BE1022274B1 - System for creating an environment - Google Patents

Abstract

The present invention relates to a system for creating an environment. More precisely, the present invention relates to a system for creating an environment comprising a server, at least one mobile element (200), a projection system comprising a plurality of projectors (310) capable of projecting partial images (610) which form an overall image and a localization system comprising a plurality of sensors (110) capable of detecting the at least one mobile element (200) if it is located in its capture cone (121). The server determines, based on the information it receives from the mobile element (200) and the tracking system (100), information to send to the mobile element (200) and the projection system (300) for modify the environment perceived by a pilot of the mobile element and potential spectators.

Description

"System for creating an environment"

Technical area

The present invention relates to a system for creating an environment. More specifically, the present invention relates to a system for creating an environment in which a projected image can be modified according to the position of at least one moving element measured by a location system.

Prior state of the art

Current karting systems include a marked track on the ground and karts that run on this track.

Unfortunately, the track is materialized on the ground by fixed elements, which are long to install and long to remove, such as paint or stickers. It is therefore not possible to quickly change the track at a given location.

In addition, karts may collide with each other or with fixed obstacles.

In addition, the karting race is fun but repetitive and karting a single kart has little playful interest. The invention therefore aims to provide an environment creation system that allows the implementation of a kart system that does not have these problems.

Disclosure of the invention The invention proposes for this purpose a system for creating an environment, the environment comprising at least one image arranged to be perceptible by at least one pilot of at least one mobile element, the system comprising: • Pau minus a mobile element, which itself comprises an electronic interface and at least one means of action connected to the electronic interface, • a projection system arranged to project Pau minus an image, • a location system arranged to determining a position of each mobile element present near Pau less than one image, and a server arranged to be connected to the electronic interface of each mobile element, to the location system and to the projection system, the server being arranged to control the projection system and said at least one means of action based on the position of each movable element received from the location system.

Indeed, the projection system can project an image, such as a kart track image, which is replaceable very quickly. It is therefore very easy to ask the server to tell the projection system that a new track image should be displayed.

In addition, the location system makes it possible to locate moving elements that may be karts. Their location is sent to the server which can act on the karts, via their means of action, to change their movement and prevent a collision.

In addition, the server can indicate to the projection system how to modify the image to adapt to the position of the karts and can act on the karts, through their means of action, to modify certain characteristics, which makes the karting attractive, even for a single player, and makes karting even more attractive when practiced by many.

Advantageously, the connection between the electronic interface and the server goes through an on-board computer.

Advantageously, each mobile element further comprises at least one actuator connected to the electronic interface and arranged to be actuated by the pilot of the mobile element, the server being arranged to act on the projection system and on the at least one means of action based on actuation of at least one actuator. The actuator allows the pilot to give instructions to the mobile element, instructions that can be transferred to the server via the interface and the on-board computer. This allows the driver to act on the environment and the server to know the driver's instructions.

Advantageously, each mobile element further comprises a transmitter. The transmitter allows an excellent location of the mobile element by the location system.

Advantageously, the transmitter comprises at least one source of electromagnetic radiation.

Advantageously, the source of electromagnetic radiation comprises an infra-red emitter. Localization works particularly well with this type of radiation.

Advantageously, each of the sources of electromagnetic radiation comprises a light-emitting diode with a power of between 5 and 50 watts. The location works particularly well with this type of radiation.

Advantageously, the projection system comprises at least one video stream computer and at least one projector, each video stream computer being connected to the server and each projector being connected to the video stream computer. Such an embodiment of the projection system makes it possible for a large part of the calculations necessary to generate the image to be carried out by the video stream computers, which ensures a good distribution of the computing loads, especially if the projection system comprises a large number of pixels. number of projectors so that the image covers a large area.

Advantageously, the projection system comprises a plurality of projectors, each of the projectors being arranged to project a partial image such that all the partial images projected by the projectors form the image. This provides an image that covers a large area, bright enough to be perceived properly by the drivers and in which the pixels are not too visible.

Advantageously, the partial images overlap at least partially. This makes it possible to avoid areas not covered by the image at the edge of the partial images of each of the projectors.

Advantageously, the location system comprises at least one microcontroller connected to the server and at least one sensor connected to the microcontroller. The microcontroller serves in particular as a relay between the sensor and the server.

Advantageously, a connection between each sensor and the microcontroller to which the sensor is connected uses I2C. The I2C connection makes the data transfer from the sensor to the microcontroller fast and reliable.

Advantageously, a connection between each microcontroller and the server uses Ethernet. The Ethernet connection makes data transfer from the microcontroller to the server fast and reliable. In addition, Ethernet allows the transfer of data over large distances. In addition, Ethernet allows the power of the sensors to be transported via the use of Power over Ethernet (PoE).

Advantageously, each sensor comprises a camera arranged to take an image and capable of detecting infra-red radiation. Localization works particularly well with this type of radiation.

Advantageously, the sensor further comprises a data processing device arranged to increase the resolution of the image taken by the camera.

Advantageously, the system further comprises a sensor identification system by which the server is able to identify the sensor from which information reaches it from among a plurality of sensors. This allows the server to immediately identify the sensor transmitting the information, without even having to read the information itself.

Advantageously, each sensor is connected to a display system comprising a plurality of light-emitting diodes, the sensor and the display system to which it is connected being arranged for the ignition of a number of diodes equal to the number of moving elements. perceived by the sensor. This makes it easy to test the sensors and to easily estimate the limits of their capture surface.

Advantageously, the at least one mobile element is a kart and the image comprises a kart track. The invention also proposes a method of creating an environment, the environment comprising at least one image arranged to be perceptible by at least one pilot of at least one mobile element, the method comprising a cycle including the steps of: Determination of a projection information by a server, transfer of the projection information to a projection system, projection of the image by the projection system on the basis of the projection information, determination of the projection information. a feature information by the server for each mobile element, • transfer of the feature information to the corresponding moving element, • adaptation of characteristics of the mobile element based on the characteristic information, • reception of the instructions of the mobile element. a driver of the mobile element, which makes the mobile element generate information for the server, transfer of information for the server of the mobile element to the server, • modification of the position of the mobile element on the basis of the instructions, • determination of the position of the mobile element by the location system, which generates position information, • transfer of the information of the mobile element. position of the location system to the server, and • data processing by the server, including the determination of projection information and the determination of a feature information, based on information for the server and information position.

The method for creating an environment according to the invention allows the entire environment to adapt almost instantaneously to the position of the moving elements and to the instructions of the pilots.

Advantageously, the adaptation of characteristics of the mobile element comprises the steps of: determining information for an electronic interface made by an on-board computer connected to the server, determining signals for the means of action performed by an interface electronics connected to the onboard computer, and • modification of the characteristics of the action means made by at least one means of action connected to the electronic interface. The electronic interface makes it possible to make the connection between the on-board computer and the means of action, especially if the on-board computer is only capable of generating digital signals while the means of action can not be actuated only via analog signals.

Advantageously, the adaptation of characteristics of the mobile element comprises the steps of: • determination of information for the dashboard made by an on-board computer connected to the server, and • display modification performed by a connected dashboard to the on-board computer.

The dashboard displays information, especially from the server, likely to interest the driver.

