EP4273324A1 - Beacon vehicle and methods for using same - Google Patents

Abstract

The invention relates to a traffic lane marking device equipped with at least one beacon storage zone (5; 13), characterized in that it comprises at least: - an automatic gripping and moving member, 'at least one beacon (5) to be placed on a traffic lane between the vehicle storage area and a work space (E) on a traffic lane to be marked, - an automatic guiding member of at least a beacon (5) to be taken from the traffic lane between the work space (E) and the automatic beacon gripping and moving member, the latter moving the beacon (5) to the zone of The invention also relates to methods of using such a vehicle.

Description

A marking vehicle and methods of using such a vehicle are disclosed.

By marking, we mean here the installation and removal on a traffic lane of temporary signage intended to modify a traffic lane and to guide vehicles traveling on this traffic lane, whether the latter is public or private. , whether it is a road, a highway, a parking lot, a taxiway at a port or an airport. Such temporary signaling is made up of several signaling devices, also called beacons or traffic cones, comprising a support base on the track and an aerial part visible to users of the traffic lane. These signaling devices generally have a conical or cylindrical shape, are brightly colored, made of a material that is both resistant to shocks and environmental conditions while being of a weight and size allowing their operation, without their dimensions affect the movement of vehicles on the lane thus marked. The terms beacons or cones being frequently used to designate such signaling devices, they will be used interchangeably thereafter.

Such markers, once in place, define a new or modified traffic lane for vehicles, over a distance corresponding to a work zone or temporary impossibility of using at least part of the usual traffic lane. Consequently, we use as many beacons as necessary for optimal guidance of the vehicles, over distances which can be several kilometers with an interval between the beacons adapted to the speed of the vehicles on the path thus modified. For example, on a road or motorway type lane there is an interval between two beacons of the same straight beacon line of approximately 20 m, or approximately 250 beacons used over 6 km, it being understood that the implementation of the marking complies with constraints, normative and/or regulatory, in particular with regard to the distances between the markers and in relation to the area to be marked.

The beacons currently used, particularly beacons on public roads such as roads or highways, must meet a certain number of criteria. Thus, there are European standards such as standard EN 13 422 which defines requirements in terms of resistance and visibility of beacons. These markers, when they are conical in shape, are generally made of PVC and must resist wind and air movement when vehicles pass by, therefore remaining stable and in place in all circumstances. They must also return to their initial shape after crushing. These beacons generally have a weight between 4 kg and 5 kg and a height varying from 50 cm to 1 m. Generally their weight is around 4.5 kg and their height is around 75 cm. When we have so-called alignment markers which have a base surmounted by a rectangular or cylindrical aerial part, their weight may be higher but they must also comply with the standards in force. Please note that the exterior of the beacons, at least on the aerial part, is either white and orange or white and red and, in all cases, reflective to be perfectly visible by vehicles, particularly at night. In addition to modifying the traffic lane and guiding vehicles on a lane different from the normal lane, such beacons are also used to prevent vehicle access to a given area. The standardization of the different beacons, in addition to standardized manufacturing and use, allows for easy recognition of this signaling by drivers when they are in the presence of beacons. We understand that the presence of beacons on a traffic lane is in all cases ephemeral, from a few hours to a few weeks, over distances and/or in configurations likely to vary depending on the progress of the construction site or the end of the event concerned. In other words, their manipulation is frequent.

Usually, their installation and removal are carried out by road or motorway service agents from a truck or van type vehicle or even from a trailer. The markers are placed manually and individually to define the area to be marked on the distance desired. This installation is done de facto on a road open to traffic. Therefore, in addition to the arduousness due to the manual movement of a beacon whose unit weight, although relatively low, generates, due to the number of beacons and the repeatability of the maneuver, user fatigue and can induce the appearance musculoskeletal disorders given the posture of the operator, the latter often being leaned out of the vehicle door. The installation or removal of signaling may present a danger of the agent carrying out the operation being struck by other vehicles traveling on the road. Indeed, the retrieval of the tags and their storage in the vehicle is carried out from the vehicle, in a manner similar to the installation of the tags, the vehicle moving in reverse in order to benefit, for safety, from the marking in place and not moving forward as when installing the markers.

In order to improve working conditions and staff safety during the installation and removal of beacons, while limiting the risk of accident between the beacon installation or retrieval vehicle and other users of the road. traffic lane we know by FR-A-2 861 759 a beacon installation and retrieval device which is on board a vehicle. This device comprises a conveyor belt driven in the opposite direction to the direction of movement of the vehicle and from which an operator places the beacons. These go down the conveyor belt to the traffic lane where they are deposited. Moving the vehicle in the opposite direction allows the beacons to be taken over by an operator. EP-A-421 198 describes a belt conveyor that is mounted on a vehicle. A beacon is moved by the conveyor and, using a contactor, the movement of the conveyor is automatically stopped when the beacon is at the end of the conveyor. Laying is then done either manually or automatically on the track. EP-A-1 630 294 describes a conveyor belt located at the rear of a vehicle on which beacons move. The free end of the strip includes means for gripping the clamp-type tags. We also know by FR-A-2 957 614 an automatic beacon collection device arranged at the rear or on one side of the collection vehicle and which ensures, by a movable arm, the tilting of the beacon in order to lift it from the ground before being taken by a free end of a conveyor belt. These different solutions only concern the installation or replacement of beacons and, for the most part, require the intervention of an operator, even if only to store or remove the tags from the vehicle. Known solutions therefore provide assistance to the operator during certain stages of marking. The fact remains that these known solutions do not completely resolve the problem of ensuring operator safety; these known solutions only partially provide assistance aimed at reducing musculoskeletal disorders and improving working conditions. work during all stages of marking. In addition, many known solutions are suitable for installing the beacons but not for retrieving and/or storing them in the beaconing vehicle.

