EP4273324B1 - Beacon vehicle and methods for using same - Google Patents

Description

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

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

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, as many markers as necessary are used for optimal guidance of vehicles, over distances that can be several kilometers with an interval between the markers adapted to the speed of the vehicles on the lane thus modified. For example, on a road or motorway type traffic lane there is an interval between two markers of the same straight line of marking of approximately 20 m, or approximately 250 markers used over 6 km, it being understood that the installation of the marking obeys constraints, normative and/or regulatory, in particular with regard to the distances between the beacons and in relation to the area to be marked.

The markers currently used, particularly markers on public roads such as roads or motorways, must meet a certain number of criteria. Thus, there are European standards such as the EN 13 422 standard which defines requirements in terms of resistance and visibility of markers. These markers, when they are conical in shape, are generally made of PVC and must withstand wind and air movement when vehicles pass by and therefore remain stable and in place in all circumstances. They must also return to their original shape after being crushed. These markers generally weigh between 4 kg and 5 kg and are between 50 cm and 1 m high. They generally weigh around 4.5 kg and are around 75 cm high. When we have so-called alignment markers which have a base topped with a rectangular or cylindrical aerial part, their weight may be higher but they must also comply with the standards in force. It is recalled 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 to vehicles, especially at night. In addition to changing the traffic lane and guiding vehicles on a lane different from the normal lane, such beacons are also used to prevent vehicles from accessing 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. It is understood 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 worksite or the end of the event concerned. In other words, they are frequently handled.

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 beacons are installed manually and individually to define the area to be marked over the distance desired. This installation is done de facto on a road open to traffic. As a result, in addition to the difficulty of manually moving 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 lead to the appearance of musculoskeletal disorders given the posture of the operator, the latter often being leaned over the door of the vehicle. The installation or removal of the signage can present a risk of impact of the agent carrying out the operation by other vehicles traveling on the road. Indeed, the retrieval of the beacons and their storage in the vehicle is carried out from the vehicle, in a similar manner to the installation of the beacons, the vehicle moving in reverse in order to benefit, for safety, from the marking in place and not in forward gear as when installing the beacons.

In order to improve working conditions and the safety of personnel when installing and removing beacons, while limiting the risk of accidents between the vehicle installing or removing the beacons and other road users, we know for example: FR-A-2 861 759 a device for placing and removing beacons which is mounted on a vehicle. This device comprises a conveyor belt driven in the opposite direction to the direction of travel of the vehicle and from which an operator places the beacons. These descend on the conveyor belt to the traffic lane where they are deposited. The movement in the opposite direction of the vehicle allows the beacons to be picked up 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, by a switch, the conveyor is automatically stopped when the beacon is at the end of the conveyor. The installation 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 belt has gripper-type means for gripping the beacons. It is also known by FR-A-2 957 614 an automatic beacon pick-up device arranged at the rear or on one side of the pick-up vehicle and which, by means of a movable arm, tilts the beacon in order to lift it off the ground before it is picked up by a free end of a conveyor belt. These different solutions only concern the installation or retrieval of beacons and, for the most part, require the intervention of an operator, even if only for storing or picking up the beacons in the vehicle. The known solutions therefore provide assistance to the operator during certain stages of the marking process. However, these known solutions do not completely solve the problem of ensuring operator safety; these known solutions only partially provide assistance aimed at reducing musculoskeletal disorders and improving working conditions during all stages of the marking process. In addition, many known solutions are suitable for setting up the beacons but not for picking them up and/or storing them in the marking vehicle. CN-A-112 609610 describes a marking vehicle with a mechanical arm for gripping and moving the markers and a frame for guiding the markers to be picked up.

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

dont le véhicule comprend un panneau de signalisation monté à l'arrière du véhicule et mobile en translation sur des glissières fixées latéralement sur le véhicule, et dont en position éloignée du véhicule, le panneau de signalisation définit avec les glissières, selon la largueur du véhicule, un espace de travail sécurisé de pose et de reprise des balises.For this purpose, the invention relates to a vehicle for marking out traffic lanes equipped with at least one beacon storage area, characterized in that it comprises at least:

• an automatic gripping and moving device for 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 for at least one beacon to be taken from the traffic lane between the workspace and the automatic beacon gripping and moving member, the latter moving the beacon to the storage area,

whose vehicle includes a traffic sign mounted at the rear of the vehicle and movable in translation on slides fixed laterally on the vehicle, and whose position away from the vehicle, the traffic sign defines with the slides, depending on the width of the vehicle, a secure work space for installing and removing the beacons.

