EP2305578B1 - Device for collecting waste such as a waste collection truck - Google Patents

Device for collecting waste such as a waste collection truck Download PDF

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Publication number
EP2305578B1
EP2305578B1 EP10184435.5A EP10184435A EP2305578B1 EP 2305578 B1 EP2305578 B1 EP 2305578B1 EP 10184435 A EP10184435 A EP 10184435A EP 2305578 B1 EP2305578 B1 EP 2305578B1
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EP
European Patent Office
Prior art keywords
container
emptying
waste
bin
collection device
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.)
Revoked
Application number
EP10184435.5A
Other languages
German (de)
French (fr)
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EP2305578A1 (en
Inventor
Raoul Yvonne Janssen
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Sulo France SAS
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Sulo France SAS
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Publication of EP2305578A1 publication Critical patent/EP2305578A1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F3/00—Vehicles particularly adapted for collecting refuse
    • B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
    • B65F3/04—Linkages, pivoted arms, or pivoted carriers for raising and subsequently tipping receptacles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F1/00—Refuse receptacles; Accessories therefor
    • B65F1/14—Other constructional features; Accessories
    • B65F1/1484—Other constructional features; Accessories relating to the adaptation of receptacles to carry identification means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F3/00—Vehicles particularly adapted for collecting refuse
    • B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
    • B65F2003/022—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto the discharging means comprising a device for determining the weight of the content of refuse receptacles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F3/00—Vehicles particularly adapted for collecting refuse
    • B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
    • B65F2003/0293—Means mounted on the vehicle for supporting the refuse receptacle in the tipping position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F3/00—Vehicles particularly adapted for collecting refuse
    • B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
    • B65F2003/0293—Means mounted on the vehicle for supporting the refuse receptacle in the tipping position
    • B65F2003/0296—Means mounted on the vehicle for supporting the refuse receptacle in the tipping position the supporting means mounted on the discharging means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F2210/00—Equipment of refuse receptacles
    • B65F2210/124—Counting means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F2210/00—Equipment of refuse receptacles
    • B65F2210/128—Data transmitting means