Advantageously, the projection of the image by the projection system comprises the steps of: • determination of video stream carried out by at least one video stream computer connected to the server, and • image projection made by at least one projector connected to the at least one video stream computer.

The fact that the video stream is determined by the video stream computers makes it possible to divide the calculation of it between different computing devices.

Advantageously, the determination of the position of the mobile element by the location system comprises the steps of: detecting at least one signal coming from the mobile element by a camera present on a sensor forming part of the location system, • generation by the camera of an image comprising at least one point corresponding to the detected signal, • transfer of the image of the camera to a data processing device of the sensor, • determination of the coordinates and the size of each point on a matrix relating to the sensor by the data processing device, • transfer of the coordinates and the size of each point on the matrix relating to the sensor of the data processing device to a microcontroller forming part of the location system, • transfer of coordinates and the size of each dot on the array relative to the sensor of the microcontroller to the server. Advantageously, the transfer of the coordinates and the size of each point on the matrix relating to the sensor of the data processing device to the microcontroller is achieved using I2C.

Advantageously, the transfer of the coordinates and the size of each point on the matrix relative to the sensor of the microcontroller to the server is achieved using Ethernet.

Advantageously, the transfer of the coordinates and the size of each point on the matrix relating to the sensor of the data processing device to the microcontroller is performed for a maximum number of points at a time, if the image contains more points than this number. maximum, the transfer of coordinates and the size of each point on the matrix relating to the sensor of the data processing device to the microcontroller is performed in several times. The invention further provides a method of installing an environment creation system comprising at least one image, the system comprising a projection system and a location system, the method comprising the steps of: • placing the hardware the projection system; • calibration of the projection system; • placement of the location system equipment; and • calibration of the location system.

This allows the placement of the location system hardware and / or the location system calibration to be performed according to the projection system.

Advantageously, the calibration of the projection system comprises, for at least one projector forming part of the projection system: a determination of a part of the image that is included in a partial image projected by the projector, a projection by the projector; projector of the partial image, and • an adjustment of the partial image so that the partial image corresponds to the part of the image determined during the determination.

Advantageously, the calibration of the location system comprises, for at least one sensor forming part of the location system, the steps of: determining the area to be covered by each sensor, and adjusting the position of each sensor, adjusting the position of each sensor including a projection, by the projection system, of an adjustment image indicating in which position to adjust the sensor.

Advantageously, the installation method further comprises a calibration which comprises, for each of the corners of the surfaces to be covered, the steps of: projection by the projection system of a marker at a specific location of the surface to be covered of each sensor, the specific location being indicated in a global coordinate system of the environment, • placing a portable transmitter near the projected mark, and • calibration measurement during which the sensor determines the coordinates of the position of the portable transmitter in a sensor array.

This method makes sensor calibration particularly easy and fast, and also allows the locating system and the projection system to be aligned with each other.

Advantageously, the calibration further comprises a step of correspondence between the specific locations to which the marks have been projected and the coordinates of the position of the portable transmitter in the sensor matrix, the correspondence resulting in a means for passing coordinates. in the sensor matrix at global coordinates.

This makes it possible to move from specific coordinates to each sensor as indicated in the sensor matrix to global coordinates. The invention further proposes, in one embodiment, a method for guiding a pilot of a mobile element, the guiding method comprising the steps of: determining an optimal trajectory for the mobile element, the mobile element by a location system, • determining at least one action that the pilot must perform so that the movable element approaches the optimal trajectory, and • broadcasting to the pilot a message containing advice for that the moving element follows the optimal trajectory.

This allows the pilot to give pilot advice. If several drivers are present, each receives advice corresponding to his own situation. The invention further proposes, in one embodiment, an anti-collision method of at least one mobile element comprising the steps of: • locating each mobile element by a location system, • determining the speed and acceleration of each moving element, • calculating the probabilities of positions of moving elements at a close moment, and • if the probability that several moving elements are below a threshold distance is greater than a certain probability, automatic braking of the mobile elements concerned .

This method avoids collisions between moving parts. The invention further provides a computer program for implementing a method according to the invention. The invention further provides a non-transitory storage medium on which is stored a computer program product comprising software code portions in a format executable on a computing device and configured to perform the steps of a method according to the invention. . The invention furthermore proposes a mobile element comprising: an electronic interface (240), arranged to communicate with a server (400), at least one actuator connected to the electronic interface and arranged to be actuated by a pilot of the mobile element 200, at least one means of action connected to the electronic interface and arranged to perform a change in characteristics of the mobile element based on a signal received from the electronic interface. The mobile element may be used with the server independently of or in connection with one or more of the projection and location systems.

Preferably, the connection between the electronic interface and the server goes through an on-board computer.

Advantageously, the mobile element further comprises a transmitter.

Advantageously, the transmitter comprises at least one source of electromagnetic radiation

Advantageously, each of the sources of electromagnetic radiation comprises an infra-red emitter.

Advantageously, the source of electromagnetic radiation comprises a light-emitting diode with a power of between 5 and 50 watts. The invention further provides a projection system arranged to project at least one image, the system comprising at least one video stream computer arranged to be in communication with a server and at least one projector connected to the video stream computer.

The projection system according to the invention can be used with the server independently of the mobile element and the location system, or can be used with the server with the mobile element but without a location system or can be used with the server. without the mobile element but with localization system.

Advantageously, the projection system comprises a plurality of projectors, each of the projectors being arranged to project a partial image such that all the partial images projected by the projectors form the image.

Advantageously, the partial images overlap at least partially. The invention further proposes a location system comprising at least one microcontroller arranged to be in communication with a server and at least one sensor connected to the microcontroller.

The location system according to the invention can be used with the server independently of the mobile element and the projection system, or can be used with the server with the mobile element but without a projection system or can be used with the server. without the mobile element but with projection system.

Advantageously, a connection between each sensor and the microcontroller to which the sensor is connected uses I2C.

Advantageously, a connection between each microcontroller and the server uses Ethernet.

Advantageously, each sensor comprises a camera arranged to take an image and is capable of detecting infrared radiation.

Advantageously, the sensor further comprises a data processing device arranged to increase the resolution of the image taken by the camera.

Advantageously, the location system further comprises a sensor identification system by which the server is able to identify the sensor from which information reaches it from among a plurality of sensors.

Advantageously, each sensor is connected to a display system comprising a plurality of light-emitting diodes, the sensor and the display system to which it is connected being arranged for the ignition of a number of diodes equal to the number of moving elements. perceived by the sensor.

BRIEF DESCRIPTION OF THE FIGURES Other characteristics and advantages of the invention will become apparent on reading the detailed description which follows for the understanding of which reference will be made to the appended figures among which: FIG. 1 illustrates a diagram of a system of environment creation according to an embodiment of the present invention; FIG. 2 illustrates an embodiment of the environment according to an embodiment of the present invention; FIG. 3 illustrates a diagram of the server, the image and the elements of a kart in one embodiment of the invention; FIG. 4 illustrates a functioning of the mobile elements according to an embodiment of the present invention; FIG. 5 illustrates a diagram of the projection system according to an embodiment of the present invention; FIG. 6 illustrates a diagram of an installation of the projection system according to the present invention; FIG. 7 illustrates the operation of the projection system according to the present invention; FIG. 8 illustrates a diagram of the location system according to one embodiment of the present invention; FIG. 9 illustrates a diagram of an installation of the location system according to the present invention; FIG. 10 illustrates a capture surface of the sensor and a matrix of the sensor; FIG. 11 illustrates an operation of the location system according to the present invention; and FIG. 12 illustrates an operation of the environment creation system according to an embodiment of the present invention.