Thus, thanks to the invention, a vehicle is provided that ensures the installation and retrieval of the markers, without human intervention other than driving the vehicle. This automatically ensures the marking of a road, 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 road to be marked, both for the installation of the markers and for their retrieval. Thanks to the invention, a single operator ensures the installation and retrieval of the markers. beacons, regardless of the length of the beaconing. This is done safely since it remains in the vehicle and without fatigue or risk of musculoskeletal disorders since it no longer handles the beacons.

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

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

The gripping and moving organ is a robotic arm movable along at least three axes and articulated in at least two parts equipped at its free end with a gripping clamp.

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

The guide member comprises an open, 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 to the latter.

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

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 far 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 which can rotate between an inactive position where they are parallel to the sides, and an active position 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 an upright position on the traffic lane.

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

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 one 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 markers,
• (b) bring the vehicle loaded with the necessary beacons to the marking location and deploy the rear signal panel,
• c) initiate the marking by moving the vehicle forward,
• d) automatically carrying out the unitary picking up of each beacon by the gripping member in the storage area, said member being in the active position and bringing the beacon into the work space and depositing it on the track to be marked,
• e) repeat step d) until the desired markup is obtained,
• (f) return the gripping device and the traffic sign to the inactive position and drive the vehicle away from the marking location.

• 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 one of the preceding characteristics and comprising at least the following steps:

• A') define at least the following characteristics of the beacon collection: the beaconing 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') reverse the vehicle until the beacon tilts into the guide member and the raised element equipping 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 tag into the position where it can be picked up by the gripping member, the latter taking the tag and placing 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 and the signal panel to the inactive position and drive the vehicle away from the beacon collection point.

• après l'étape C') et avant l'étape D'), lors d'une nouvelle étape I'), 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 I'), lower a device for collecting lying beacons towards the marked track,
• J) continue reversing the vehicle in order to individually collect the tags lying in the collection unit,
• K') raise the pick-up organ 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 as a non-limiting example and with reference to the appended drawings in which:

• [ Fig.1 ] is a top view of a portion of marked track, a vehicle conforming to an 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 the implementation of the markup,
• [ Fig.3 ] is a perspective view of the vehicle from the figure 1 , at another scale, in active configuration, at the stage where it is ready to set up the marking, for greater readability the guidance and positioning organ is not illustrated,
• [ Fig.4 ] is a view similar to the figure 3 , a tag being taken by the gripping member and placed on the traffic lane, in the work space,
• [ Fig.5 ] is a view similar to the Figures 3 and 4 , the gripping member being illustrated when placing or removing a temporary traffic sign on the traffic lane, in the work space,
• [ Fig.6 ] is a perspective view similar to the Figures 3 to 5 , the vehicle being illustrated in a position for picking up the marker, a marker being at the start of the pick-up, the guidance and positioning member being in position,
• [ Fig.7 ] is a view similar to the figure 6 , the tag being at another stage of the collection, in place in the guidance and positioning organ,
• [ Fig.8 ] is a view similar to the figures 6 And 7 , the gripping member taking the tag into place in the guiding and positioning member to bring it into the storage area,
• [ Fig.9 ] is a side view of the vehicle similar to that of the figure 2 , a device for collecting overturned tags being in a position ready for collection, the work space not yet being delimited,
• [ Fig.10 ] is a partial perspective view, at another scale and from another angle, of the vehicle in the position of the figure 2 , a tag being in place in the collection organ,
• [ Fig.11 ] is a view similar to the figure 9 , the vehicle being illustrated when the collection is initiated, the work space being demarcated and
• . [ Fig.12 ] is a view similar to the 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 motorway. Subsequently, to facilitate reading, the terms road, lane or carriageway 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 by a plurality of markers 5. The markers 5 are first positioned diagonally across the width of lane 3 and then regularly on line 2. The space between the markers, as well as their various characteristics and properties, are subject to regulation. In general, concerning the interval between two neighboring 5 beacons, it is between 15 m and 30 m when the beacons are arranged in a straight line parallel to the direction of vehicle traffic depending on the type of marking to be put in place.