The object of the invention is to propose a marking vehicle optimizing safety during the installation and retrieval of the markers and optimizing the working conditions of the operators, for all stages of the marking.

• un organe de préhension et de déplacement, automatique, d'au moins une balise à poser sur une voie de circulation entre la zone de stockage du véhicule et un espace de travail sur une voie de circulation à baliser,
• un organe de guidage, automatique, d'au moins une balise à reprendre à partir de la voie de circulation entre l'espace de travail et l'organe de préhension et de déplacement automatique de balises, ce dernier déplaçant la balise jusqu'à la zone de stockage.

To this end, the subject of the invention is a traffic lane marking vehicle equipped with at least one beacon storage zone, characterized in that it comprises at least:

• an automatic gripping and moving member of at least one beacon to be placed on a traffic lane between the vehicle storage area and a work space on a traffic lane to be marked,
• an automatic guiding member of at least one beacon to be taken from the traffic lane between the work space and the member for gripping and automatically moving beacons, the latter moving the beacon to the storage area.

Thus, thanks to the invention we have a vehicle ensuring the installation and recovery of the beacons, without human intervention other than driving the vehicle. This automatically ensures the marking of a route, in safety. Only the driver of the vehicle, possibly with a person dedicated to monitoring the device, is necessary to ensure not the marking as such but the movement of the marking vehicle in action on the route to be marked, as well as for the installation of the markers. only for the recovery of the latter. Thanks to the invention, a single operator ensures the installation and removal of the tags, regardless of the length of the markup. this in complete safety since he remains in the vehicle and without fatigue or risk of musculoskeletal disorders since he no longer handles the beacons.

According to advantageous but not obligatory aspects of the invention, such a vehicle may comprise one or more of the following characteristics:

The gripping and moving member is a robotic arm movable along at least three axes and articulated in at least two parts.

The gripping and moving member is a robotic arm movable along at least three axes and articulated in at least two parts provided at its free end with a gripping gripper.

The gripping and moving member is a robotic arm movable along at least three axes and articulated in at least two parts provided at its free end with a suction cup.

The guide member comprises an open and U-shaped frame pivotally mounted in the vertical plane between an inactive position where it is away from the traffic lane and an active position where it is substantially parallel to the traffic lane, as close as possible of the latter.

The frame of the guide member comprises a bottom provided with a raised element of shape complementary to that of a beacon and of dimensions adapted to be inserted removably into a beacon from the open sole thereof. this.

The bottom of the frame is movable in the vertical plane, independently of the other constituent elements of the guide member, between an inactive position where it is away from the traffic lane and an active position where it is substantially perpendicular to the traffic lane , as close as possible to the latter.

The guide member is equipped, on two parallel sides of the frame on either side of the opening of the U defined by the frame, with plates movable in rotation between an inactive position where they are parallel to the sides, and a position active where they are deployed angularly relative to the main plane of each side, thus defining a V-shaped guide in the extension of the opening of the U-shaped frame.

The plates are deployed by gravity when the frame pivots.

The vehicle includes a member, movable in the vertical plane, for collecting the beacons when the latter are not in a standing position on the traffic lane.

The collection member is a bucket movable in the vertical plane.

The vehicle comprises a signaling panel mounted at the rear of the vehicle and movable in translation on slides fixed laterally on the vehicle.

In a position away from the vehicle, the traffic sign defines with the sliders, depending on the width of the vehicle, a secure work space for installing and retrieving the tags.

The tag storage area includes at least one removable rack.

The storage area, the gripping and moving member are adapted to, respectively, store and move temporary traffic signs.

• a) définir au moins les caractéristiques suivantes du balisage : la distance de balisage, le nombre de balises et l'intervalle entre les balises,
• b) amener le véhicule chargé avec les balises nécessaires sur le lieu de balisage et déployer le panneau de signalisation arrière,
• c) initier le balisage en déplaçant le véhicule en marche avant,
• d) effectuer de manière automatique la prise unitaire de chaque balise par l'organe de préhension dans la zone de stockage, ledit organe étant en position active et amenant la balise dans l'espace de travail et la déposant sur la voie à baliser,
• e) répéter l'étape d) jusqu'à obtention du balisage voulu,
• f) remettre l'organe de préhension et le panneau de signalisation en position inactive et conduire le véhicule hors du lieu de balisage.

The invention also relates to a method for installing beacons using a vehicle conforming to any of the preceding characteristics and comprising at least the following steps:

• a) define at least the following characteristics of the marking: the marking distance, the number of markers and the interval between the markers,
• b) bring the vehicle loaded with the necessary markers to the marking location and deploy the rear warning sign,
• c) initiate marking by moving the vehicle forward,
• d) automatically carry out the unitary capture of each beacon by the gripping member in the storage zone, said member being in the active position and bringing the beacon into the work space and depositing it on the route to be marked,
• e) repeat step d) until the desired markup is obtained,
• f) return the gripping device and the warning sign to the inactive position and drive the vehicle out of the marking area.