Embodiments of the invention

The present invention is described with particular embodiments and references to figures but the invention is not limited by them. The drawings or figures described are only schematic and are not limiting.

In the context of this document, the terms "first" and "second" serve only to differentiate the different elements and do not imply any order between them.

In the figures, identical or similar elements may bear the same references. An element present several times, that is to say having several representatives, can carry a reference with the same number but a different letter. In this case, the number alone, without the letter, indicates any of the representatives of this element present several times. The different representatives of the same element may have certain different characteristics. For example, the element 200 may have three representatives 200a, 200b and 200c.

Elements from different embodiments of the invention may be combined while remaining within the scope of the invention.

FIG. 1 schematizes an environment creation system 800 according to an embodiment of the present invention as well as an image 600 and at least one driver 700a, 700b, 700c,..., 700n capable of perceiving the image 600, n being an integer equal to or greater than 1. The environment creation system 800 comprises a projection system 300 arranged to project the image 600, at least one movable element 200a, 200b, 200c, ..., 200n, each mobile element 200 / being arranged to interact with the driver 700 / corresponding, a location system 100 arranged to determine a position of each mobile element 200a, 200b, 200c, ..., 200n, and a server 400 capable of exchanging information with the projection system 300, the location system 100 and each movable member 200a, 200b, 200c, ..., 200n, / 'being a positive integer and smaller than or equal to n. The environment creation system 800 also includes a management device 500 capable of exchanging information with the server 400.

The projection system 300, each movable member 200a, 200b, 200c ..... 200n and the location system 100 are described in detail later in this document. The image 600 is preferentially projected on the ground, but could be projected on other supports such as a wall or a part of each mobile element 200a, 200b, 200c, ..., 200n.

In embodiments of the invention, the driver 700 may be on the mobile element 200, for example if the mobile element 200 is a go-kart, the driver 700 may carry the mobile element 200, for example if the mobile element 200 is the equipment of the driver 700 or the driver 700 can act remotely on the mobile element 200, for example if the mobile element 200 is a remote control car.

The server 400 coordinates between the projection system 300, the mobile element 200, the location system 100 and the management device 500 and also preferably performs other tasks. The server 400 may be distributed over several devices and possibly be in a place other than the environment created by the environment creation system 800.

The management device 500 allows a manager of the environment creation system to manage certain functions thereof. For example, the management device 500 makes it possible to display alarms sent by the server 400 and to manage them, makes it possible to signal a kart as faulty so that it is not taken over in another part, or to modify standby options. automatic. The management device 500 also makes it possible to switch on the environment creation system, to start a karting game, to withdraw a player from the game, to restart the game following a pressing on an emergency stop or another failure detected automatically.

The management device 500 can also optionally manage the information for display on tv in the room where the environment creation system is installed, send information to a website, control the air conditioning of the room based the schedule of upcoming games.

FIG. 2 illustrates an embodiment of the invention in which the mobile element 200 is a kart driven by the driver 700, the projection system 300 comprises projectors 310, the location system 100 comprises sensors 110 and the management device 500 is a computer. Only one kart is shown for clarity, but it will be appreciated that more than one kart may be present in the environment. Many elements of the environment creation system 800 according to the invention are not explicitly shown in FIG. 2, even if they are present in the embodiment of the invention illustrated in FIG. 2.

The environment creation system 800 is installed in a room 900 comprising a floor 910 and an upper part 920. The room 900 is preferably obscured so that the image 600 is clearly visible. The soil 910 is preferably flat. The upper part 920 comprises fixing means. For example, the upper part 920 may comprise a ceiling or a beam structure where fixing means can be placed.

FIG. 2 shows a projection cone 611 emitted by the projector 310 and a partial image 610 on the ground resulting from the intersection of the projection cone 611 with the ground 910. The image 600 generated by the projection system comprises the all of the partial images 610 projected by all the projectors 310. In the example of FIG. 2, the image 600 includes a karting track 911. For the purposes of this document, a cone may have a circular, rectangular base or any shape.

FIG. 2 shows a capture cone 121 which corresponds to the zone perceived by the sensor 110. The intersection of the capture cone 121 and the ground 910 is a capture surface 120 of the sensor 110. The set of capture surfaces 120 sensors 110 forming part of the location system 100 preferably covers the entire image 600 so that any mobile element 200 located in the vicinity of the image 600 is visible by the location system 100.

In one embodiment of the invention, all of the capture surfaces 120 of the sensors 110 forming part of the location system 100 do not cover the entire image 600.

In one embodiment of the invention, the image 600 does not cover all of the capture surfaces 120 of the sensors 110 forming part of the location system 100. For example, all of the capture surfaces 120 may extend to stands next to the kart track while the 600 image is not projected. The image 600 preferably includes persistent elements such as the track 911 and ephemeral elements such as bonus or penalty pictures. The environment preferably comprises a set of element and effects perceptible by the driver of the kart, that is to say in particular the image 600, the kart itself with its elements and other karts with their elements. there are some, effects occurring on the kart (s) such as steering wheel vibration, image display on the dashboard, freewheeling effect, slowing down, and effects additional as mood lighting.

A karting game takes place preferentially in the following manner. An administrator indicates on the management device 500 a shape for the selected track 911 and type of part. Based on the chosen track 911 and type of part, and potentially other information, the server 400 determines the information to be sent to the projection system 300 and the mobile element 200 (to the mobile elements 200 if there are any a plurality of) according to the information received from the management device 500. The projection system 300 projects, via the projectors 310, the image 600 corresponding to the track 911 and the selected type of part. The movable member 200 adapts its characteristics to the selected track 911 and type of part. For example, an inverter on a kart engine is set so that the kart never exceeds a certain speed, or a dashboard is set to display photos of all drivers participating in the game. The mobile element 200 also comprises a transmitter 210 (visible in FIG. 3) which allows it to be located by the location system 100.

FIG. 3 schematizes the server 400, the image 600 and the elements of a mobile element 200 in an embodiment of the invention where the mobile element 200 is a go-kart. The mobile element 200 communicates with the server 400 and with the driver 700 which perceives the image 600. The mobile element 200 preferably comprises the following elements: an on-board computer 230, an electronic interface 240, an array of board 260, a camera 265, a transmitter 210, a plurality of actuators of the pilot 220, a plurality of means of action 250, a seat 280, a battery 290 or other power means, a charger 291 of the battery, • four wheels 295a, 295b, 295c, 295d.

The plurality of actuators of the driver 220 preferably comprises: an accelerator 221, a brake 222, a steering wheel 223, at least one firing button 224, an emergency stop button 225, a sensor presence in the seat 226.