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

There figure 2 illustrates the vehicle 6 from the side. It is provided with a closed driver's cab 7 and a platform 8 receiving various elements. As close as possible to the cab 7, organs 9 are placed. These are, for example, generators, maintenance parts, pneumatic compressors, lighting organs, hydraulic groups or any other organ supplying energy to the other mobile elements equipping the vehicle 6 or any organ that may be useful when installing or removing a beacon, day or night. These organs 9, known per se, will not be detailed later, their nature and/or their number being adapted to the beaconing concerned.

Behind these organs, therefore on the part of the platform 8 towards the rear of the vehicle, the platform 8 comprises a storage area 10 for beacons. Here, the beacons 5 are conical beacons 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 beacons 5 are here stored in racks 11, for example metal, which can contain several hundred beacons 5 nested on top of each other and distributed in several rows. Typically, a rack 11 as illustrated receives approximately 250 beacons of type K5A. There are as many racks 11 as necessary to occupy the storage area 10.

The 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 signs 13. These are signs 13, provided with a base and comprising indications such as arrows, speed limits or other. A rack 12 can receive approximately 25 temporary traffic signs 13. Depending on the dimensions of the platform 8 and its payload, the racks 11 and 12 can receive more beacons 5 and/or signs 13.

The rear of the plate 8 receives a gripping and automatic movement member 14. This 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 comprising the motor and control members. The free end of the robot 14 comprises a gripping member, for example, configured as a clamp 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 platform 8 is equipped with a signaling member 16. This is a light panel, with various signaling possibilities, this, in a manner known per se, by varying illuminated areas of the panel 16, by extinguishing, lighting or flashing bulbs equipping these areas. The panel 16 is mounted on slides 17 arranged laterally on each side of the platform 8 and making it possible to move the panel 16 away from or closer to the platform 8. In this way, it is possible either to have the panel 16 at the free end of the platform 8, thus defining a rear panel of the vehicle 6, or away from the platform 8, providing, in a secure manner, between the panel 16 and the slides 17 and the platform 8 a work space E offset to the rear of the vehicle 6, in the extension of the platform 8 and substantially of the same width as the latter. Alternatively, the signal panel 16 is pivotally mounted either at the end of the tray 8 or at the end of the slides, the latter being in all cases present to delimit the work space E.

A guide member 18 for the markers 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 can be seen 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 organ 18 illustrated in figures 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 to 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 in figure 2 , in which the open side of the frame 20 is located upwards near the traffic sign 16, the sides 21 and 22 being perpendicular to the main plane P of the platform 8 at a so-called active horizontal position in which the small open side and the bottom 23 of the frame 20 are located as close as possible to the roadway 1 and substantially perpendicular to the plane P, as illustrated in figures 6 to 8 .

It is noted, in the various figures, that the flanks 21, 22 are provided with rectangular plates 27, 28 pivotally mounted by one of their short sides on the short side of, respectively, each flank 21, 22 which define, by their free ends, the opening of the U formed by the frame 20 and therefore which participate in delimiting the short open side of the frame 20. The plates 27, 28 are free to rotate and are mounted on the flanks 21, 22 so as to pivot, by gravity, when the frame 20 tilts in the direction of 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 flank 21, 22. The plates thus form a guide V in the extension of the opening of the frame 20, as is apparent from the figures 6 to 8 . Such positioning of the plates 27, 28 is facilitated by an inclination of the tubes defining the short sides of the flanks 21, 22 on which the plates 27, 28 pivot.

This produces, with the plates 27, 28 in the deployed position, a funnel-shaped guide towards the inside 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 metal, of a 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 beacon 5 from the open sole 30 of the latter. It is understood that, if the beacon 5 is of a different 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 for the beacon 5, whatever its geometric shape, to 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 beacons 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 the vertical position, its apex 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 apex 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 apex 31 of the conical relief 29.

Under the plate 8 substantially directly above the robotic arm 14 and behind the axle, another pick-up member 33 is arranged. This is a member configured as a bucket whose width is slightly less than that of the plate 8. Subsequently, the terms pick-up 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 jacks, 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 organ 33 is in the inactive position, that is to say located at most near the platform 8 and therefore the 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. Rollers 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 along the width of the platform 8. The traffic sign 16 is in the retracted position, resting against the platform 8. The guiding member 18 of the beacons 5 is in the vertical position at the rear of the platform 8 and the pick-up member 33 is folded under the platform 8. Thus the vehicle 6 can move from one marking zone to another using a traffic lane 1, with a footprint that is slightly greater than the length of the platform 8 alone but with a width that complies with the regulations in force, the various constituent elements not exceeding the nominal width of the platform 8.