Definitions

  • the document DE4125312A1 discloses such a collection truck with a waste collection device comprising means for moving a waste container between a receiving position and an emptying position, in which the container is inclined so as to drop the waste into the collection device, the collection device further comprising so-called emptying detection means, capable of detecting that the bin has been moved to the emptying position, means for identifying the waste bin, identifying the bac thus makes it possible to associate with a given bin, or with its owner, the information according to which emptying has taken place or not, with a view to correct invoicing of the owner and a method according to the preamble of claim 8.
  • the collection truck may recognize the bin of an owner who has not paid their bills and block the emptying process, or even, unintentionally, a malfunction of the lift arm may prevent emptying. Tray. However, it is interesting to know whether a bin that was received by the collection truck has actually been emptied or not, for example to alert the operators of the bin, or even to not charge for emptying when it has not been emptied. not happened.
  • the object of the present invention is in particular to provide a waste collection device ensuring better control of the emptying process.
  • the invention relates to a waste collection device according to claim 1 comprising means for moving a waste container between a position called the receiving position and a position called the emptying position, in which the container is inclined so as to drop the waste into the collection device, the collection device further comprising so-called emptying detection means, capable of detecting that the bin has been moved to the emptying position.
  • the emptying detection means make it possible to know whether a waste bin received by the collection device has been handled by the latter until it reaches its emptying position, and therefore to know whether the bin has actually been emptied. If the detection means do not detect that the bin has been moved to the emptying position, it can be deduced from this that emptying has not taken place, and then use this information.
  • a warning can be triggered to the manipulator of the waste bin, who can then present the bin again in front of the collection device in order to restart the emptying process.
  • the proposed collection device is particularly advantageous due to the fact that, until now on traditional devices, there was no information on the precise emptying step, but possibly information indicating that the lifting process has been started. Obtain the indication that the waste bin has reached its position of emptying or not allows a more reliable account of the operations that have actually taken place.
  • the recorded information is preferably preceded by a step of measuring, during the movement of the tank, the inclination or another quantity characteristic of the position of the tank. This measurement step can be performed once or be repeated several times during the movement of the tank.
  • a collection device 10 namely a collection truck, makes it possible to move a waste bin 12 which is presented to it between a reception position (in solid lines) and an emptying position (in broken lines), during which the bin 12 is inclined so that the waste from the bin falls into a collection bin 14, under the effect of gravity.
  • the waste bin 12 is a bin mounted on casters, provided with a cover 16, mounted to pivot relative to a tank 18, such that the cover 16 opens to let the waste pass when the bin 12 is in the tank. emptying position shown on figure 1 .
  • the collection device 10 comprises means 20 for moving the container 12 between the reception position and the emptying position.
  • These displacement means 20 comprise a lifting arm 22, 24, 26, comprising a support 22 fixed to the truck 10 and configured to move vertically, a link 24 being able to pivot around two horizontal axes located at its ends, one of these axes 28 being carried by the support 22, the lifting arm further comprising a gripper 26 articulated on the rod 24 about its other axis 30.
  • the gripper 26 comprises, in its upper part, gripping means 32, which can take the form of a comb 32 intended to engage under a flange 36 of the tank 12 in order to lift the tank 12, and in its lower part, support means 34, intended to serve as a support surface at the bottom of the container 12.
  • the collection truck 10 comprises means for controlling the movement of the lifting arm 22, 24, 26.
  • the truck 10 also comprises means 38 for damping the container 12, taking the form of a bar 38 d 'damping fixed pivotally about a horizontal axis in the upper rear part of the truck 10 above the opening of the bucket 14, intended to prevent the bin 12 from tilting in the bucket when it is at the top of its upward stroke.
  • the device 10 also comprises means 40 for detecting the emptying, shown in figure 2 , capable of detecting that the bin 12 has been moved to the emptying position.
  • These detection means 40 are housed in a housing 42, arranged in the immediate vicinity of the gripping means 32.
  • the emptying detection means 40 comprise means for measuring a quantity characteristic of the position of the displacement means. 22, 24, 26. More precisely, the means 40 comprise means for the inclination ⁇ (alpha) of the tank 12, namely an angle sensor 40.
  • These measuring means are integral in movement with the gripping means 32. of the waste bin, such that the inclination ⁇ measured by the angle sensor 40 corresponds to the inclination taken by the bin 12 relative to the collection device 10.
  • the collection device 10 further comprises means for identifying the waste bin 12, preferably identification by RFID.
  • These means comprise an antenna 44, capable of interacting with an RFID tag 46 fitted on the tray 12.
  • This antenna 44 comprises a coil integrated in an epoxy material and is housed, in this example, in the same housing 42 as that in which the angle sensor 40 is housed.
  • the antenna 44 is connected to processing means 50, capable for example of processing the information transmitted and / or received by the antenna 44 and of communicating with a computer on board the truck, this computer itself communicating with a telecommunications server used for the management of waste collections, in particular for their invoicing.
  • processing means 50 are not necessarily housed in the box 42, they can be arranged in another part of the collection device, or even in a remote telecommunications terminal.
  • the angle sensor 40 is, in this example, connected to the processing means 50, whether or not they are housed in the housing 42.
  • the means for processing the information supplied by the angle sensor 40 could be. distinct from the means for processing the information supplied by the antenna 44.
  • the processing means 50 comprise recording means so as to record some or all of the angles measured, or any other information making it possible to deduce that the tank has been moved to the emptying position.
  • the angle sensor 40 is configured here such that if a measured angle exceeds a threshold value, corresponding information is stored in the processing means 50.
  • the device 10 also comprises means for stopping the movement of the container 12, according to the identification provided by the identification means 44, as described above, as well as means for measuring the weight of the waste container before and possibly after it has been emptied, as also described above.
  • the device 10 may also include warning means, activated when the container has not been moved to its emptying position, for example an audible or light signal making it possible to alert the operators of the container.
  • warning means activated when the container has not been moved to its emptying position, for example an audible or light signal making it possible to alert the operators of the container.
  • the means for stopping and / or measuring the weight and / or warning can optionally be connected to the processing means 50, so as to be controlled by the means 50 and / or supply information to the means 50.
  • the method of emptying a waste bin presented in front of the truck 10 comprises a first step of receiving the bin by the truck, during which the comb 32 is engaged under the collar 36 and during which the bin is identified, by interaction between the antenna 44 and the tag 46, followed by a step of moving the bin using the lifting arm 22, 24, 26. Simultaneously with the movement, and / or shortly after the movement, the method comprises a step recording of information indicating whether the bin has been moved to the emptying position. More precisely in this example, the angle sensor 40 measures the inclination of the tank 12, and when this inclination is greater than the threshold value for which the sensor is configured, the information is recorded to be processed subsequently. After emptying, the bin returns to its receiving position.
  • the emptying process may include a step for stopping the movement, activated after the identification (or non-identification) of the container. This stopping step is followed by a step of recording the exact angle, provided by the sensor 40, at which the lift arm has been stopped. This information can be stored in the means 50 and be processed subsequently.
  • the step of receiving the bin by the truck is followed by a step of weighing the full bin, and recording the weight.
  • the emptying is implemented, including one or more steps of measuring the inclination of the tank.
  • a second weighing step of the bin allowing the weight of the empty bin to be known, in order to deduce from the two weighings the weight of the waste alone.
  • the emptying detection means can take other forms than those of an angle sensor, they can comprise a sensor measuring a quantity characteristic of the position of the bin or of the lifting arm 22, 24, 26, or a contact sensor, for example placed on the damping bar 38 of the truck 10.
  • the emptying detection means can easily be incorporated into the collection devices currently used, regardless of their arrangement.
  • the case where the emptying detection means are housed in the same housing as that of an RFID antenna is particularly easy to implement on any type of antenna already known in the waste collection market: also well in an antenna arranged on a comb than in an antenna for reading chips placed on waste collection bins, with front or side gripping, as well as on "stick" antennas attached behind the comb of a lifting arm or a flat or block antenna used in the lifting system or on any other type of antenna.
  • the emptying detection means can be used in any collection device in which the waste bin undergoes an overturning movement.
  • angle sensor 40 can be carried by the same support as that of the antenna 44 of the identification means, or else form part of a separate box and transmit the information to a processing system arranged on the collection truck or remotely.

Description

On sait que le vidage de bacs de déchets se fait généralement en utilisant un camion de collecte, muni d'un bras de levage, capable de lever et de faire pivoter le bac de déchets afin de le vider dans une benne du camion de collecte. Le document DE4125312A1 divulgue un tel camion de collecte avec un dispositif de collecte de déchets comportant des moyens de déplacement d'un bac de déchets entre une position de réception et une position de vidage, dans laquelle le bac est incliné de façon à faire tomber les déchets dans le dispositif de collecte, le dispositif de collecte comportant en outre des moyens dits de détection du vidage, capables de détecter que le bac a été déplacé jusqu'à la position de vidage, des moyens d'identification du bac de déchets, l'identification du bac permet ainsi d'associer à un bac donné, ou à son propriétaire, l'information selon laquelle un vidage a eu lieu ou non, en vue d'une facturation correcte du propriétaire et un procédé selon le préambule de la revendication 8. Il peut arriver qu'un bac soit reçu par le camion mais qu'il ne soit pas vidé entièrement, voire qu'il ne soit pas vidé du tout, pour des raisons volontaires ou involontaires. Par exemple, de façon volontaire, le camion de collecte peut reconnaître le bac d'un propriétaire n'ayant pas réglé ses factures et bloquer le procédé de vidage, ou encore, de façon involontaire, un dysfonctionnement du bras de levage peut empêcher le vidage du bac. Or, il est intéressant de savoir si un bac qui a été reçu par le camion de collecte a effectivement été vidé ou non, par exemple pour alerter les manipulateurs du bac, ou encore pour ne pas facturer un vidage lorsque celui-ci n'a pas eu lieu.It is known that the emptying of waste bins is generally done using a collection truck, provided with a lifting arm, capable of lifting and rotating the waste bin in order to empty it into a dumpster of the collection truck. The document DE4125312A1 discloses such a collection truck with a waste collection device comprising means for moving a waste container between a receiving position and an emptying position, in which the container is inclined so as to drop the waste into the collection device, the collection device further comprising so-called emptying detection means, capable of detecting that the bin has been moved to the emptying position, means for identifying the waste bin, identifying the bac thus makes it possible to associate with a given bin, or with its owner, the information according to which emptying has taken place or not, with a view to correct invoicing of the owner and a method according to the preamble of claim 8. It is It may happen that a bin is received by the truck but that it is not completely emptied, or even that it is not emptied at all, for voluntary or involuntary reasons. For example, on purpose, the collection truck may recognize the bin of an owner who has not paid their bills and block the emptying process, or even, unintentionally, a malfunction of the lift arm may prevent emptying. Tray. However, it is interesting to know whether a bin that was received by the collection truck has actually been emptied or not, for example to alert the operators of the bin, or even to not charge for emptying when it has not been emptied. not happened.