The plurality of action means 250 preferably comprises: a right motor 251, a left motor 252, a seat vibrator 253, a steering wheel buzzer 254, a steering wheel button lighting 255, a rear screen 256, • a plurality of lights 257, • a gun 258, • at least one speaker 259, and • a steering control system. The transmitter 210 preferably comprises at least one source of electromagnetic radiation, which may be an infra-red lamp. The transmitter 210 more preferably comprises at least two sources of electromagnetic radiation. Having two sources allows one of the sources to always be active in case of failure of the other. The transmitter 210 more preferably comprises a first infra-red lamp 211 and a second infra-red lamp 212. The source of electromagnetic radiation is preferably of variable intensity. Preferably, the on-board computer 230 sends the electronic interface 240 the power to be emitted by the infra-red LED 211, 212. In one embodiment of the invention, the infra-red LED 211, 212 can take two states: states turned off and turned on at full power. The mobile element 200 preferably comprises an antenna connected to the onboard computer 230, in particular to communicate with the server 400. The antenna may for example be a wi-fi antenna. In one embodiment of the invention, the antenna is integrated in a tablet that serves as a computer 230 and dashboard 260. In one embodiment of the invention, the wi-fi is secured by WPA2-PSK, but another type of security could be used. The mobile element 200 may include other buttons with different utilities depending on the game world (bonus use, bonus change, ..).

The pilot starts his kart. It adapts the driving of the kart, by actuating actuators 220 as the accelerator 221, the brake 222, the flywheel 223, the shape of the track 911, the effects of the action means 250 and the presence of other karts if there has. The instructions 202 given by the driver 700 by actuating the actuators 220 generate instruction information which is sent to the server 400. The location system 100 permanently determines the position of the kart, provided that the kart is in all sensor capture surfaces 110 (FIG. 2) and sends a position information corresponding to the server 400.

The server 400 determines, based on the instruction information and on the basis of the position information, the next step of the game. This step can be the projection of the image of an object in front of the kart, the possibility for the kart to go faster, a change of shape of the track, the possibility for the driver 700 to fire on another driver thanks to a 258 gun mounted on the kart, ... This shot can be virtual with one or more partial image (s) making it visually perceptible. This shot can also use a laser pointer. This next step may also be that nothing changes in the image 600 and in the characteristics of the mobile element 200. The management device 500 may possibly be involved in this determination of the next step, for example by limiting the speed of all the karts by acting on their engine 251, 252 if the administrator judges that the drivers drive too dangerously.

The server 400 is a device located near or remote from the environment creation system 800. The connection between the server 400 and the environment creation system 800 can be done over the Internet. The server 400 can manage multiple environment creation systems 800 in parallel. The server 400 preferably comprises an antenna, in particular for communicating directly with the mobile element 200. The server 400 may be a set of elements such as a set of computers. The on-board computer 230 communicates with the server 400, with the electronic interface 240 and with the dashboard 260. The on-board computer 230 receives and sends information in the form of digital signals. The on-board computer 230 may comprise several computers and / or the mobile element 200 may comprise several onboard computers. The electronic interface 240 makes it possible to send analog signals, to send digital signals, to receive analog signals and to receive digital signals. The electronic interface 240 is preferably a printed circuit board capable of transforming the digital signals received from the on-board computer 230 into analogue signals intended for elements other than the on-board computer 230 to which it is connected, that is to say say the transmitter 210, the battery 290, the actuators 220 and the means of action 250.

In one embodiment of the invention, the on-board computer 230 and the electronic interface 240 allow the mobile element 200 to be in real-time communication with the server 400. In another embodiment of the invention, the element mobile 200 does not include a computer 230 and the electronic interface 240 communicates directly with the server 400.

The server 400 can thus influence the behavior of the mobile element 200 via the means of action 250. The server 400 can also thus receive information concerning the instructions given by the pilot 700 by actuating the actuators 220.

The dashboard 260 is a device capable of displaying information for the driver 700. For example, the dashboard 260 may be a screen or a screen of a touch pad. The instrument panel 260 preferably receives information from the on-board computer 230 in the form of digital signals and sends potentially. In one embodiment of the invention, the dashboard 260 and the computer 230 are the same device. The dashboard 260 may for example display information on the state of the brake, the state of the accelerator, a bonus ready to be used, a state of health of the driver, a blinding flash, advertising. ..

The 265 camera is capable of taking pictures and / or filming. The camera 265 may be included in the touch pad which also includes the dashboard 260. The camera 265 sends the images that it captures to the server 400, preferably via the on-board computer 230. The transmitter 210 transmits a signal, preferably an electromagnetic wave, enabling the location of the mobile element 200 by the location system 100, and in particular by the sensors 110. The transmitter 210 transmits a signal mainly upwards if the sensors 110 are located in height relative to the movable member 200. The LEDs 211,212 are preferably LEDs (light-emitting diodes in English means light emitting diodes) power infrared. The LEDs 211, 212 preferably have a power between 5 and 50 watts. The LEDs 211, 212 or more preferably 15 watts of power. LEDs 211, 212 are preferably 900 nm in wavelength. These LEDS make it possible to have a good location of the mobile elements 200 by the location system 100 whatever the emission angle of the signal emitted by the transmitter 210 and the angle of incidence of this signal on the sensors 110. .

The fact that the transmitter 210 preferably comprises two signal sources, that is to say the two infrared LEDs of power 211, 212, allows that in case of failure of one of the two signal sources, the other still allows the location of the mobile element 200. Instead of or in addition to the infrared power LEDs 211, 212, the transmitter 210 may potentially include one or more of the following signal sources, in one or more copies: an incandescent lamp, an infrared incandescent lamp, an assembly of infrared LEDs which, taken individually, do not have sufficient power to be reliably perceived by the sensors, but which together have sufficient power to be reliably perceived by the sensors.

The actuators 220 are devices that enable the pilot 700 to give instructions to the movable element 200. The actuators 220 are preferably independent of one another and the electronic interface 240 communicates independently with each of the actuators 220. The actuators 220 receive information from the driver 700, in the form of movements (foot movement for the brake for example or touching an icon) and sends information to the electronic interface in the form of analog signals. The content of this information is then transmitted to the on-board computer 230 in the form of digital signals, for example by an Ethernet protocol, and then to the server 400 in the form of digital signals. The firing button 224 is preferably located on the steering wheel 223. Some of the actuators 220 may be located on the touch pad whose screen forms the dashboard 260.

In an alternative embodiment of the invention, one or more actuators 220 have a direct action on one or more means of action 250 and / or elements of the movable element 200. For example, the flywheel 223 can act on an axis for orienting the movable member 200.

The means of action 250 are members that allow the electronic interface 240 to act on elements belonging to the mobile element 200. The action means 250 are preferably independent of each other and the means of action 250 communicate independently with the electronic interface 240. In one embodiment of the invention, it is possible that some of the actuators 220 act on certain means of action 250 without passing through the electronic interface 240.

For example, to create a feeling of loss of kart control by the driver 700, the server 400 may request that the right motor 251 brakes the right rear wheel 295a while the left motor 252 accelerates the left rear wheel 295b. This request is relayed from the server 400 to the on-board computer 230, then to the electronic interface 240 which transmits it to the right engine 251 and the left engine 252.

Preferably, to create a feeling of loss of control of the kart by the driver 700, the server 400 informs the on-board computer 230 of the mobile element 200 (affected by a bonus, risk of collision and potentially the effects thereof. ..) and the computer 230 performs the calculation of the speed sent to each of the engines 251, 252. This allows the information of the accelerator does not need to go to the server 400 to be exploited for calculating the acceleration to be sent to each engine 251,252.