All of the steps of the marking, as well as the recovery of the markers, are defined and carried out automatically, without human intervention other than the driving of the vehicle 6. The area to be marked or to be 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 area 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 a marking line 2, for example as illustrated in figure 1 , it is possible to start 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 route of the beaconing being pre-established. The speed of the vehicle 6 is regulated automatically, the driver just ensuring the maintenance of the trajectory of the vehicle on traffic lane 3 relative to the center line 2 of carriageway 1. Note that, as shown in figure 1 , vehicle 6 is legally located to the right of line 2. Alternatively, depending on the markings, traffic conditions and/or the relevant highway code and/or safety rules concerning the markings, vehicle 6 may be on the left or astride 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 traffic sign 16 is moved away from the platform 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 sign 16 is delimited. To facilitate reading in the case of the installation of beacons, the guide member 18 is not illustrated in Figures 3 and 4 , it being understood that it is in the inactive position described above with reference to the figure 2 .

To the figure 3 , the robot 14 is in the process of picking up 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 picks up a tag 5 located at the top of a stack of tags 5. The rack 11 is advantageously equipped with a means for advancing the stacks so that the picking up of tags 5 is always carried out at the same location. For this, the rack 11 comprises an automatic advance belt or a member, jack or spring, for pushing the stacks. Such advance means are known per se. Alternatively, the robot 14 is equipped with sensors making it possible either to pick up 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 beacon recognition sensor, in order to detect for example defective beacons or beacons not adapted to the relevant marking in the stack and thus take another one from a neighboring stack on the rack 11. 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 workspace E and in alignment with 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 road 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 wireless connection between the panel 16 and the control 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. It is noted that the robot 14 carries out, automatically without human intervention, all of the maneuvers in the defined workspace E, which makes it possible to secure the maneuver, in particular with respect to motorists or people on the roadway 1. Once the beacon 5 has been taken from the 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 is placed, the robot 14 pivots in the direction of the rack 11 to take another beacon 5 and place it on the 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 is stationary.

There figure 5 illustrates the installation of a temporary traffic sign 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 equipping 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, when the sign 13 is moved between the rack 12 and the roadway 1.

THE Figures 3 to 5 illustrating the installation of a beacon, the following figures represent the recovery of the beacons by a vehicle 6. Thus, the same type of vehicle 6 can carry out both operations, installation and recovery of the beacons, it being understood that it is possible to specifically dedicate one vehicle 6 to the installation and another to the recovery. As is particularly apparent in the figure 6 , when one wishes to take back 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 work space E. The guide member 18 which was in the vertical position tilts, according to the double arrow F20, into a 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 seen. The plates 27, 28 act as a funnel so as to properly position and guide the beacon 5 at 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 according to 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 marker line 2 and the rearview 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 to be movable in translation along a movement bar fixed along the width of the vehicle 6. It is thus possible, automatically or manually, to modify the position of the member relative to the exact positioning of the markers 5.

When reversing vehicle 6, as can be seen 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 ends up substantially opposite the top 31 of the conical relief 29 fixed on the bottom 23. The dimensions and the 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 gear 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. figure 7 . We thus have a beacon 5 which was initially standing on roadway 1 and finds itself in a lying position and nested on a collection element 29.

The bottom 23 of the frame 20 comprising the conical collection relief 29, and therefore the beacon 5 fitted on the latter, pivots according to the double arrow F20 and returns to the horizontal position as shown in the figure. 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 workspace 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 pick up the beacon 5 from the tip of the latter and place it back on the storage rack 11. This maneuver of the robot 14 is similar to that carried out when placing the beacon 5 but according to an inverse trajectory. The frame 20 being still in the active position, that is to say horizontal in the vicinity of the roadway, the vehicle 6 continues to move backwards until the next marker 5 to be recovered while the robot 14 returns to its place to take the next marker, the bottom 23 having returned to the vertical position, therefore with the horizontal relief 29, this as soon as the marker 5 is taken by the robot 14. All of the collection operations are advantageously carried out with the vehicle 6 moving. It is understood that these various automatic maneuvers call upon visual, contact, geo-positioning or other sensors, if necessary associated with an artificial intelligence type management module.