La présente invention a notamment pour but de fournir un dispositif de collecte de déchets assurant un meilleur contrôle du procédé de vidage.The object of the present invention is in particular to provide a waste collection device ensuring better control of the emptying process.

A cet effet, l'invention a pour objet un dispositif de collecte de déchets selon la revendication 1 comportant des moyens de déplacement d'un bac de déchets entre une position dite position de réception et une position dite position de vidage, dans laquelle le bac est incliné de façon à faire tomber les déchets dans le dispositif de collecte, le dispositif de collecte comportant en outre des moyens dits de détection du vidage, capables de détecter que le bac a été déplacé jusqu'à la position de vidage.To this end, the invention relates to a waste collection device according to claim 1 comprising means for moving a waste container between a position called the receiving position and a position called the emptying position, in which the container is inclined so as to drop the waste into the collection device, the collection device further comprising so-called emptying detection means, capable of detecting that the bin has been moved to the emptying position.

Les moyens de détection du vidage permettent de savoir si un bac de déchets reçu par le dispositif de collecte a été manipulé par ce dernier jusqu'à atteindre sa position de vidage, et donc de savoir si le bac a effectivement été vidé. Si les moyens de détection ne détectent pas que le bac a été déplacé jusqu'à la position de vidage, on peut en déduire que le vidage n'a pas eu lieu, et ensuite utiliser cette information.The emptying detection means make it possible to know whether a waste bin received by the collection device has been handled by the latter until it reaches its emptying position, and therefore to know whether the bin has actually been emptied. If the detection means do not detect that the bin has been moved to the emptying position, it can be deduced from this that emptying has not taken place, and then use this information.

Par exemple, on peut déclencher un avertissement au manipulateur du bac de déchets, qui peut alors présenter à nouveau le bac devant le dispositif de collecte afin de remettre en œuvre le procédé de vidage.For example, a warning can be triggered to the manipulator of the waste bin, who can then present the bin again in front of the collection device in order to restart the emptying process.

Selon un autre exemple, on peut enregistrer l'information selon laquelle le vidage a ou n'a pas eu lieu. Cette démarche est particulièrement intéressante dans le cadre d'un service qui facture les propriétaires des bacs en fonction du nombre de vidages effectués, puisqu'elle permet d'éviter les erreurs de facturation.According to another example, it is possible to record the information that the emptying has or has not taken place. This approach is particularly interesting within the framework of a service which invoices the owners of the bins according to the number of empties carried out, since it makes it possible to avoid invoicing errors.

Le dispositif de collecte proposé est particulièrement avantageux du fait que, jusqu'à présent sur les dispositifs traditionnels, on ne disposait pas d'une information sur l'étape précise de vidage, mais éventuellement d'une information indiquant que le procédé de levage a été commencé. Obtenir l'indication que le bac de déchets a atteint sa position de vidage ou non permet de rendre compte de façon plus fiable des opérations qui ont eu effectivement lieu.The proposed collection device is particularly advantageous due to the fact that, until now on traditional devices, there was no information on the precise emptying step, but possibly information indicating that the lifting process has been started. Obtain the indication that the waste bin has reached its position of emptying or not allows a more reliable account of the operations that have actually taken place.

Le dispositif de collecte peut en outre comporter l'une ou plusieurs des caractéristiques suivantes.