The calculation of the speed sent to each of the motors 251, 252 can also be in the server 400 or in the electronic interface 240 which preferably comprises one or more microcontrollers.

The feeling of loss of control can also be created by directional wheels rotating independently of the will of the driver by disengaging or not the steering wheel.

The motors 251, 252 preferentially act on the rear wheels and can accelerate, brake or vibrate the wheel by accelerating and braking successively and closely together over time.

The speaker (s) 259 may be present on a body of the mobile element 200, for example on the kart, or on a helmet, for example a motor sports helmet, worn by the driver 700. If the driver 700a of the movable member 200a uses its pistol 258 to fire on a second movable member 200b, a firing noise with the sound of a farthing bullet can be produced by its speaker 259 while the driver 700b of the second element mobile 200b has its loudspeaker that produces a ball noise that is approaching, the intensity of this ball noise that is approaching depending on the relative positions of the movable member 200a from which the shot goes and the second movable member 200b . The lighting of the steering wheel buttons 255 preferably corresponds to four buttons of the steering wheel 255. The rear screen preferentially displays the name of the driver 700 driving the mobile element 200, its position and its color (according to its level or according to its team according to the type of party).

The battery 290 is an electric battery, which can be charged by the charger 291 of the battery. A fuel tank instead of the battery 290 is also possible within the scope of the present invention. The battery 290 is preferably in communication with the server 400 via the electronic interface 240 and the on-board computer 230 so that the server 400 receives information concerning the state of charge of the battery 290. A DC / DC transformer is example connected to the battery 290 to transform the 48V generated by the battery 290 into 12V so as to supply electricity to the on-board computer 230 which operates at 12V and the electronic interface 240 which also operates at 12V.

In one embodiment of the invention, the mobile element 200 includes four electronic cards. Three of the electronic boards are powered by 12V with a regulator that converts 12V into 5V because a microprocessor on the board uses 5V. The fourth electronic board is powered directly into 5V.

The elements included in the mobile element 200 in the embodiment of the invention where the mobile element 200 is a kart are not necessarily present in all embodiments of the invention, or may be present without being present on the element mobile 200.

In one embodiment of the invention, the mobile element 200 may be a remote control car, in which case the driver 700 controls the remote control car by far by looking at the image 600 and actuating the actuators 220 that are not on the remote control car.

In one embodiment of the invention, the mobile element 200 the equipment carried by the driver 700. For example, the mobile element 200 is a laser-game player, which is the driver 700, and the laser equipment -game of this person, which comprises a pistol 258, a transmitter 210, a firing button 224, ... but does not include a motor 251, 252 or flywheel 223.

In one embodiment of the invention, the mobile element 200 is a robot moving in a factory and which is actuated by the server 400 without the intervention of a driver perceiving the image 600. In this case, the actuators 220 are not not present on the robot, but there may be more means of action 250 for the server 400, via the computer 230 and the interface 240 controls the robot. The robot may potentially include a camera 265 capable of perceiving the image 600.

FIG. 4 schematizes an operation 299 of the mobile element 200, taking into account interactions with the server 400, according to an embodiment of the present invention.

The server 400 performs a determination 430 of a feature information that results in a feature information 403 that is sent to the on-board computer 230. The feature information 403 can be adapted to each of the mobile elements 200 present in the 800 environment creation system.

Based on the feature information 403, the on-board computer 230 makes an information determination 241 for the dashboard, which results in an information item 242 for the dashboard that is sent to the dashboard 260. based on the information 242 for the dashboard, the dashboard 260 makes a display modification 243 which is perceived by the driver 700 during a perception stage 244 for modifying the display.

On the basis of the feature information 403, the on-board computer 230 performs an information determination 231 for the electronic interface, which results in an information 232 for the electronic interface that is sent to the electronic interface 240. Based on the information 232 for the electronic interface, the electronic interface 240 performs a signal determination 233 for the means of action. This signal determination 233 for the means of action comprises, for one or more means of action 250, the determination of a preferentially analog signal value, which will be sent to the action means 250 in question.

The signal determination 233 for the means of action results in a signal 234 for a first action means which is sent to a first action means 250a which on the basis of the signal 234 makes a modification 235 of its characteristics. Potentially, the determination 233 of signals for the means of action results in a signal 237 for a second means of action, a signal for a third means of action, etc. Thus, the second means of action 250b base signal 237 performs a modification 238 of its characteristics, etc.

The modification 235 of the characteristics of the first action means 250a results in an effect 2351 which is perceived by the pilot 700, during a perception stage 236 of the effect coming from the first action means 250a. The modification 238 of the characteristics of the second means of action 250b results in an effect 2381 which is perceived by the pilot 700, during a perception stage 239 of the effect coming from the second means of action 250b. To resume the example given above, the driver 700 perceives that he loses control of his kart because the rear right wheel brakes while the left rear wheel accelerates. The fact that the right rear wheel brakes while the left rear wheel is accelerating corresponds to the modification 235 of the characteristics of the wheels. Each of the means of action 250, in particular those indicated in FIG. 3, may likewise have a modification 235 of one or more of its technical characteristics.

The driver 700 reacts to the perception 277 of the display of the dashboard and perceptions 236, 237 effects by giving instructions 202 via a movement 245 on one or more actuators 220. For example, the driver 700 recovers his kart in turning the steering wheel 223 in response to the loss of control. The movement 245 of each actuator 220 actuated engages, by the actuator in question, a determination 246 of an actuator signal which results in an actuator signal 247 which is transmitted to the electronic interface 240. actuator signals 247, the electronic interface 240 carries out a determination 248 of information for the on-board computer, which results in a signal 249 for the on-board computer which is transmitted to the on-board computer 230. base of the actuator signals 247, the electronic interface 240 can also perform the signal determination 233 for the means of action which relaunch a first loop: electronic interface 240 -► action means 250 -► driver 700 - »actuators 220 -> electronic interface 240.

On the basis of the signal 249 for the on-board computer, the on-board computer 230 carries out a determination 271 of information for the server which results in information 203 for the server which is sent to the server 400. On the basis of the signal 249 for the on-board computer, the on-board computer 230 also realizes the information determination 231 for the electronic interface which restarts a second loop: on-board computer 230 -> electronic interface 240 - * · means of action 250 -> · driver 700 -> actuators 220 -> electronic interface 240 -► computer board 230.

On the basis of the signal 249 for the on-board computer, the on-board computer 230 also realizes the information determination 241 for the dashboard which relaunches a third loop: onboard computer 230 -► dashboard 260 -► driver 700 - »· actuators 220 -► electronic interface 240 -> 230 board computer.

Based on information 203 for the server, the server 400 performs the determination 430 of a feature information, a determination 420 of a projection information which will be described later or other steps 273 that may involve the management device or other elements such as mood lighting.

The realization of the determination 430 of a feature information relaunch a fourth loop, which is potentially dual: server 400 -► computer board 230 -> electronic interface 240 means of action 250 -► driver 700 - * actuators 220 -> electronic interface 240 -► on-board computer 230 -> server 400 and server 400 -► on-board computer 230 -► instrument panel 260 - * · driver 700 - * · actuators 220 -> electronic interface 240 -► on-board computer 230- * server 400.