• A') définir au moins les caractéristiques suivantes du ramassage de balises : la distance de balisage, le nombre de balises et l'intervalle entre les balises,
• B') amener le véhicule avec une zone de stockage libre sur le lieu balisé et déployer le panneau de signalisation arrière,
• C') initier le ramassage en déplaçant le véhicule en marche arrière,
• D') amener l'organe de guidage en position active en regard d'une balise à ramasser, les plaques définissant le V de guidage étant déployées lors de cette étape,
• E') reculer le véhicule jusqu'au basculement de la balise dans l'organe de guidage et à l'emboitement de l'élément en relief équipant le fond de l'organe de guidage dans la balise,
• F') tout en poursuivant la marche arrière du véhicule, pivoter le fond de l'organe de guidage et amener la balise en position de prise par l'organe de préhension, ce dernier prenant la balise et la déposant dans la zone de stockage,
• G') répéter les étapes D') à F') jusqu'au ramassage de toutes les balises,
• H') remettre en position inactive l'organe de préhension, l'organe de guidage ainsi que le panneau de signalisation et conduire le véhicule hors du lieu de ramassage des balises.

The invention also relates to a method for collecting beacons using a vehicle conforming to any of the preceding characteristics and comprising at least the following steps:

• A') define at least the following characteristics of beacon collection: the beacon distance, the number of beacons and the interval between beacons,
• B') bring the vehicle with a free storage area to the marked location and deploy the rear sign,
• C') initiate the pickup by moving the vehicle in reverse,
• D') bring the guide member into active position opposite a beacon to be picked up, the plates defining the guide V being deployed during this step,
• E') move the vehicle back until the beacon tilts into the guide member and the raised element fitted to the bottom of the guide member fits into the beacon,
• F') while continuing to reverse the vehicle, pivot the bottom of the guide member and bring the beacon into the gripping position by the gripping member, the latter taking the beacon and depositing it in the storage area,
• G') repeat steps D') to F') until all the tags are collected,
• H') return the gripping member, the guiding member as well as the signaling panel to the inactive position and drive the vehicle away from the beacon collection location.

• après l'étape C') et avant l'étape D'), lors d'une nouvelle étape l'), abaisser un organe de ramassage de balises couchées en direction de la voie balisée,
• J') poursuivre la marche arrière du véhicule afin de collecter unitairement les balises couchées dans l'organe de ramassage,
• K') relever l'organe de ramassage une fois les balises ramassées.

According to advantageous but not obligatory aspects, such a collection method may comprise one or more of the following steps:

• after step C') and before step D'), during a new step l'), lower a member for collecting lying beacons in the direction of the marked lane,
• I) continue reversing the vehicle in order to individually collect the tags lying in the collection device,
• K') raise the collection device once the tags have been collected.

After step K'), we carry out steps D') to H').

After step K'), we carry out step H').

• [Fig.1] est une vue de dessus d'une portion de voie balisée, un véhicule conforme à un mode de réalisation de l'invention étant illustré en une position dite inactive donc sans intervention sur le balisage,
• [Fig.2] est une vue de côté, à plus grande échelle, du véhicule de la figure 1 ^, en configuration inactive donc avant ou après la mise en place du balisage,
• [Fig.3] est une vue en perspective du véhicule de la figure 1, à une autre échelle, en configuration active, à l'étape où il est prêt à mettre en place le balisage, pour plus de lisibilité l'organe de guidage et de positionnement n'est pas illustré,
• [Fig.4] est une vue similaire à la figure 3, une balise étant prise par l'organe de préhension et posé sur la voie de circulation, dans l'espace de travail,
• [Fig.5] est une vue similaire aux figures 3 et 4, l'organe de préhension étant illustré lors de la mise en place ou du retrait d'un panneau de signalisation temporaire sur la voie de circulation, dans l'espace de travail,
• [Fig.6] est une vue en perspective similaire aux figures 3 à 5, le véhicule étant illustré en une position de ramassage du balisage, une balise étant au début du ramassage, l'organe de guidage et de positionnement étant en position,
• [Fig.7] est une vue similaire à la figure 6, la balise étant à une autre étape du ramassage, en place dans l'organe de guidage et de positionnement,
• [Fig.8] est une vue similaire aux figures 6 et 7, l'organe de préhension prenant la balise en place dans l'organe de guidage et de positionnement pour l'amener dans la zone de stockage,
• [Fig.9] est une vue de côté du véhicule similaire à celle de la figure 2, un organe de ramassage des balises renversées étant en position prêt au ramassage, l'espace de travail n'étant pas encore délimité,
• [Fig.10] est une vue en perspective, partielle, à une autre échelle et sous un autre angle, du véhicule dans la position de la figure 2, une balise étant en place dans l'organe de ramassage,
• [Fig.11] est une vue similaire à la figure 9, le véhicule étant illustré lorsque le ramassage est initié, l'espace de travail étant délimité et
• . [Fig.12] est une vue similaire à la figure 11, la balise renversée étant en cours de collecte par l'organe de ramassage.

The invention will be better understood and other advantages thereof will appear more clearly on reading the description which follows, given solely by way of non-limiting example and made with reference to the appended drawings in which:

• [ Fig.1 ] is a top view of a portion of a marked track, a vehicle conforming to one embodiment of the invention being illustrated in a so-called inactive position, therefore without intervention on the marking,
• [ Fig.2 ] is a side view, on a larger scale, of the vehicle of the figure 1 ^, in inactive configuration therefore before or after setting up the markup,
• [ Fig.3 ] is a perspective view of the vehicle of the figure 1 , on another scale, in active configuration, at the stage where it is ready to set up the marking, for greater readability the guiding and positioning member is not illustrated,
• [ Fig.4 ] is a view similar to Figure 3 , a beacon being taken by the gripping member and placed on the traffic lane, in the work space,
• [ Fig.5 ] is a view similar to figures 3 and 4 , the gripping member being illustrated during the installation or removal of a temporary traffic sign on the traffic lane, in the work space,
• [ Fig.6 ] is a perspective view similar to figures 3 to 5 , the vehicle being illustrated in a marking collection position, a beacon being at the start of the collection, the guiding and positioning member being in position,
• [ Fig.7 ] is a view similar to Figure 6 , the beacon being at another stage of collection, in place in the guiding and positioning member,
• [ Fig.8 ] is a view similar to figures 6 And 7 , the gripping member taking the tag into place in the guiding and positioning member to bring it into the storage zone,
• [ Fig.9 ] is a side view of the vehicle similar to that of the figure 2 , a member for collecting overturned tags being in position ready for collection, the work space not yet being delimited,
• [ Fig.10 ] is a partial perspective view, on another scale and from another angle, of the vehicle in the position of the figure 2 , a beacon being in place in the collection member,
• [ Fig.11 ] is a view similar to Figure 9 , the vehicle being illustrated when the pick-up is initiated, the work space being delimited and
• . [ Fig.12 ] is a view similar to Figure 11 , the overturned tag being collected by the collection device.