The following figures illustrate the picking up of a beacon when it is no longer in an upright position on the roadway. Such a case occurs when a beacon 5 has been struck by a vehicle or knocked over by the air movement of a vehicle brushing past the beacon 5 or by a voluntary act of a person. In this case, the beacon 5 is lying down and/or damaged. It is in an unfavorable position to be picked up by the guiding 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 guide member collection 33 is therefore lowered, the rollers 34 coming to bear on the roadway 1. The backward movement according to the arrow R of the vehicle 6 continues, which makes it possible to recover the beacon 5, the latter being positioned in the volume of the bucket 33 thanks to the inclined ramp 35 and the width of the bucket 33 which facilitates the insertion of the beacon 5 into the bucket 33. Once the collection of this beacon 5 has been carried out, the bucket 33 is raised and held in an inactive position under the platform 8. The bucket 33 can thus recover up to 8 to 10 beacons. The beacons 5 are stored in the bucket 33 and will be recovered later, for example manually. Alternatively, the gripping member of the robot 14 is adapted to ensure the gripping of a beacon at any point thereof, therefore not necessarily by the top of the cone, which makes it possible to grip a beacon present in the bucket 33. The picking up of the beacons 5 by the picking up member 33 is carried out, de facto, immediately when a lying beacon 5 is detected, between two pickings 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 backwards, without any significant change in its speed and/or its trajectory, a control module initiating the use of one or the other of the picking up means, depending on the position of the beacons. It is understood that, although the lying position of the tags 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 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 manually or via the robot 14 placing the tags 5 on the rack 11. When the tags 5 are damaged, and therefore not reusable, they are stored in a dedicated container placed on the platform 8 or in another vehicle.

Alternatively, the traffic signs 13 are stacked flat on the tray 8, possibly in a dedicated rack.

A scraper bar and/or a sweeping and cleaning ramp may be provided under the platform 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 beacons and/or panels and/or simultaneously on two marking lines.

Alternatively, a control and/or command post is set up on the vehicle, for example, on the platform, for an operator in charge of controlling and/or managing the markings. This operator can, if necessary, intervene in the event of a problem when installing or retrieving the markers.

Alternatively, several flatbed trailers or several sub-chassis on stands, equipped with the type and/or number of beacons or panels defined, are ready to be hitched 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 sub-chassis, the module communicating, preferably but not exclusively by wire, with the towing vehicle so that it can go to the intervention site.

Alternatively, the pick-up 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 less than those described. Such a configuration is encountered in the case of the marking of single-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)

1. [A vehicle (6) for traffic guidance for traffic lanes (1,3,4) equipped with at least one storage area (10) for traffic cones (5; 13) comprising at least:

   - an automatic gripping and moving member (14) for at least one traffic cone (5) to lay on a traffic lane (1,3,4), between a storage area (10) of the vehicle (6) and a working space (E) delimited on a traffic lane (1,3,4) to be defined by traffic cones,