One or more of the first, second, third, and fourth loops are continuously performed at a high frequency, for example, up to 100 times per second, throughout the time that the movable member 200 operates. The set of information determination steps 231 for the electronic interface, signal determination 233 for the means of action, modifications 235, 238 of the characteristics of the means of action, information determination 241 for the dashboard and modification 243 display is subsequently taken under the adaptation step 205 characteristics of the movable element. The adaptation 205 of the characteristics of the moving element

The steps of determining 246 an actuator signal, determining 248 information for the on-board computer and determining 271 information for the server is subsequently taken up under the transfer step 208 instructions. The transfer 208 of the instructions may, however, include other steps.

In one embodiment of the invention, it is possible for some of the actuators 220 to act directly on certain means of action 250. For example, the mechanical brake of a go-kart according to the invention operates preferentially as on a conventional kart and has the priority on the accelerator. Inverters (controllers) of the motors are programmed so that as soon as the acceleration demanded by the pilot is zero, the motors brake. A relay disconnects the accelerator as soon as the driver touches the brake pedal so as to avoid braking and accelerating at the same time, which has the effect that as soon as one touches the brake, the acceleration sent to drives are zero and the motors brake.

This solution makes it possible to have several safeties for the braking of the kart and to avoid the kart having an undesirable behavior in the event of bad programming of the microcontrollers or the on-board computer.

In another embodiment of the invention, the drives of the motors are reprogrammed in real time with the on-board computer. The mechanical brakes of the usual karts are then optionally removed from the movable element according to the invention and in this case the braking information first passes through the electronic interface before acting on the kart.

Each inverter takes the DC current from the batteries and transforms it into a current adapted to the motor to which it corresponds. The motors are preferably of the brushless type, so that the current is also a function of the state of rotation of the motor. The movable member 200 preferably includes an emergency stop method. Thanks to the emergency stop method, an inverter present on the right motor 251 and an inverter present on the left motor 252 are configured so that in the absence of a signal 234 coming from the electronic interface 240 for the motor in question. question, the movable member 200 brakes strongly. This makes it possible for the mobile element 200 to slow down considerably in the event of a problem, in particular in the event of a problem related to the electronic interface 240. Such a method can also be used on any action means 250. The mobile element 200 preferably includes a freewheeling process. With the free-wheeling method, when the pilot 700 releases the accelerator 221, the on-board computer 230 sends to the electronic interface 240, in the information 232 for the electronic interface, a digital message indicating that their engines 251 , 252 must act as if the wheels were freewheeling. For example, when the moving element has a given speed and the acceleration suddenly changes from a value A1 to a lower value A2, the on-board computer 230 sends at each iteration A = A1 - p * (A1-A2 ), with a parameter P ranging from 0.001 to 0.1. This makes it possible to gradually reduce the speed of the element without causing it to brake suddenly and to have the desired acceleration over time. The electronic interface 240 then sends, in the signal 234 for the right engine and in the signal 234 for the left engine, an analog message indicating to the motors 251, 252 that they must act as if the wheels were freewheeling. This makes it possible to prevent the mobile element 200 from braking suddenly when the accelerator 221 is released by the driver 700.

The system can operate without certain actions being transmitted to the server 400. The on-board computer receives information from the server and it is it that determines what is sent to the electronic interface based on the actuators actuated by the driver. and information received from the server. The state of the emergency stop button is for example preferably sent to the server. On the other hand, the state of the accelerator is preferably not sent to the server.

In one embodiment of the invention, the motor controller is reprogrammed in real time so that the drive does not have the behavior that causes the motors to brake when the requested acceleration is zero.

FIG. 5 schematizes the projection system 300 according to an embodiment of the present invention, and also presents an image 600 projected by the projection system 300 and the server 400.

The projection system 300 includes a plurality of video stream computers 303 and a plurality of projectors 310. Each video stream computer 303 communicates with the server 400. The server 400 may function as a video stream computer 303. Each video stream computer 303 manages at least one projector 310 with which it communicates. Each projector 310 preferably includes an electronic circuit FPGA type. The video stream computer 303 preferentially performs the lighting, the standby of the projectors 310 that it manages, but this can also be done directly by the server 400, the management device 500 or another device. video stream receives from the projector 310 that it manages information about its temperature, its alarms if any and transmits this information to the server 400 which records them to anticipate possible failures.

As already described in FIG. 2, each projector 310 emits a projection cone 611 and the image resulting from the intersection of the cone 611 with a surface, which is preferably a floor, is the partial image 610. The projector 310 is preferably focused so that the partial image 610 is clear. The image 600 generated by the projection system comprises all the partial images 610 generated by all the projectors 310.

In one embodiment of the invention, the actions performed by the computer 303 video stream can be performed by the server 400. There is then no computer 303 video stream as such. The video stream computer 303 may be a relatively simple device and / or having little computing power, such as a raspberry PI or a smartphone with a video output. In one embodiment of the invention, the video stream computer 303 has a wireless image sending device or any other device for generating an image and sending its signal to a projector 310.

In one embodiment of the invention, the projector 310 and the video stream computer 303 are a single device, for example a smartphone with a built-in projector.

Figure 6 shows schematically an installation 399 of the projection system 300 according to the present invention. The installation 399 of the projection system comprises a placement 330 of the projection system material and a calibration 320 of the projection system.

Projector system hardware placement 330 includes projector placement 331, computer placement 303, and wiring placement 333 (or wireless system installation) between projectors 310, video stream computers 303 and the server 400.

The projectors 310 are preferably placed in height and project their partial image 610 towards the ground. The partial image 610 projected by the projector 310 is larger as the projector 310 and the image 610 are far from each other but the distance between them grows, the higher the brightness of the image 610 Partial decreases and more pixels are visible on the 610 partial image. A pixel of the partial image 610 preferably covers an area less than 1 cm by 1 cm.

In one embodiment of the invention, the projectors 310 are wide angle projectors placed at a height of about 6m from the ground and the partial images 610 are 10m x 7.5m.

The projectors 310 are preferably placed so that the partial images 610 of the different projectors 310 overlap so as to avoid a non-image space between partial images 610. There is therefore an overlap zone at the boundary between the partial images 610 of several projectors 310. In order to avoid having a double brightness zone in this overlap zone, a gradient filter to black is applied in this zone. to have uniform brightness and mask the projection boundaries. For example, the recovery can be done over an area of 30 pixels.

It is not necessary, however, for the partial images 610 to overlap.

The projectors 310 are preferably placed according to constraints due to the environment in which the projection system 300 is implemented. These constraints may be due to a beam structure, in the form of a ceiling, to the shape of a pre-existing reinforcement or set up for the projection system 300.

The projectors 310 are preferably placed relative to each other to form a grid that covers the entire surface on which it is desired to project the image 600. The projectors 310 do not need to be aligned. This represents an advantage of the projection system 300 according to the invention because an alignment of the projectors 310 is sometimes complicated to achieve, in particular because of the constraints due to the environment in which the projection system 300 is implemented.

The surface on which it is desired to project the image 600 is preferably between 100 and 100000 m2. The surface on which it is desired to project the image 600 is more preferably between 1000 and 10000 m2.

There is preferentially between 10 and 10,000 projectors 310. There is more preferably between 20 and 1000 projectors 310. There is even more preferentially between 1 and 200 projectors 310.