There figure 1 illustrates a road 1 with a central line 2, formed by a dotted marking, delimiting two traffic lanes 3 and 4. This is, for example, a two-lane road or part of a lane highway. Subsequently, to facilitate reading, the terms road, lane or roadway will be used interchangeably to designate road 1. Marking is in place to, in the example, temporarily prohibit the use of one of the traffic lanes, the lane referenced 3. This marking is formed of a plurality of beacons 5. The beacons 5 are first positioned diagonally across the width of the lane 3 then regularly on line 2. The space between the beacons, as well as Moreover, their various characteristics and properties are subject to regulation. In general, concerning the interval between two neighboring beacons 5, it is between 15 m and 30 m when the beacons are arranged in a straight line parallel to the direction of movement of the vehicles depending on the type of marking to be put in place.

A vehicle 6 in accordance with one embodiment of the invention is illustrated at one end of road 1, in an inactive position, therefore either after installation of the marking or before removal thereof. Vehicle 6 here is a flatbed truck. Alternatively, it is a trailer towed by a truck. Vehicle 6 is illustrated with a large part of the hood and/or tarpaulins protecting the tray and its loading removed, this for easier reading. Alternatively, the vehicle 6 is provided with a partially open platform, part of which is permanently protected by a rigid cover.

There figure 2 illustrates vehicle 6 from the side. It is provided with a closed driving cabin 7 and a tray 8 receiving various elements. Closest to cabin 7, organs 9 are placed. These are, for example, generators, maintenance parts, pneumatic compressors, lighting units, hydraulic units or any other unit supplying energy to the other mobile elements equipping the vehicle 6 or any organ that can be useful when installing or removing markings, day or night. These organs 9, known per se, will not be detailed below, their nature and/or their number being adapted to the marking concerned.

Behind these bodies, therefore on the part of the plate 8 towards the rear of the vehicle, the plate 8 includes a storage area 10 for beacons. Here, the tags 5 are conical tags of a type known per se, for example that referenced K5A or K5C depending on their dimensions. As a reminder, the K5A beacons are conical and hollow with a support sole, with a height of 75 cm and a unit weight of 4.5 kg. They are made of rigid PVC, red and white. The tags 5 are here stored in racks 11, for example metal, which can contain several hundred tags 5 nested on top of each other and distributed in several rows. Typically, a rack 11 as illustrated receives approximately 250 K5A type tags. We have as many racks 11 as necessary to occupy the storage area 10.

Rack 11 is removable and can be maneuvered by a forklift. It is thus possible to have racks 11 filled and ready to be loaded onto a vehicle 6 as needed. The platform 8 of the vehicle 6 also receives a rack 12 for storing temporary traffic signs13. These are panels 13, provided with a base and including indications such as arrows, speed limits or other. A rack 12 can accommodate approximately 25 temporary signaling panels 13. Depending on the dimensions of the tray 8 and its payload, the racks 11 and 12 can accommodate more beacons 5 and/or panels 13.

The rear of the plate 8 receives an automatic gripping and moving member 14. It is a robotic arm, movable along at least three axes and articulated in at least two parts. Subsequently, to facilitate reading the terms arm, robotic arm or robot will be preferentially used. The robot 14 is fixed on the plate 8 by its base 15, also including the motor and control elements. The free end of the robot 14 comprises a gripping member, for example, configured as a gripper with at least two fingers. Alternatively, the gripping member is a suction cup or a member combining several types of gripping known per se.

The rear free end of the plate 8 is equipped with a signaling device 16. It is a light panel, with various signaling possibilities, this, in a manner known per se, by varying the illuminated areas of the panel 16, by switching off, switching on or flashing bulbs equipping these areas. The panel 16 is mounted on slides 17 arranged laterally on each side of the plate 8 and making it possible to move the panel 16 away or closer to the plate 8. In this way, it is possible either to have the panel 16 at the end free from the plate 8, therefore defining a rear panel of the vehicle 6, or distant from the plate 8, providing, in a secure manner, between the panel 16 and the slides 17 and the plate 8 a work space E offset at the rear of the vehicle 6, in the extension of the plate 8 and substantially of the same width as the latter. Alternatively, the signaling panel 16 is pivotally mounted either at the end of the plate 8 or at the end of the slides, the latter in all cases present to delimit the work space E.