  • Les moyens de détection du vidage comprennent des moyens de mesure d'une grandeur caractéristique de la position des moyens de déplacement ou du bac, tel qu'un capteur. Ce capteur permet ainsi d'indiquer que les moyens de déplacement, donc le bac, prennent la position de vidage du bac. Ce capteur de position peut être par exemple un capteur indiquant la hauteur des moyens de déplacement ou du bac.
  • Les moyens de détection du vidage comprennent des moyens de mesure de l'inclinaison du bac de déchets ou des moyens de déplacement, par exemple un capteur d'angle, ces moyens de mesure étant de préférence solidaires en déplacement avec des moyens de préhension du bac de déchets. Ainsi, on peut déterminer si le bac a une inclinaison correspondant à l'inclinaison nécessaire au vidage complet du bac, c'est-à-dire à l'inclinaison de la position de vidage. En effet, pour un dispositif de collecte donné et pour une taille de bac de déchets donnée, il est possible de déterminer une inclinaison seuil du bac, suffisante pour que les déchets se vident sous l'effet de la force de gravité. Ainsi, si l'inclinaison mesurée est inférieure à la valeur seuil, on peut considérer qu'il n'y a pas eu de vidage des déchets, et si l'inclinaison est supérieure à la valeur seuil, qu'il y en a eu un.
  • Les moyens de détection du vidage comprennent un capteur de contact disposé sur une barre d'amortissement du bac en position de vidage.
  • Le dispositif de collecte comporte en outre des moyens d'identification du bac de déchets, par exemple d'identification par radiofréquence de type RFID (Radio Frequency IDentification). L'identification du bac permet ainsi d'associer à un bac donné, ou à son propriétaire, l'information selon laquelle un vidage a eu lieu ou non, en vue d'une facturation correcte du propriétaire, cette information étant fournie notamment par les moyens de détection du vidage. Une facturation satisfaisante des propriétaires des bacs de déchets en fonction du nombre de vidages effectués permet d'encourager les citoyens à générer moins de déchets.
  • Les moyens d'identification du bac comprennent une antenne RFID logée dans un boîtier, et les moyens de détection du vidage sont logés dans un même boîtier que l'antenne RFID. Ainsi, on utilise un unique boîtier pour protéger l'antenne RFID et les moyens de détection. Outre le fait que l'on simplifie l'agencement du dispositif de collecte, une telle configuration génère peu de modifications des dispositifs de collecte actuellement utilisés et déjà munis d'une antenne RFID. En d'autres termes, la fonction de détection du vidage peut être mise en œuvre à moindre coûts sur la majorité des dispositifs de collecte.
  • Le dispositif comprend des moyens de stoppage du déplacement du bac de déchets, activés en fonction de l'identification fournie par les moyens d'identification. Ces moyens de stoppage sont activés par exemple lorsque le bac reçu par le dispositif de collecte ne présente pas d'étiquette RFID, ou encore lorsque le bac identifié fait partie d'une « liste noire », pour laquelle on refuse d'effectuer le vidage. Il est particulièrement intéressant de disposer des moyens de détection du vidage dans ce cas, car il peut arriver que les moyens de stoppage se déclenchent juste avant ou juste après le vidage du bac, ou encore qu'ils ne se déclenchent pas du tout lorsque le signal de stoppage n'a pas été reçu par le dispositif de collecte ou lorsqu'il subit un disfonctionnement. Ainsi, le fait que les moyens de stoppage aient été activés ne signifie pas forcément que le bac n'a pas été vidé, et il est donc intéressant, pour une facturation plus fiable, de déterminer si le vidage a été effectué.
  • Le dispositif de collecte comporte en outre des moyens de mesure du poids du bac de déchets avant son vidage. La mesure du poids du bac permet de facturer le propriétaire du bac en fonction de la quantité de déchets qui se trouvent dans les bacs et qui ont effectivement été vidés. On assure donc une facturation plus fiable du propriétaire du bac, puisqu'un vidage qui n'aura pas eu lieu ne sera pas facturé, alors même qu'une pesée a eu lieu préalablement. Un avantage particulier à la coexistence des moyens de mesure du poids et des moyens de détection du vidage réside dans le fait que, si l'un de ces deux moyens est défectueux, ce qui peut arriver dans un environnement relativement sale tel que la collecte de déchets, tout particulièrement pour ce qui concerne les moyens de mesure du poids dont les cellules sont fragiles et fréquemment abîmées, on conserve une information pertinente utilisable pour la facturation du propriétaire du bac, soit le poids des déchets pesés, soit l'information selon laquelle un vidage a été effectué.
  • Le dispositif de collecte comporte des moyens d'avertissement activés lorsqu'un bac n'a pas été déplacé jusqu'à sa position de vidage. Ces moyens d'avertissement peuvent prendre différentes formes, sonores, visuelles, de façon que les manipulateurs du bac de déchets puissent constater qu'un vidage n'a pas été effectué ou bien de manière à effectuer de nouveau l'opération de vidage.
  • Le dispositif comprend des moyens d'enregistrement d'une information indiquant si le bac a été déplacé jusqu'à la position de vidage. De préférence, le dispositif de collecte comporte en outre des moyens de traitement de cette information et/ou des moyens de transmission de l'information à un serveur de télécommunication.
  • Le dispositif de collecte est un camion de collecte.
The collection device may further include one or more of the following characteristics.
  • The emptying detection means comprise means for measuring a quantity characteristic of the position of the displacement means or of the tank, such as a sensor. This sensor thus makes it possible to indicate that the displacement means, and therefore the bin, take the emptying position of the bin. This position sensor may for example be a sensor indicating the height of the displacement means or of the container.
  • The emptying detection means comprise means for measuring the inclination of the waste bin or displacement means, for example an angle sensor, these measuring means preferably being integral in displacement with the gripping means of the bin. of waste. Thus, it is possible to determine whether the container has an inclination corresponding to the inclination necessary for the complete emptying of the container, that is to say to the inclination of the emptying position. Indeed, for a given collection device and for a given waste bin size, it is possible to determine a threshold inclination of the bin, sufficient for the waste to empty under the effect of the force of gravity. Thus, if the measured inclination is less than the threshold value, it can be considered that there has been no emptying of the waste, and if the inclination is greater than the threshold value, that there has been a.
  • The emptying detection means comprise a contact sensor arranged on a damping bar of the tank in the emptying position.
  • The collection device further comprises means for identifying the waste bin, for example identification by radio frequency of the RFID (Radio Frequency IDentification) type. The identification of the bin thus makes it possible to associate with a given bin, or with its owner, the information according to whether an emptying has taken place or not, with a view to correct invoicing of the owner, this information being provided in particular by the means of emptying detection. Satisfactory invoicing of the owners of the waste bins according to the number of empties carried out helps to encourage citizens to generate less waste.
  • The container identification means comprise an RFID antenna housed in a housing, and the emptying detection means are housed in the same housing as the RFID antenna. Thus, a single box is used to protect the RFID antenna and the detection means. Besides the fact that the arrangement of the collection device is simplified, such a configuration generates few modifications of the collection devices currently used and already provided with an RFID antenna. In other words, the function of emptying detection can be implemented inexpensively on the majority of collection devices.
  • The device comprises means for stopping the movement of the waste bin, activated as a function of the identification provided by the identification means. These stopping means are activated for example when the bin received by the collection device does not present an RFID tag, or even when the identified bin is part of a “black list”, for which the emptying is refused. . It is particularly advantageous to have means for detecting the emptying in this case, because it may happen that the stopping means are triggered just before or just after the emptying of the bin, or else that they are not triggered at all when the stop signal was not received by the collecting device or when it is malfunctioning. Thus, the fact that the stopping means have been activated does not necessarily mean that the bin has not been emptied, and it is therefore advantageous, for more reliable billing, to determine whether the emptying has been carried out.
  • The collection device further comprises means for measuring the weight of the waste bin before it is emptied. Measuring the weight of the bin allows the bin owner to be billed based on the amount of waste in the bins that has actually been emptied. We therefore ensure more reliable invoicing of the owner of the bin, since an emptying which has not taken place will not be invoiced, even though a weighing has taken place beforehand. A particular advantage of the coexistence of the weight measuring means and the emptying detection means lies in the fact that, if one of these two means is defective, which can happen in a relatively dirty environment such as the collection of waste. waste, especially with regard to the weight measurement means whose cells are fragile and frequently damaged, relevant information is kept that can be used for billing the owner of the bin, either the weight of the waste weighed, or the information that a dump was performed.
  • The collection device comprises warning means activated when a bin has not been moved to its emptying position. These warning means can take different forms, audible, visual, so that the manipulators of the waste bin can see that an emptying has not been carried out or else so as to perform the emptying operation again.
  • The device comprises means for recording information indicating whether the bin has been moved to the emptying position. Preferably, the collection device further comprises means for processing this information and / or means for transmitting the information to a telecommunications server.
  • The collection device is a collection truck.