The video stream computers 303 are preferably placed so as to minimize the length of the HDMI cables between the video streaming computers 303 and the projectors 310. The video stream computers 303 can be placed in the server room and transmit the images over long distances. distance via fiber optic, or a projection computer can be used by projector and be placed right next to it.

The calibration 320 of the projection system comprises, for each projector 310, a determination 321 of a surface corresponding to the partial image 610, a choice 322 of the display resolution, a projection 323 of the partial image 610 and a adjusting 324 of the partial image 610 so that the partial image 610 actually corresponds to the determined surface. This adjustment 324 is preferably achieved by an adjustment of one or more angles of the partial image 610 made by the FPGA of the projector 310. This adjustment 324 is preferably made by a "Quick Comer" type function available on some branded projectors. Epson. The adjustment 324 could be performed by the video stream computers 303.

The determination 321 of a surface corresponding to the partial image 610 determines the portion of the image 600 that is included in the partial image 610 and includes the registration of the coordinates of the partial image 610 in a global coordinate system. . Preferably, if the partial image 610 is a quadrilateral, the coordinates of the four corners of the partial image 610 are recorded in the server 400 and / or the video stream computer 303 which manages the projector 310. The entire calibration 320 is preferably performed automatically by software running on the server 400 and / or one or more computers 303 video stream. More preferably, the entire calibration 320 for the projector 310 is carried out by means of software executed on the management device 500. For example, an operator indicates to the server 400 via the management device 500 which point he wishes to calibrate and the caliber and the server 400 records the value and / or sends it to the projector.

FIG. 7 schematizes an operation 398 of the projection system 300 according to the present invention. The server 400 realizes a determination 420 of a projection information that results in a projection information 402. The projection information 402 includes information concerning the image 600 (for example a kart track or a karting arena), the various mobile elements 200 and their position, their direction, their state (in appearance, their life (in %), disappearing, invisible). The same projection information 402 is preferably sent to all video stream computers 303.

During a video stream determination step 341, each video stream computer 303 determines a video stream for each projector 310 that it manages, based on the projection information 402 and the coordinates of the partial images 610 of the projector 310. The determination of video flow 341 preferably comprises a fluidification of the content of the partial images 610 so that an element of the image 600 does not move in a chopped manner. The video stream determination 341 includes state change management. For example, when a target is hit, the missile explodes and an explosion animation is displayed. The determination 341 of video stream ensures synchronization between the various computers 303 video stream.

The determination of video stream 341 preferably includes the use of a graphics engine which is distributed on the various video stream computers 303, each video stream computer 303 performing the video stream determination 341 corresponding to the partial images 310 of the projectors 310. 'he manages.

The video flow determination 341 results in a video stream 342 which is different for each projector 310 and which includes the visual rendering of the partial image 610. The video stream 342 is sent to the corresponding projector 310 which, based on this video stream 342, projects the image 610 343 possibly having adjusted it for the deformation. A projection 301 made by the projection system 300, as described below with the support of FIG. 12, comprises the steps 341 for determining video flow and image projection 343.

FIG. 8 schematizes the location system 100 according to an embodiment of the present invention, and also presents a plurality of mobile elements 200, two of which 200a, 200b are illustrated, and the server 400.

The location system 100 preferably includes a plurality of second circuits 119, each of the second circuits 119 comprising a microcontroller 112. Only two second circuits 119a, 119b are illustrated. Each second circuit 119 is in communication with a first electronic circuit 111 which preferably comprises a sensor 110, a display system 117 and a sensor identification system 118 and optionally calculation means 116. In one embodiment of the invention not illustrated, a second circuit 119 is in communication with several first electronic circuits 111 and / or at least one second circuit 119 electronic circuit 111 comprises more than one sensor 110.

In one embodiment of the invention, each first circuit 111 is merged with the corresponding second circuit 119.

Each sensor 110 has a capture cone 121 and perceives the mobile element or elements 200 present in its capture cone 121. In particular, the sensors 110 perceive the signals emitted by the emitters 210 present in their capture cone 121.

The sensor 110 is capable of detecting infrared radiation. The sensor 110 preferably comprises a filter 113, a camera 114 and a data processing device 115. The filter 113 is preferably a filter allowing the infrared to pass. The camera 114 is preferably a monochrome camera capable of detecting infrared radiation, and comprises, for example, a matrix of 128 × 96 pixels. The data processing device 115 is for example an FPGA.

The camera 114 takes an image at a first resolution and sends that image to the data processing device 115. The data processing device 115 performs a sub-pixel analysis to increase the resolution of the images taken by the camera 114 and obtain a second resolution greater than the first one. This second resolution, for example 1024 × 768 pixels, is the size of a sensor matrix 122 which is an output information of the sensor 110.

Each sensor 110 locates up to four moving elements 200 on the sensor matrix 122 of 1024 × 768 pixels with a frequency of 500 Hz.

The display system 117 is preferably composed of a plurality of light-emitting diodes. The display system 117 is more preferably composed of four light-emitting diodes. The display system 117 is in communication with the sensor 110 so that the number of light-emitting diodes on is equal to the number of points detected by the sensor 110.

The sensor identification system 118 is preferably capable of creating an identifier of the sensor 110a. Thanks to the identifier of the sensor 110a, the server 400 identifies the position information 102 from the sensor 110a potentially via the microcontroller 112a, as coming from this sensor 110a among the plurality of sensors 110 connected to the server 400. This identification by the Server 400 is preferably performed by including the identifier of the sensor 110 in the address of the sensor 110. This allows the server 400 not to read the contents of the position information 102 to identify the sensor at its origin.

The sensor identification system 118 is preferably composed of a first plurality of contact elements in which the contact elements have a reference beginning with X and a second plurality of contact elements in which the contact elements have a reference beginning with Y. During the installation of the sensor 110, contacts are created on its contact elements (for example by placing jumpers) so that the position of the sensor in a first direction (X-coordinate ) is indicated by all the contact elements of the first plurality where contact occurs, and the position of the sensor in a second direction (Y-coordinate) is indicated by all the contact elements of the second plurality where a contact occurs. These coordinates X, Y are then taken from an address, for example IP address, the second circuit 119 which allows the server 400 to identify the second circuit 119 and therefore the sensor 110 corresponding to the second circuit 119. The server 400 identifies and from which sensor 110 comes information from the address where the information comes from. This removes the constraint of having the second circuits 119 or the sensors 110 identified by the server 400 by means of a software element.

In one embodiment of the invention, the information concerning the identification of the sensor 110 is in bytes 3 and 4 of the IP address of the sensor 110. That is to say that the last two digits of ΓΙΡ ( IPV4) specify the ID of the sensor 110.

A function of the microcontroller 112 is to interrogate the sensor 110. Another function of the microcontroller 112 is to transmit information received from the sensor to the server 400. Another function of the microcontroller 112 is to turn on the diodes of the display system 117.

The communication between the first electronic circuits 111 and the second circuits 119 is preferentially done by a type I2C data bus. The communication between the second circuits 119 and the server 400 is preferentially done by the Ethernet protocol. The use of Ethernet allows the transfer of data over long distances. The use of Ethernet also allows the use of Power over Ethernet (PoE). PoE is used to power a device connected to the network via the Ethernet cable. The PoE thus provides power to the sensors 110 without having to install sockets and transformers for them.