A guide member 18 of the tags 5 to be taken up is fixed on the free end 19 of the plate 8, overhanging and under the latter. This member 18, as appears in particular in the following figures, comprises a rectangular frame 20 configured in a U, therefore open on one of the short sides. The frame 20 is, here, metallic. Alternatively, it is made of another material, for example polymers. The frame 20 comprises two sides 21, 22, open and parallel, connected by a bottom 23 parallel to the short open side. The bottom 23 is located in the lower part relative to the plate 8 when the frame is in a perpendicular position relative to the main plane P of the plate 8, the bottom 23 being generally parallel to the roadway 1 in the so-called inactive position of the member 18 illustrated in figure 2 , 5 , 9 to 12 . The sides 21, 22 and the bottom 23 are made with metal tubes, thus forming a so-called open frame 20. The frame 20 is mounted on a support 24 formed of two parallel tubes arranged angularly relative to the end 19 of the plate 8. The tubes constituting the support 24 are fixed perpendicularly to retaining bars 25 positioned under the plate 8. Alternatively , they are fixed on the chassis of the vehicle 6.

The frame 20 is pivotally mounted on the support 24 in the vertical plane, according to the double arrow F20. The rotation takes place around a rotation shaft 26 ensuring the connection between the free ends of the tubes of the support 24 and an edge of the bottom 23 of the frame 20. The frame 20 thus passes from a so-called inactive vertical position, as illustrated to the figure 2 , in which the open side of the frame 20 is located upwards near the signaling panel 16, the sides 21 and 22 being perpendicular to the main plane P of the plate 8 at a so-called active horizontal position in which the small open side and the bottom 23 of frame 20 are located as close as possible to roadway 1 and substantially perpendicular to plane P, as illustrated in figures 6 to 8 .

We note, in the different figures, that the sides 21, 22 are provided with rectangular plates 27, 28 pivotally mounted by one of their short sides on the short side of, respectively, each side 21, 22 which define, by their free ends, the opening of the U formed by the frame 20 therefore which participate in delimiting the small open side of the frame 20. The plates 27, 28 are free to rotate and are mounted on the sides 21, 22 so as to pivot, by gravity, when the frame 20 tilts towards the roadway 1 according to the double arrow F20. Once the frame 20 has tilted, the plates 27, 28 are deployed, towards the outside of the frame 20 and angularly relative to the plane defined by each side 21, 22. The plates thus form a guiding V in the extension of the opening of the frame 20, as shown in the figures 6 to 8 . Such positioning of the plates 27, 28 is favored by an inclination of the tubes defining the short sides of the flanks 21, 22 on which the plates 27, 28 pivot.

We thus achieve, with the plates 27, 28 in the deployed position, a funnel-shaped guidance towards the interior of the frame 20. The solid bottom 23 of the frame 20 comprises a raised element 29, made of a rigid material, for example polymer or metallic, of shape and dimensions complementary to those of a beacon 5. The relief 29 is therefore here configured as a cone. The dimensions of the relief 29 are such that it can be inserted, reversibly, into a marker 5 from the open sole 30 of the latter. We understand that, if the tag 5 is of another shape and/or dimensions than those illustrated, the shape and/or dimensions of the relief 29 are also different. in all cases, it is appropriate that the beacon 5, whatever its geometric shape, be provided with a hollow part allowing the insertion of the relief 29. Alternatively, the relief 29 is removably mounted on the bottom 23. It is thus possible to have a set of different reliefs 29 making it possible to adapt the guide member 18 to several types of tags to be picked up.

When the guide member 18 is in the inactive position, the bottom 23 of the frame 20 being substantially parallel to the plane P of the plate 8, the conical relief 29 is in a vertical position, its top being close to the plate 8. When the member 18 is in the active position illustrated in figures 6 to 8 , the bottom 23 being substantially perpendicular to the plane P of the plate 8, the longitudinal axis A29 of the conical relief 29 is then generally parallel to the plane P, the vertex 31 of the conical relief 29 being as close as possible to the U-shaped opening 32 of the frame 20. In this configuration, as mentioned previously, the plates 27, 28 are deployed and form a V-shaped funnel whose tip is, de facto, in the extension of the vertex 31 of the conical relief 29.

Under the plate 8 substantially directly above the robotic arm 14 and behind the axle, another collection member 33 is arranged. It is a member configured as a bucket whose width is slightly less than that of the plate 8. Subsequently, the terms collection member or bucket will be used interchangeably. The bucket 33 is mounted in an articulated manner under the plate 8 by a pantograph type device. Alternatively, it is a device based on cylinders, on hinges or any other articulation device known per se. The opening of the bucket 33 is oriented outwards, beyond the end 19 of the plate 8 and in the extension thereof. In the position illustrated in figure 2 this collection member 33 is in the inactive position, that is to say located at most near the plate 8 and therefore furthest from the roadway 1. When the bucket 33 is in the active position, it is lowered towards the roadway 1, until it is in contact with it. Casters 34 allowing it to move on the latter. The open part of the bucket 33 comprises an inclined ramp 35 towards the rear of the vehicle 6. In other words, the filling of the bucket 33 is carried out when the vehicle 6 is in reverse.

To the figure 2 , all of the active elements of the vehicle 6 are in the so-called inactive position, namely the robotic arm 14 is folded according to the width of the plate 8. The signaling panel 16 is in the retracted position, resting against the plate 8. guide member 18 of the beacons 5 is in a vertical position at the rear of the plate 8 and the collection member 33 is folded under the plate 8. Thus the vehicle 6 can move from one beaconing zone to another in taking a traffic lane 1, with a footprint which is slightly greater than the length of the platform 8 alone but with a width which complies with the regulations in force, the various constituent elements not exceeding the nominal width of the platform 8.

