the second local optical sensor (40, 40 ') is integral in horizontal displacement with the first and / or with the second gun assembly (12, 13). Dispositif selon l'une quelconque des revendications 1 à 10, caractérisé en ce que le capteur optique local (40, 40') visualise environ 50 cm de largeur de route.Device according to any one of Claims 1 to 10, characterized in that the local optical sensor (40, 40 ') displays approximately 50 cm of road width. Dispositif selon l'une quelconque des revendications 1 à 9, caractérisé en ce que le système de vision proche comporte des moyens pour traiter ligne par ligne l'image visualisée par le capteur optique local (40, 40'), chacune desdites lignes correspondant à 1 centimètre de largeur de chaussée et pour stocker au plus 15 valeurs consécutives de lignes, de manière à déterminer la position des deux bords latéraux du marquage à repasser et à déterminer l'axe théorique de ce marquage.Device according to any one of Claims 1 to 9, characterized in that the near vision system comprises means for processing line by line the image displayed by the local optical sensor (40, 40 '), each of said lines corresponding to 1 cm of road width and to store at most 15 consecutive values of lines, so as to determine the position of the two lateral edges of the marking to be ironed and to determine the theoretical axis of this marking. Dispositif selon l'une quelconque des revendications 1 à 12, caractérisé en ce que le capteur optique global (30) du système de vision lointaine est solidaire de la partie avant du véhicule (10).Device according to any one of claims 1 to 12, characterized in that the global optical sensor (30) of the far vision system is integral with the front part of the vehicle (10). Dispositif selon l'une quelconque des revendications 1 à 13, caractérisé en ce que, lorsque le système de vision lointaine repère un marquage non longitudinal de la route, I'unité de commande principale (UCP) du moyen principal d'asservissement déconnecte le premier et/ou le second moyen secondaire d'asservissement et commande la fermeture du premier et/ou du second ensemble à pistolets (12, 13).Device according to any one of Claims 1 to 13, characterized in that, when the far vision system locates a non-longitudinal marking of the road, the main control unit (UCP) of the main servo means disconnects the first and / or the second secondary control means and controls the closing of the first and / or of the second set of pistols (12, 13). Dispositif selon la revendication 14, caractérisé en ce que, lorsque le système de vision lointaine repère un marquage longitudinal de la route, l'unité de commande principale (UCP) du moyen principal d'asservissement reconnecte le premier et/ou le second moyen secondaire d'asservissement et commande les premiers et/ou seconds moyens de commande d'ouverture/fermeture du premier et/ou du second ensemble à pistolets (12, 13).Device according to claim 14, characterized in that, when the far vision system locates a longitudinal marking of the road, the main control unit (UCP) of the main servo means reconnects the first and / or the second secondary means servo-control and controls the first and / or second means for controlling the opening / closing of the first and / or of the second set of pistols (12, 13). Dispositif selon l'une quelconque des revendications 1 à 15, caractérisé en ce que le capteur optique global (30) est une caméra,
en ce que le premier et/ou le second capteur optique local (40, 40') est une caméra et,
en ce que les moyens de traitement du signal (TS, TS1, TS2) auxquels ces capteurs optiques sont associés, sont des moyens de traitement d'image.Device according to any one of Claims 1 to 15, characterized in that the overall optical sensor (30) is a camera,
in that the first and / or the second local optical sensor (40, 40 ') is a camera and,
in that the signal processing means (TS, TS1, TS2) with which these optical sensors are associated, are image processing means.
EP19940402030 1993-09-13 1994-09-13 Means for spraying longitudinal road markings Expired - Lifetime EP0643171B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9310852A FR2710084B1 (en) 1993-09-13 1993-09-13 Longitudinal road marking ironing device.
FR9310852 1993-09-13

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EP0643171A1 true EP0643171A1 (en) 1995-03-15
EP0643171B1 EP0643171B1 (en) 2000-07-26

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DE (1) DE69425354T2 (en)
FR (1) FR2710084B1 (en)