L'invention a également pour objet un procédé de vidage d'un bac de déchets selon la revendication 8 dans un dispositif de collecte, comprenant les étrapes suivantes :

  • réception du bac par le dispositif de collecte,
  • déplacement du bac par le dispositif de collecte,
  • enregistrement d'une information indiquant si le bac a été déplacé jusqu'à la position de vidage.
The subject of the invention is also a method for emptying a waste container according to claim 8 into a collection device, comprising the following steps:
  • reception of the bin by the collection device,
  • movement of the bin by the collection device,
  • recording of information indicating whether the bin has been moved to the emptying position.

L'information enregistrée est de préférence précédée d'une étape de mesure, pendant le déplacement du bac, de l'inclinaison ou d'une autre grandeur caractéristique de la position du bac. Cette étape de mesure peut être effectuée une seule fois ou bien être renouvelée plusieurs fois au cours du déplacement du bac.The recorded information is preferably preceded by a step of measuring, during the movement of the tank, the inclination or another quantity characteristic of the position of the tank. This measurement step can be performed once or be repeated several times during the movement of the tank.

L'invention sera mieux comprise à la lecture de la description qui va suivre, donnée uniquement à titre d'exemple et faite en se référant aux dessins dans lesquels :

  • la figure 1 est une vue schématique de côté de l'arrière d'un dispositif de collecte et d'un bac de déchets en position de réception (en traits pleins) et en position de vidage (en traits interrompus), et
  • la figure 2 est une vue schématique illustrant notamment des moyens de détection du vidage.
The invention will be better understood on reading the description which follows, given solely by way of example and made with reference to the drawings in which:
  • the figure 1 is a schematic side view of the rear of a collection device and a waste container in the receiving position (in solid lines) and in the emptying position (in broken lines), and
  • the figure 2 is a schematic view illustrating in particular emptying detection means.

Comme on peut le voir sur la figure 1, un dispositif de collecte 10, à savoir un camion de collecte, permet de déplacer un bac de déchets 12 qui lui est présenté entre une position de réception (en traits pleins) et une position de vidage (en traits interrompus), au cours de laquelle le bac 12 est incliné de façon que les déchets du bac tombent dans une benne de collecte 14, sous l'effet de la gravité.As can be seen on the figure 1 , a collection device 10, namely a collection truck, makes it possible to move a waste bin 12 which is presented to it between a reception position (in solid lines) and an emptying position (in broken lines), during which the bin 12 is inclined so that the waste from the bin falls into a collection bin 14, under the effect of gravity.

Le bac de déchets 12 est un bac monté sur roulettes, muni d'un couvercle 16, monté pivotant par rapport à une cuve 18, de telle façon que le couvercle 16 s'entrouvre pour laisser passer les déchets lorsque le bac 12 est dans la position de vidage illustrée sur la figure 1.The waste bin 12 is a bin mounted on casters, provided with a cover 16, mounted to pivot relative to a tank 18, such that the cover 16 opens to let the waste pass when the bin 12 is in the tank. emptying position shown on figure 1 .

Le dispositif de collecte 10 comporte des moyens 20 de déplacement du bac 12 entre la position de réception et la position de vidage. Ces moyens de déplacement 20 comprennent un bras de levage 22, 24, 26, comprenant un support 22 fixé sur le camion 10 et configuré pour se déplacer verticalement, une biellette 24 pouvant pivoter autour de deux axes horizontaux situés à ses extrémités, l'un de ces axes 28 étant porté par le support 22, le bras de levage comportant en outre un préhenseur 26 articulé sur la biellette 24 autour de son autre axe 30. Le préhenseur 26 comprend, dans sa partie supérieure, des moyens de préhension 32, pouvant prendre la forme d'un peigne 32 destiné à s'engager sous une collerette 36 du bac 12 afin de soulever le bac 12, et dans sa partie inférieure, des moyens d'appui 34, destinés à servir de surface d'appui au bas du bac 12. Le camion de collecte 10 comporte des moyens de contrôle du déplacement du bras de levage 22, 24, 26. Le camion 10 comporte également des moyens 38 d'amortissement du bac 12, prenant la forme d'une barre 38 d'amortissement fixée pivotante selon un axe horizontal en partie arrière haute du camion 10 au dessus de l'ouverture de la benne 14, destinée à empêcher que le bac 12 bascule dans la benne lorsqu'il est au sommet de sa course montante.The collection device 10 comprises means 20 for moving the container 12 between the reception position and the emptying position. These displacement means 20 comprise a lifting arm 22, 24, 26, comprising a support 22 fixed to the truck 10 and configured to move vertically, a link 24 being able to pivot around two horizontal axes located at its ends, one of these axes 28 being carried by the support 22, the lifting arm further comprising a gripper 26 articulated on the rod 24 about its other axis 30. The gripper 26 comprises, in its upper part, gripping means 32, which can take the form of a comb 32 intended to engage under a flange 36 of the tank 12 in order to lift the tank 12, and in its lower part, support means 34, intended to serve as a support surface at the bottom of the container 12. The collection truck 10 comprises means for controlling the movement of the lifting arm 22, 24, 26. The truck 10 also comprises means 38 for damping the container 12, taking the form of a bar 38 d 'damping fixed pivotally about a horizontal axis in the upper rear part of the truck 10 above the opening of the bucket 14, intended to prevent the bin 12 from tilting in the bucket when it is at the top of its upward stroke.