   - an automatic guiding member (18) of at least one traffic cone (5) to take up from the traffic lane (1,3,4) between the working space (E) and the automatic traffic cone gripping and moving member (14), the latter moving the traffic cone (5) to the storage area (10), characterized in that the vehicle comprises a signaling panel (16) mounted on the rear of the vehicle (6) and movable in translation on slides (17), fastened laterally on the vehicle and in that in the position distant from the vehicle (6), the signaling panel (16) defines with the slides (17), depending on the width of the vehicle, the secured working space (E) for laying and taking back the traffic cones (5).
2. The vehicle according to claim 1, characterized in that the gripping and moving member is a robot arm (14) movable along at least three axes and articulated in at least two parts.
3. The vehicle according to claim 1, characterized in that the guiding member (18) comprises an open, U-shaped frame (20) mounted apt to pivot (F20) in the vertical plane between an inactive position where same is distant from the traffic lane (1, 3, 4) and an active position where same is substantially parallel to the traffic lane (1, 3, 4) nearest to the latter.
4. The vehicle according to claim 3, characterized in that the frame (20) of the guiding member (18) comprises a bottom (23) having a relief element (29) with a shape matching the shape of the traffic cone (5) and with suitable dimensions for removably inserting into a traffic cone (5) from the open footing (30) of the traffic cone.
5. The vehicle according to claim 4, characterized in that the bottom (23) of the frame (20) is movable in the vertical plane, independently of other elements constituent of the guiding member (18), between an inactive position where same is distant from the traffic lane (1, 3, 4) and an active position where same is substantially perpendicular to the traffic lane (1, 3, 4), nearest to the latter.
6. The vehicle according to claim 3, characterized in that the frame (20) of the guiding member (18) is equipped, on both flanks (21,22) parallel to the frame (20), on either side of the U-shaped opening defined by the frame, with movable plates (27, 28) rotating between an inactive position where same are parallel to the flanks (21,22) and an active position where same are angularly deployed with respect to the main plane of each flank (21, 22), thereby defining a V-shaped guide in the continuation of the opening of the U-shaped frame (20).
7. The vehicle according to claim 1, characterized in that the vehicle comprises a member (33) movable in the vertical plane of collecting the traffic cones (5) when the latter are not in a standing position on the traffic lane.
8. The vehicle according to claim 1, characterized in that the storage area (10) for the traffic cones (5) comprises at least one removable rack (11, 12).
9. The vehicle according to claim 1, characterized in that the storage area (10), the gripping and moving member (14) are suitable for storing and moving, respectively, the temporary signaling panels (13).
10. A method of installing traffic cones (5) using a vehicle according to any of the preceding claims and comprising at least the following steps:

    - a) defining at least the following traffic guidance characteristics: the traffic guidance distance, the number of traffic cones (5) and the interval between the traffic cones (5),

    - b) bringing the vehicle (6) loaded with the necessary traffic cones (5) to the place of traffic guidance and deploying the rear signaling panel (16),

    - c) initiating the traffic guidance by moving the vehicle (6) forward,

    - d) automatically taking each traffic cone (5) one by one by means of the gripping member (14) in the storage area (10), said member being in the active position and bringing the traffic cone (5) into the working space (E) and laying the traffic cone onto the lane (1, 3, 4) to be defined by traffic cones,

    - e) repeating step d) until the desired traffic guidance is obtained,

    - f) returning the gripping member (14) and the signaling panel (16) to the inactive position and driving the vehicle (6) away from the place of traffic guidance.
11. A method of collecting up traffic cones using a vehicle according to claim 6 and including at least the following steps:

    - A') defining at least the following characteristics for collecting up the traffic cones: the traffic guidance distance, the number of traffic cones (5) and the interval between the traffic cones (5),

    - B') bringing the vehicle (6) with a free storage zone (10) to the place of traffic guidance and deploying the rear signaling panel (16),

    - C') initiating the collecting by moving the vehicle (6) in reverse (R),

    - D') bringing the guiding member (18) into the active position with respect to a traffic cone (5) to collect, the plates (27, 28) defining the guiding V-shape being automatically deployed during such step,

    - E') reversing (R) the vehicle (6) until the tipping over of the traffic cone (5) into the guiding member (18) and the interlocking of the relief element (29) equipping the bottom (23) of the frame (20) of the guiding member (18) into the traffic cone (5),

    - F') while continuing the reversing (R) of the vehicle (6), pivoting the bottom (23) into the inactive position and bringing the traffic cone (5) into the position for taking by the gripping member (14), the latter taking the traffic cone and laying same in the storage area (10),

    - G') repeating the steps D') to F') until all traffic cones in the vertical position are collected,

    - H') returning the gripping member (14), the guiding member (18) and the signaling panel (16) into the inactive position and driving the vehicle (6) away from the place of traffic cone (5) collection.
12. The method for collecting traffic cones according to claim 11, characterized in that after step C') and before step D'), the following steps are performed:

    - during a new step I'), a collecting member (33) for the traffic cones (5) lying down on the lane (1,3, 4) is lowered toward the traffic guided lane,

    - J') continuing the reversing (R) of the vehicle (6) in order to collect, one by one, the traffic cones (5) lying down, in the collecting member (33),

    - K') raising the collecting member (33) once the traffic cones (5) are collected.
13. The method for collecting traffic cones according to claim 12, characterized in that after step K'), the steps D') to H') are performed.
14. The method for collecting traffic cones according to claim 13, characterized in that after step K'), the step H') is performed.

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