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FR2810053A1 (en) * 2000-06-08 2001-12-14 A2Ie Pre marker for roads has vehicle with side plate supporting paint applicator and viewing camera
FR2946669A1 (en) * 2009-09-16 2010-12-17 Jetline Horizontal lines marking vehicle i.e. lorry, for use on roadways, has screens positioned opposite to driver and passenger to assure guidance of carriages by aligning materialized line by line traced on respective screen
US20180038056A1 (en) * 2015-03-10 2018-02-08 Heritage Research Group Apparatus and Method for Applying Asphalt Binder Compositions Including Void Reducing Asphalt Membrane Compositions for Paving Applications
US10364535B2 (en) 2015-03-09 2019-07-30 Heritage Research Group Void reducing asphalt membrane composition, method and apparatus for asphalt paving applications
EA033671B1 (en) * 2016-12-01 2019-11-14 Obschestvo S Ogranichennoj Otvetstvennostyu Stroitelnaya Tekhnika I Mat Ooo Stim Automatic horizontal road marking repetition device

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DE10321932B3 (en) * 2003-05-15 2005-03-10 Fraunhofer Ges Forschung Road marking line renewal device has setting device for transverse adjustment of marking application device controlled by evaluation of signals from camera and vehicle movement measuring system
DE102008017504A1 (en) 2008-04-04 2010-01-21 Deutsches Zentrum für Luft- und Raumfahrt e.V. Device for applying road marking, has regulation unit and application unit which is arranged on road vehicle, and positioning unit is connected to data memory for determining actual position and target position of road marking
DE102013003069A1 (en) * 2013-02-22 2014-08-28 Grün GmbH Spezialmaschinenfabrik Method for maintaining constant width of line of machine for renewing e.g. warning lines on e.g. road, involves differentiating pressure value and temperature of substance to determine correct value for vertical adjustment of spray head
DE102016208582A1 (en) * 2016-05-19 2017-11-23 Bayerische Motoren Werke Aktiengesellschaft Method for outputting information from a vehicle to a road user, control unit established therefor and vehicle equipped therewith

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Cited By (9)

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Publication number Priority date Publication date Assignee Title
FR2810053A1 (en) * 2000-06-08 2001-12-14 A2Ie Pre marker for roads has vehicle with side plate supporting paint applicator and viewing camera
FR2946669A1 (en) * 2009-09-16 2010-12-17 Jetline Horizontal lines marking vehicle i.e. lorry, for use on roadways, has screens positioned opposite to driver and passenger to assure guidance of carriages by aligning materialized line by line traced on respective screen
US10364535B2 (en) 2015-03-09 2019-07-30 Heritage Research Group Void reducing asphalt membrane composition, method and apparatus for asphalt paving applications
US10435850B1 (en) 2015-03-09 2019-10-08 Heritage Research Group Void reducing asphalt membrane composition, method and apparatus for asphalt paving applications
US10480130B2 (en) 2015-03-09 2019-11-19 Heritage Research Group Void reducing asphalt membrane composition, method and apparatus for asphalt paving applications
US10907309B2 (en) 2015-03-09 2021-02-02 Heritage Research Group Void reducing asphalt membrane composition, method and apparatus for asphalt paving applications
US20180038056A1 (en) * 2015-03-10 2018-02-08 Heritage Research Group Apparatus and Method for Applying Asphalt Binder Compositions Including Void Reducing Asphalt Membrane Compositions for Paving Applications
US10465345B2 (en) * 2015-03-10 2019-11-05 Heritage Research Group Apparatus and method for applying asphalt binder compositions including void reducing asphalt membrane compositions for paving applications
EA033671B1 (en) * 2016-12-01 2019-11-14 Obschestvo S Ogranichennoj Otvetstvennostyu Stroitelnaya Tekhnika I Mat Ooo Stim Automatic horizontal road marking repetition device

Also Published As

Publication number Publication date
EP0643171B1 (en) 2000-07-26
DE69425354D1 (en) 2000-08-31
DE69425354T2 (en) 2001-03-01
FR2710084A1 (en) 1995-03-24
FR2710084B1 (en) 1996-03-01

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