Le dispositif 10 comporte également des moyens 40 de détection du vidage, représentés sur la figure 2, capables de détecter que le bac 12 a été déplacé jusqu'à la position de vidage. Ces moyens de détection 40 sont logés dans un boîtier 42, disposé au voisinage immédiat des moyens de préhension 32. Dans cet exemple, les moyens de détection du vidage 40 comprennent des moyens de mesure d'une grandeur caractéristique de la position des moyens de déplacement 22, 24, 26. Plus précisément, les moyens 40 comprennent des moyens de l'inclinaison α (alpha) du bac 12, à savoir un capteur d'angle 40. Ces moyens de mesure sont solidaires en déplacement avec les moyens 32 de préhension du bac de déchets, de telle sorte que l'inclinaison α mesurée par le capteur d'angle 40 corresponde à l'inclinaison que prend le bac 12 par rapport au dispositif de collecte 10.The device 10 also comprises means 40 for detecting the emptying, shown in figure 2 , capable of detecting that the bin 12 has been moved to the emptying position. These detection means 40 are housed in a housing 42, arranged in the immediate vicinity of the gripping means 32. In this example, the emptying detection means 40 comprise means for measuring a quantity characteristic of the position of the displacement means. 22, 24, 26. More precisely, the means 40 comprise means for the inclination α (alpha) of the tank 12, namely an angle sensor 40. These measuring means are integral in movement with the gripping means 32. of the waste bin, such that the inclination α measured by the angle sensor 40 corresponds to the inclination taken by the bin 12 relative to the collection device 10.

Le dispositif de collecte 10 comporte en outre des moyens d'identification du bac de déchets 12, de préférence d'identification par RFID. Ces moyens comprennent une antenne 44, capable d'interagir avec une étiquette RFID 46 aménagée sur le bac 12. Cette antenne 44 comprend une bobine intégrée dans un matériau époxy et est logée, dans cet exemple, dans le même boîtier 42 que celui dans lequel est logé le capteur d'angle 40. L'antenne 44 est reliée à des moyens de traitement 50, capables par exemple de traiter les informations émises et/ou reçues par l'antenne 44 et de communiquer avec un ordinateur embarqué sur la camion, cet ordinateur communiquant lui-même avec un serveur de télécommunication utilisé pour la gestion des collectes de déchets, notamment pour leur facturation.The collection device 10 further comprises means for identifying the waste bin 12, preferably identification by RFID. These means comprise an antenna 44, capable of interacting with an RFID tag 46 fitted on the tray 12. This antenna 44 comprises a coil integrated in an epoxy material and is housed, in this example, in the same housing 42 as that in which the angle sensor 40 is housed. The antenna 44 is connected to processing means 50, capable for example of processing the information transmitted and / or received by the antenna 44 and of communicating with a computer on board the truck, this computer itself communicating with a telecommunications server used for the management of waste collections, in particular for their invoicing.

On notera que les moyens de traitement 50 ne sont pas forcément logés dans le boîtier 42, ils peuvent être agencés dans une autre partie du dispositif de collecte, voire dans un terminal de télécommunication distant.It will be noted that the processing means 50 are not necessarily housed in the box 42, they can be arranged in another part of the collection device, or even in a remote telecommunications terminal.

Le capteur d'angle 40 est, dans cet exemple, relié aux moyens de traitement 50, qu'ils soient ou non logés dans le boîtier 42. Bien sûr, les moyens de traitement des informations fournies par le capteur d'angle 40 pourraient être distincts des moyens de traitements des informations fournies par l'antenne 44. Les moyens de traitement 50 comprennent des moyens d'enregistrement de façon à enregistrer certains ou tous les angles mesurés, ou toute autre information permettant de déduire que le bac a été déplacé jusqu'à la position de vidage. Le capteur d'angle 40 est configuré ici de telle sorte que si un angle mesuré dépasse une valeur seuil, une information correspondante est stockée dans les moyens de traitement 50.The angle sensor 40 is, in this example, connected to the processing means 50, whether or not they are housed in the housing 42. Of course, the means for processing the information supplied by the angle sensor 40 could be. distinct from the means for processing the information supplied by the antenna 44. The processing means 50 comprise recording means so as to record some or all of the angles measured, or any other information making it possible to deduce that the tank has been moved to the emptying position. The angle sensor 40 is configured here such that if a measured angle exceeds a threshold value, corresponding information is stored in the processing means 50.

Le dispositif 10 comporte également des moyens de stoppage du déplacement du bac 12, en fonction de l'identification fournie par les moyens d'identification 44, tels que décrits plus haut, ainsi que des moyens de mesure du poids du bac de déchets avant et éventuellement après son vidage, tels que décrits plus haut également.The device 10 also comprises means for stopping the movement of the container 12, according to the identification provided by the identification means 44, as described above, as well as means for measuring the weight of the waste container before and possibly after it has been emptied, as also described above.

Le dispositif 10 peut comporter également des moyens d'avertissement, activés lorsque le bac n'a pas été déplacé jusqu'à sa position de vidage, par exemple un signal sonore ou lumineux permettant d'alerter les manipulateurs du bac.The device 10 may also include warning means, activated when the container has not been moved to its emptying position, for example an audible or light signal making it possible to alert the operators of the container.

Les moyens de stoppage et/ou de mesure du poids et/ou d'avertissement peuvent éventuellement être reliés aux moyens de traitement 50, de façon à être commandés par les moyens 50 et/ou fournir des informations aux moyens 50.The means for stopping and / or measuring the weight and / or warning can optionally be connected to the processing means 50, so as to be controlled by the means 50 and / or supply information to the means 50.