All of the marking stages, as well as the resumption of the markers, are defined and carried out automatically, without human intervention other than driving the vehicle 6. The area to be marked or returned to normal traffic is, during 'a first step prior to any intervention, identified, mapped and located by GPS. All of the data relating to this zone is sent to a control module located in the cabin of the vehicle 6 or, alternatively, to a third party remote from the vehicle 6, to be processed and to define the parameters of the intervention. In all cases, when the vehicle 6 arrives at the intervention zone, it slows down, either automatically or following an alarm informing the driver, to a predetermined working speed. Once the vehicle 6 has reached the working speed which is generally of the order of 10 to 15 km/h and it is positioned on the roadway 1 at the level of a marking line 2, for example as illustrated to the figure 1 , it is possible to begin the intervention. The alignment of beacons 5 and the interval between two neighboring beacons are done automatically, the vehicle 6 being geo-located and the marking route being pre-established. The speed of vehicle 6 is regulated automatically, the driver just ensuring that the trajectory of the vehicle on the traffic lane 3 is maintained relative to the central line 2 of the roadway 1. Note that, as shown in figure 1 , the vehicle 6 is legally located to the right of line 2. Alternatively, depending on the markings, the traffic conditions and/or the highway code concerned and/or the safety rules concerning the markings, the vehicle 6 may be at left or straddling line 2.

There Figure 3 illustrates the vehicle 6 in an active position, that is to say here in position on a roadway 1 to be marked. In this position, the signaling panel 16 is moved away from the plate 8, the slides 17 being deployed in the extension of the rear of the vehicle 6 and the secure working space E between the slides 17 and the panel 16 is delimited. To facilitate reading in the case of installing beacons, the guide member 18 is not illustrated in the figures 3 and 4 , it being understood that it is in the inactive position described previously with reference to the figure 2 .

To the Figure 3 , the robot 14 is in the process of taking a tag 5 from the storage rack 11. The robot 14 by its gripping end, for example of the gripper type, grabs a tag 5 stored in the rack 11 by its pointed end, therefore by the top of the cone. The robot 14 takes a beacon 5 located at the top of a stack of beacons 5. The rack 11 is advantageously equipped with a means of advancing the piles so that the taking of beacons 5 is always carried out at the same place. For this, the rack 11 includes an automatic feed belt or a member, cylinder or spring, for pushing the piles. such advance means are known per se. Alternatively, the robot 14 is equipped with sensors allowing either to take the tags 5 in the order of presentation of the stacks of tags on the rack 11 or on another stack. The robot 14 can also be equipped with a visual recognition sensor for beacons, in order to detect, for example, beacons that are defective or not adapted to the beacon in question in the stack and thus take another from a neighboring stack on the rack 11. In in all cases, the movements of the robot 14 are done automatically, without human intervention to position the beacon 5 on the roadway 1 in the work space E and in the alignment of the beacon 5 already illustrated in position. When the panel 16 is deployed, it displays predefined messages, for example by pictograms or a written message, informing roadway users of an intervention in progress, as illustrated in Figure 3 . The messages are either displayed automatically once the panel 16 is deployed or manually under the action of the driver or a third party who may be in a remote control room. In this case, a wired or non-wired connection between the panel 16 and the command room and/or the cabin 7 of the vehicle 6 allows the messages to be displayed and modified.

There Figure 4 illustrates the installation of a beacon 5 by the robot 14. Note that the robot 14 performs, automatically without human intervention, all of the maneuvers in the defined work space E which makes it possible to secure the maneuver, in particular towards motorists or people on roadway 1. Once beacon 5 is taken from rack 11, as in Figure 3 , the robot pivots, if necessary with a complex movement combining rotation and translation, and places the beacon 5 on the roadway, in a vertical position, resting on its sole 30. Once the beacon 5 has been placed, the robot 14 pivots in the direction of the rack 11 to take another beacon 5 and place it on roadway 1, in a similar manner. the various maneuvers carried out by the robot 14 are carried out when the vehicle is moving forward or, alternatively if necessary, when the vehicle stops.

There Figure 5 illustrates the installation of a temporary signaling panel 13 taken from the rack 12 adjacent to the rack 11 containing the beacons 5. This installation is carried out by the robotic arm 14, in a manner similar to the installation of a beacon 5, provided that the gripping member fitted to the end of the arm 14 is adapted to take both a beacon 5 and a temporary traffic sign 13. The latter is held in a vertical position on the roadway 1 by foldable feet 36, known per se and which deploy by gravity, during the movement of the panel 13 between the rack 12 and the roadway 1.

THE figures 3 to 5 illustrating the installation of a marker, the following figures represent the recovery of the markers by a vehicle 6. thus, the same type of vehicle 6 can carry out the two operations, installation and recovery of the markers, it being understood that it is possible to dedicate specifically a vehicle 6 for installation and another for recovery. As it appears in particular in the figure 6 , when it is desired to take up the tags 5, the arm 14 is initially folded, for example resting on the top of the rack 11 as illustrated. The slides 17 are deployed in order to define the working space E. The guide member 18 which was in the vertical position tilts, according to the double arrow F20, into the horizontal position as close as possible to the roadway 1. During this movement, the side plates 27, 28 mounted on the sides 21, 22 of the frame 20 of the member 18 are deployed defining the V-shaped opening 32 of the member 18. A reflective marking on the plates 27, 28, for example red and white, allows the opening 32 to be viewed. The plates 27, 28 act like a funnel so as to properly position and guide the beacon 5 at the level of the opening 32 of the frame 20. To initiate the collection, the member 18 being at least in the process of pivoting, the vehicle 6 moves in reverse along the arrow R. This reverse is carried out at a controlled and predefined speed, generally lower than the speed of the vehicle during installation. For example, the reverse speed for collection is approximately 10 km/h. The vehicle 6 is guided either manually by the driver who steers from the marking line 2 and the mirrors. and/or a reversing camera, or automatically, by cameras connected to the vehicle's steering system. In one embodiment, the guide member 18 is advantageously mounted movable in translation along a movement bar fixed according to the width of the vehicle 6. It is thus possible, automatically or manually to modify the position of the member in relation to the exact positioning of the beacons 5.