Le fonctionnement du camion de collecte 10 va à présent être décrit.The operation of the collection truck 10 will now be described.

Le procédé de vidage d'un bac de déchets présenté devant le camion 10 comprend une première étape de réception du bac par le camion, au cours de laquelle le peigne 32 est engagé sous la collerette 36 et au cours de laquelle le bac est identifié, par interaction entre l'antenne 44 et l'étiquette 46, suivie d'une étape de déplacement du bac grâce au bras de levage 22, 24, 26. Simultanément au déplacement, et/ou peu après le déplacement, le procédé comprend une étape d'enregistrement d'une information indiquant si le bac a été déplacé jusqu'à la position de vidage. Plus précisément dans cet exemple, le capteur d'angle 40 mesure l'inclinaison du bac 12, et lorsque cette inclinaison est supérieure à la valeur seuil pour laquelle est configuré le capteur, l'information est enregistrée pour être traitée par la suite. Après le vidage, le bac prend à nouveau sa position de réception.The method of emptying a waste bin presented in front of the truck 10 comprises a first step of receiving the bin by the truck, during which the comb 32 is engaged under the collar 36 and during which the bin is identified, by interaction between the antenna 44 and the tag 46, followed by a step of moving the bin using the lifting arm 22, 24, 26. Simultaneously with the movement, and / or shortly after the movement, the method comprises a step recording of information indicating whether the bin has been moved to the emptying position. More precisely in this example, the angle sensor 40 measures the inclination of the tank 12, and when this inclination is greater than the threshold value for which the sensor is configured, the information is recorded to be processed subsequently. After emptying, the bin returns to its receiving position.

Lorsque le camion 10 comporte les moyens de stoppage du déplacement du bac 12, le procédé de vidage peut comporter une étape de stoppage du déplacement, activée après l'identification (ou la non identification) du bac. Cette étape de stoppage est suivie d'une étape d'enregistrement de l'angle exact, fourni par le capteur 40, auquel le bras de levage a été stoppé. Cette information peut être stockée dans les moyens 50 et être traitée par la suite.When the truck 10 includes the means for stopping the movement of the container 12, the emptying process may include a step for stopping the movement, activated after the identification (or non-identification) of the container. This stopping step is followed by a step of recording the exact angle, provided by the sensor 40, at which the lift arm has been stopped. This information can be stored in the means 50 and be processed subsequently.

Dans le cas où le camion comporte des moyens de mesure du poids des déchets, l'étape de réception du bac par le camion est suivie d'une étape de pesée du bac plein, et d'enregistrement du poids. Puis le vidage est mis en œuvre, incluant une ou plusieurs étapes de mesure de l'inclinaison du bac. Après le vidage, une seconde étape de pesée du bac, permettant de connaître le poids du bac vide, pour déduire des deux pesées le poids des déchets seuls.In the case where the truck comprises means for measuring the weight of the waste, the step of receiving the bin by the truck is followed by a step of weighing the full bin, and recording the weight. Then the emptying is implemented, including one or more steps of measuring the inclination of the tank. After emptying, a second weighing step of the bin, allowing the weight of the empty bin to be known, in order to deduce from the two weighings the weight of the waste alone.

On notera que l'invention n'est pas limitée aux modes de réalisation précédemment décrits.It will be noted that the invention is not limited to the embodiments described above.

Par exemple, les moyens de détection de vidage peuvent prendre d'autres formes que celles d'un capteur d'angle, ils peuvent comprendre un capteur mesurant une grandeur caractéristique de la position du bac ou du bras de levage 22, 24, 26, ou encore un capteur de contact, par exemple disposé sur la barre d'amortissement 38 du camion 10.For example, the emptying detection means can take other forms than those of an angle sensor, they can comprise a sensor measuring a quantity characteristic of the position of the bin or of the lifting arm 22, 24, 26, or a contact sensor, for example placed on the damping bar 38 of the truck 10.

Parmi les avantages du dispositif de collecte disposé ci-dessus, on notera que les moyens de détection du vidage sont facilement incorporables à des dispositifs de collecte actuellement utilisés, quel que soit leur agencement. En particulier, le cas où les moyens de détection du vidage sont logés dans un même boîtier que celui d'une antenne RFID est particulièrement facile à mettre en œuvre sur tout type d'antenne déjà connue dans le marché de la collecte des déchets : aussi bien dans une antenne disposée sur un peigne que dans une antenne pour la lecture de puces disposée sur des bacs de collecte de déchets, à préhension frontale ou latérale, ainsi que sur des antennes « bâton » rapportées derrière le peigne d'un bras de levage ou encore une antenne plate ou en bloc utilisée dans le système de levage ou sur tout autre type d'antenne. Aussi, les moyens de détection du vidage peuvent être utilisés dans tout dispositif de collecte dans lequel le bac de déchets subit un mouvement de renversement.Among the advantages of the collection device arranged above, it will be noted that the emptying detection means can easily be incorporated into the collection devices currently used, regardless of their arrangement. In particular, the case where the emptying detection means are housed in the same housing as that of an RFID antenna is particularly easy to implement on any type of antenna already known in the waste collection market: also well in an antenna arranged on a comb than in an antenna for reading chips placed on waste collection bins, with front or side gripping, as well as on "stick" antennas attached behind the comb of a lifting arm or a flat or block antenna used in the lifting system or on any other type of antenna. Also, the emptying detection means can be used in any collection device in which the waste bin undergoes an overturning movement.

On notera que le capteur d'angle 40 peut être porté par un même support que celui de l'antenne 44 des moyens d'identification, ou bien faire partie d'un boîtier à part et transmettre l'information à un système de traitement disposé sur le camion de collecte ou à distance.It will be noted that the angle sensor 40 can be carried by the same support as that of the antenna 44 of the identification means, or else form part of a separate box and transmit the information to a processing system arranged on the collection truck or remotely.