When reversing the vehicle 6, as appears from the Figure 6 , a bar 37, constituting the opening 32 of the frame 20 comes to bear against the beacon 5 and induces the tilting of the latter between the plates 27, 28, so that the open lower face of the sole 30 of the beacon 5 is found substantially facing the top 31 of the conical relief 29 fixed on the bottom 23. The dimensions and respective positions of the frame 20, the plates 27, 28 and the cone 29 contribute to the optimal placement of the beacon 5 first in the opening 32 then, as the vehicle 6 reverses, in the frame 20.

By continuing the reverse of the vehicle 6, the beacon 5 finds itself in the frame 20 and fits onto the conical relief 29, as illustrated in the Figure 7 . We thus have a beacon 5 which was initially standing on the roadway 1 and finds itself in a lying position and fitted onto a collection element 29.

The bottom 23 of the frame 20 comprising the conical relief 29 for collecting, and therefore the beacon 5 fitted onto the latter, pivots according to the double arrow F20 and returns to the horizontal position as shown in the figure 8 that is to say in a position where the relief 29 and the beacon 5 are found substantially in the middle position in the work space E, the tip of the beacon 5 being in the vicinity of the plate 8. It should be noted that only the bottom 23 pivots, the rest of the frame 20 and the plates 27, 28 remaining in a horizontal position, that is to say ready to guide another beacon 5 being picked up. The robotic arm 14 can then recover the tag 5 from the tip of the latter and put it back on the storage rack 11. This maneuver of the robot 14 is similar to that carried out during the installation of the beacon 5 but following an opposite trajectory. The frame 20 being still in the active position, that is to say horizontal in the vicinity of the roadway, the backward movement of the vehicle 6 continues until the next beacon 5 to be recovered while the robot 14 returns to its place to take the next beacon, the bottom 23 having returned to the vertical position, therefore with the relief 29 horizontal, this as soon as the beacon 5 is taken by the robot 14. All of the collection operations are advantageously carried out with the vehicle 6 in motion. We understand that these various automatic maneuvers use visual, contact, geo-positioning or other sensors, if necessary associated with an artificial intelligence type management module.

The following figures illustrate the collection of a beacon when it is no longer in an upright position on the roadway. Such a case arises when a beacon 5 has been struck by a vehicle or overturned by the movement of air from a vehicle brushing against the beacon 5 or by a voluntary act of a person. In this case, beacon 5 is lying and/or damaged. It is in an unfavorable position to be taken by the guide member 18 and by the robot 14. As illustrated in Figure 9 , the guide member 18 is raised and returns to the inactive position so that the underside of the plate 8 is clear. The organ of collection 33 is therefore lowered, the casters 34 coming to rest on the roadway 1. The retreat according to the arrow R of the vehicle 6 continues, which allows the beacon 5 to be recovered, the latter being positioned in the volume of the bucket 33 thanks to to the inclined ramp 35 and to the width of the bucket 33 which facilitates the insertion of the tag 5 into the bucket 33. Once this tag 5 has been picked up, the bucket 33 is raised and held in the inactive position under the plate 8. Bucket 33 can thus recover up to 8 to 10 tags. The tags 5 are stored in the bucket 33 and will be retrieved later, for example manually. As a variant, the gripping member of the robot 14 is adapted to ensure the capture of a beacon at any point thereof, therefore not necessarily by the top of the cone, which makes it possible to take a beacon present in the bucket 33. The collection of the tags 5 by the pickup member 33 is carried out, de facto, immediately when a lying tag 5 is detected, between two pickups by the member 18. According to one embodiment, the detection of the position of the beacons 5, standing or lying, on the marking line is automatic, by visual recognition devices known per se. In this way, the vehicle 6 can continue to move backward, without significant modification of its speed and/or its trajectory, a control module initiating the use of one or the other of the collection means, depending on the position of the tags. We understand that, although the lying position of the beacons remains an unusual position, it happens that the bucket 33 is full. In this case, a sensor, for example an infrared counting barrier placed at the level of the ramp 35, triggers an alarm and/or a temporary stop of the vehicle 6 so that an operator, for example the driver of the vehicle 6, comes to empty the bucket 33 by placing the tags 5 on the rack 11 manually or via the robot 14. When the tags 5 are damaged, and therefore not reusable, they are stored in a dedicated container placed on the tray 8 or in another vehicle.

Alternatively, the signaling panels 13 are stacked flat on the plate 8, possibly in a dedicated rack.

A scraping bar and/or a sweeping and cleaning ramp can be provided under the plate 8 between the axles or at the front of the vehicle in order to clean the roadway before installing the markers 5 or when removing them.

In another embodiment, the platform comprises two robotic arms operating for several types of markers and/or panels and/or simultaneously on two marking lines.

Alternatively, a control and/or command station is provided on the vehicle, for example, on the platform, for an operator in charge of controlling and/or managing the marking. This operator can, if necessary, intervene in the event of a problem during the installation or recovery of the tags.

Alternatively, several flatbed trailers or several subframes on crutches, equipped with the type and/or number of defined markers or signs are ready to be coupled to a towing vehicle, the route of the intervention and the characteristics of the marking being defined and stored in a control module integrated into each trailer or subframe, the module communicating, preferably but not exclusively by wire, with the towing vehicle so that it can go to the intervention site.

Alternatively, the collection member 33 and/or the guide member 18 are placed on one of the sides of the vehicle.

Alternatively, the storage capacity of the vehicle 6, for example the capacity and/or the number of racks 11 and 12 are lower than those described. Such a configuration is encountered in the case of marking one-lane roads and/or with a layout such that only vehicles of small dimensions and/or tonnage can be used for the marking.

Claims (14)

Vehicle (6) for marking traffic lanes (1, 3, 4) equipped with at least one storage zone (10) for beacons (5; 13), comprising at least: - an automatic gripping and moving member (14) of at least one beacon (5) to be placed on a traffic lane (1, 3, 4) between the storage area (10) of the vehicle (6) and a work space (E) delimited on a traffic lane (1, 3, 4) to be marked, - an automatic guide member (18) of at least one beacon (5) to be taken from the traffic lane (1, 3, 4) between the work space (E) and the control member automatic gripping and movement (14) of beacons, the latter moving the beacon (5) to the storage area (10), characterized in that the vehicle comprises a signaling panel (16) mounted at the rear of the vehicle (6) and movable in translation on slides (17) fixed laterally on the vehicle and in that in the position remote from the vehicle (6), the signaling panel (16) defines with the slides (17), according to the width of the vehicle, a secure work space (E) for installing and removing the markers (5). Vehicle according to claim 1, characterized in that the gripping and moving member is a robotic arm (14) movable along at least three axes and articulated in at least two parts. Vehicle according to claim 1, characterized in that the guide member (18) comprises an open frame (20) configured in a U pivotally mounted (F20) in the vertical plane between an inactive position where it is away from the track. traffic (1, 3, 4) and an active position where it is substantially parallel to the traffic lane (1, 3, 4), as close as possible to the latter. Vehicle according to claim 3, characterized in that the frame (20) of the guide member (18) comprises a bottom (23) provided with a raised element (29) of shape complementary to that of a beacon ( 5) and of dimensions adapted to be inserted removably into a beacon (5) from the open sole (30) thereof. Vehicle according to claim 4, characterized in that the bottom (23) of the frame (20) is movable in the vertical plane, independently of the other elements constituting the guide member (18), between an inactive position where it is distant of the traffic lane (1, 3, 4) and an active position where it is substantially perpendicular to the traffic lane (1, 3, 4), as close as possible to the latter. Vehicle according to claim 3, characterized in that the frame (20) of the guide member (18) is equipped, on two parallel flanks (21, 22) of the frame (20) on either side of the opening of the U defined by the frame, of movable plates (27, 28) rotating between an inactive position where they are parallel to the sides (21, 22), and an active position where they are deployed angularly relative to the main plane of each flank (21, 22), thus defining a V-shaped guide in the extension of the opening of the U-shaped frame (20). Vehicle according to claim 1, characterized in that the vehicle comprises a member (33) movable in the vertical plane for collecting the beacons (5) when the latter are not in a standing position on the traffic lane. Vehicle according to claim 1, characterized in that the storage area (10) of the tags (5) comprises at least one removable rack (11, 12). Vehicle according to claim 1, characterized in that the storage zone (10), the gripping and moving member (14) are adapted to, respectively, store and move temporary traffic signs (13). Method for installing beacons (5) using a vehicle conforming to any one of the preceding claims and comprising at least the following steps: - a) define at least the following characteristics of the markup: the markup distance, the number of beacons (5) and the interval between beacons (5), - b) bring the vehicle (6) loaded with the necessary markers (5) to the marking location and deploy the rear signaling panel (16), - c) initiate marking by moving the vehicle (6) forward, - d) automatically carry out the unitary grip of each tag (5) by the gripping member (14) in the storage zone (10), said member being in the active position and bringing the tag (5) into the work space (E) and placing it on the track (1, 3, 4) to be marked, - e) repeat step d) until the desired markup is obtained, - f) return the gripping member (14) and the signaling panel (16) to the inactive position and drive the vehicle (6) out of the marking location. Method for collecting beacons using a vehicle according to any one of claims 1 to 9 and comprising at least the following steps: - A') define at least the following characteristics of beacon collection: the beacon distance, the number of beacons (5) and the interval between beacons (5), - B') bring the vehicle (6) with a free storage area (10) to the marked location and deploy the rear sign (16), - C') initiate the pickup by moving the vehicle (6) in reverse (R), - D') bring the guide member (18) into the active position opposite a beacon (5) to be picked up, the plates (27, 28) defining the guide V being automatically deployed during this step, - E') move back (R) the vehicle (6) until the beacon (5) tilts in the guide member (18) and the raised element (29) fitted to the bottom ( 23) of the frame (20) of the guide member (18) in the beacon (5), - F') while continuing in reverse (R) of the vehicle (6), pivot the bottom (23) into the inactive position and bring the beacon (5) into the gripping position by the gripping member (14), this last taking the beacon and depositing it in the storage area (10), - G') repeat steps D') to F') until all the tags are collected in the vertical position, - H') return the gripping member (14), the guiding member (18) as well as the signaling panel (16) to the inactive position and drive the vehicle (6) out of the beacon collection location (5 ). Method for collecting beacons according to claim 11, characterized in that after step C') and before step D'), the following steps are carried out: - during a new step l'), a collection member (33) of beacons (5) lying on the track (1, 3, 4) is lowered towards the marked track, - J') continue reversing (R) of the vehicle (6) in order to individually collect the tags (5) lying in the collection member (33), - K') raise the collection member (33) once the tags (5) have been collected. Method for collecting beacons according to claim 12, characterized in that after step K'), steps D') to H') are carried out. Method for collecting beacons according to claim 13, characterized in that after step K'), step H') is carried out.

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