Claims (8)

  1. Device (10) for collecting waste, comprising means (22, 24, 26) for moving a waste container (12) between a so-called receiving position and a position referred to as an emptying position, wherein the container (12) is inclined so as to drop the waste into the collection device (10), the collection device further comprising so-called means (40) for detecting emptying, which are capable of detecting that the container (12) has been moved to the emptying position, and means (44) for identification of the waste container, for example for RFID-type radio frequency identification, characterized in that it comprises means (50) for recording information that indicates whether the container (12) has been moved to the emptying position, the identification of the container thus making it possible to associate, with a given container or its owner, the information according to which emptying has or has not taken place, with a view to invoicing the owner, the collection device comprising warning means (50) which are activated when a container (12) has not been moved to its emptying position.
  2. Device according to the preceding claim, wherein the means for detecting emptying comprise means (40) for measuring a characteristic value (α) of the position of the moving means or of the container (12).
  3. Device according to the preceding claim, wherein the means for detecting emptying comprise means (40) for measuring the inclination of the waste container (12) or moving means (22, 24, 26), for example an angle sensor (40), these measuring means (40) preferably being secured for conjoint movement with the means (32) for gripping the waste container (12).
  4. Device according to any of the preceding claims, wherein the means for detecting emptying comprise a contact sensor arranged on a bar (38) for damping the container (12) in the emptying position.
  5. Device according to the preceding claim, wherein the means for identifying the container comprise an RFID antenna accommodated in a housing (42), and the means for detecting emptying are accommodated in the same housing as the RFID antenna (44).
  6. Device according to claims 4 and 5, comprising means (50) for stopping the movement of the waste container (12) which are activated on the basis of the identification provided by the identification means (44).
  7. Device according to any of the preceding claims, further comprising means (50) for measuring the weight of the waste container (12) before it is emptied.
  8. Method of emptying a waste container (12) into a collection device (10), comprising the following steps:
    - receipt of the container (12) by the collection device (10),
    - movement of the container by the collection device,
    - identification of the waste container, for example RFID-type radio frequency identification,
    - detection of whether the container (12) has been moved to the emptying position,
    characterized in that it comprises the following steps:
    - recording of information that indicates whether the container has been moved to the emptying position,
    - association of the information according to which emptying has or has not taken place with a given container or with its owner, with a view to invoicing the owner, and
    - activation of a warning when a container (12) has not been moved to its emptying position.
EP10184435.5A 2009-10-02 2010-09-30 Device for collecting waste such as a waste collection truck Revoked EP2305578B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR0956908A FR2950871B1 (en) 2009-10-02 2009-10-02 DEVICE FOR COLLECTING WASTE, SUCH AS A COLLECTION TRUCK

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EP2305578A1 EP2305578A1 (en) 2011-04-06
EP2305578B1 true EP2305578B1 (en) 2021-01-27

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ANONYMOUS: "Mit MAWIS richtigen Müllüberblick", U&ER, no. 7/8, 1 January 1993 (1993-01-01), pages 28, XP055859558
CAN IN AUTOMATION (CIA) E. V.,: "Application Profile for Municipal Vehicles Part 4: Detailed application object specification", CIA WORK DRAFT 422-4, 14 January 2004 (2004-01-14), pages ii-v, 6 - 58, XP055859593
CAN IN AUTOMATION (CIA) E. V.: "Application Profile for municipal systems Part 1: General definitions and physical layer specifications Version 1.0", CIA WORK DRAFT 422-1, 23 February 2004 (2004-02-23), pages ii-iii, 4 - 6, XP055859590
CAN IN AUTOMATION (CIA) E. V.: "Application Profile for Municipal Vehicles Part 2: Virtual device definitions", CIA WORK DRAFT 422-2, 14 January 2004 (2004-01-14), pages ii-iii, 4 - 8, XP055859591
CAN IN AUTOMATION (CIA) E. V.: "Application Profile for Municipal Vehicles Part 3: Pre-defined communication objects", CIA WORK DRAFT 422-3, 23 February 2004 (2004-02-23), pages ii-xvii, 18 - 219, XP055859584, [retrieved on 20211109]
KEMNER: "Bedienungsanleitung c-trace Identsystem c-ident, Version 1.14", C-TRACE SERVICE, 1 October 2008 (2008-10-01), pages 1 - 49, XP055860013
STEFFEN NIEKLER: "Handbuch MAWIS Software MAWISMobil Version 16", MOBA MOBILE AUTOMATION AG, 20 March 2007 (2007-03-20), pages 1 - 36, XP055859573
STEFFEN NIEKLER: "Handbuch MAWIS Software MAWISMobil Version 20", MOBA MOBILE AUTOMATION AG, 30 November 2009 (2009-11-30), pages 1 - 55, XP055859577
STEFFEN NIEKLER: "Handbuch MAWIS Software MAWISMobil Version 21", MOBA MOBILE AUTOMATION AG, 8 January 2010 (2010-01-08), pages 1 - 57, XP055859580
STEFFEN NIEKLER: "Handbuch MAWIS Software Version 14", MOBA MOBILE AUTOMATION AG, 5 October 2006 (2006-10-05), pages 1 - 35, XP055859567
STEFFEN NIEKLER: "Handbuch MAWIS Software Version 15", MOBA MOBILE AUTOMATION AG, 20 March 2007 (2007-03-20), pages 1 - 38, XP055859571
STEFFEN NIEKLER: "Handbuch MAWIS-Software MAWISMobil Version 17", MOBA MOBILE AUTOMATION AG, 13 December 2007 (2007-12-13), pages 1 - 47, XP055859556
STEFFEN NIEKLER: "Handbuch MAWIS-Software Version 10", MOBA MOBILE AUTOMATION AG, 5 September 2005 (2005-09-05), pages 1 - 30, XP055859563, [retrieved on 20211109]
THOMAS KEMNER: "Schüttungsvorbereitung für das c-trace Ident- und Wägesystem, Version 1.2", C-TRACE SERVICE, 12 October 2010 (2010-10-12), pages 1 - 36, XP055860014

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EP2305578A1 (en) 2011-04-06
FR2950871B1 (en) 2012-01-20
FR2950871A1 (en) 2011-04-08

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