The data communication by the second circuits 119 requires the microcontrollers 112 to be processed, which can limit the frequency of the localization system 100 to 270 Hz while the capture frequency of the sensors is 500 Hz.

In the case where no mobile element 200 is detected by the sensor 110, the microcontroller 112 corresponding to said sensor 110 decreases the frequency with which it sends information to the server 400 in order to prevent the server 400 from processing unnecessary information.

The sensors 110 are preferably placed in height relative to the movable elements 200, on fixing means. The sensors 110 are preferably placed at a height of 3 to 10 m from the ground. For example, the sensors 110 may be placed at a height of about 6m from the ground.

The sensors 110 are preferably placed on the fastening means which are themselves placed according to constraints due to the environment in which the system 100 of location is implemented. These constraints may be due to a beam structure, the shape of a ceiling, the shape of a pre-existing reinforcement or implementation for the system 100 of location.

The sensors 110 are preferably placed in such a way that the cones 121 for capturing all the sensors 110 of the location system 100 cover a volume, and thus a floor area, in which it is desired to locate moving elements 200. The sensors 110 do not need to be aligned. This represents an advantage of the location system 100 according to the invention because an alignment of the sensors 110 is sometimes complicated to achieve, in particular because of the constraints due to the environment in which the location system 100 is implemented.

The location system 100 preferably comprises from 1 to 10,000 sensors 110. The location system 100 more preferably comprises from 100 to 1000 sensors 110.

FIG. 9 schematizes an installation 198 of the location system 100 according to the present invention. The location system installation 198 comprises a placement 170 of the location system 100 and a calibration 180 of the location system 100.

Placement 170 of hardware of the localization system 100 preferably comprises a placement 171 of the first electronic circuits, placement 172 of the second electronic circuits connected to the first electronic circuits and placement 173 of the Ethernet cables. I2C cables and / or Ethernet cables may be replaced by another means of communication, such as a wireless communication means.

The placement 171 of the first electronic circuits, which includes the placement of the sensors 110, is made in such a way that the sensor capturing surfaces 120 overlap partially, so that the entire surface in which it is desired to achieve locations is covered by all the sensors 110. In other words, there is no uncaught area between the different surfaces 120 of the different sensors 110 on the entire surface that is to be covered.

The sensors 110 are preferably placed according to constraints due to the environment in which the location system 100 is implemented. These constraints may be due to a beam structure, the shape of a ceiling, the shape of a pre-existing reinforcement or implementation for the system 100 of location.

The sensors 110 are preferably placed relative to each other to form a grid that covers such that the sensors 110 detect objects on the entire surface on which it is desired to locate objects. The sensors 110 do not need to be aligned. This represents an advantage of the location system 300 according to the invention because an alignment of the sensors 110 is sometimes complicated to achieve, in particular because of the constraints due to the environment in which the location system 100 is implemented.

The location system calibration 180 comprises a sensor position determination 181 during which the server 400 determines, on the basis of a prior information, such as that provided for example by the sensor identification system 118, an approximate location for each sensors 110.

Then, during a determination 182 of the surfaces to be covered, the server 400 determines, the surface 123 / to be covered for each sensor 110 / or / is an integer equal to or greater than one (see Figure 10). The surfaces 123 / to be covered are preferably determined in such a way that the surface 123 / to be covered by a given sensor 110 / is included in the surface 120 / for capturing the sensor 110 / and so that the surfaces 123 / to cover sensors 110 / which follow each other in the sensor grid are adjacent. There are therefore areas covered by more than one sensor 110 /. The surfaces 123 / to be covered are preferably quadrilaterals, more preferably rectangles of approximately 4m x 2.5m. In this determination 182 of the surfaces to be covered, the server 400 preferably determines an approximately central point for each surface 123 / to be covered and four corner points which are the corners 130 /, 131 /, 132 /, 133 / of the surface 123 / to cover (see figure 10).

The calibration 180 of the locating system then comprises a position adjustment 160 of the sensors and a calibration 150. The position adjustment 160 of the sensors preferably comprises a loop on the sensors 110. Consider the iteration of this loop for the sensor 110 /. By sending central point information 161, the server 400 indicates to the projection system 300 that the projection system 300 is to project an adjustment image indicating in which position to adjust the sensor 110 /. For example, the projection system 300 projects a point, i.e., an adjustment image, at the point corresponding to the center point of the surface 123 / to be covered by the sensor 110 /. The projection system 300 projects a point at the point corresponding to the center point of the surface 123 / to be covered by the sensor 110 / during a projection 162 of the central point. A portable infrared transmitter is then placed on the projection of the central point at a central point placement 163. The placement 163 can be done manually or be carried out by a follower robot, comprising the portable infra-red transmitter, which follows guide lines projected by the projection system 300. An orientation adjustment 164 of the sensor 110 / is then performed manually or automatically. The loop of the adjustment 160 then passes 165 to a next sensor, preferably close to the sensor 110 /. The calibration 150 preferably comprises a loop on the sensors 110. Consider the iteration of this loop for the / the sensor 110 /. An inner loop then considers each corner of the surface 123 / to be covered. By sending a first corner information 135, the server 400 indicates to the projection system 300 that the projection system 300 must project a mark at the point corresponding to the first corner 130 / of the surface 123 / to be covered by the sensor. 110 /. The projection system 300 projects a mark at the point corresponding to the first corner 130 of the surface 123 to be covered by the sensor 110 / at a projection 136 of the first corner, or at another specific location of the surface 123 / to cover. A portable infra-red transmitter is then placed on the projection of the first corner during a placement 137 of the first corner, or near it. The placement 137 can be done manually or be carried out by a tracking robot, comprising the portable infra-red transmitter, which can follow a guidance route projected by the projection system 300 or a route programmed in its memory and known to the server. The placement 137 can possibly be done by a follower robot which follows a wire placed in the ground.

During a calibration measurement 138, the sensor 110 / measures the position of the portable infra-red transmitter as it perceives it, that is to say that the sensor 110 / determines the coordinates of the position of the portable infrared transmitter in its matrix 122. During a sending 140 of calibration coordinates, the sensor 110 / sends the coordinates of the position of the portable infrared transmitter in its matrix 122, for the first corner 130 / of its surface 123 / to cover the server 400, which the server 400 receives in a step 141 for receiving calibration coordinates.

After receiving the calibration coordinates, the server 400 indicates to the inner loop to then move to the next corner 142, until the four corners 130 /, 131 /, 132 /, 133 / of the surface 123 / to be covered by the sensor 110 / have been considered. At the end of the internal loop, the server 400 received the coordinates, in the matrix 122 / of the sensor 110 /, of the four corners of the surface 123 / to be covered by the sensor 110 /. During a matching step 144, the server 400 compares these coordinates in the matrix 122 / with the global coordinates that it had requested the projection system 300 to project during the four wedge information sends 135 and thus determines coefficients allowing to pass coordinates in the matrix 122 / of the sensor 110 / to the global coordinates. These coefficients are different for each sensor 110 /.

When the four corners 130 /, 131 /, 132 /, 133 / of the surface 123 / to be covered by the sensor 110 / have been considered, the server 400 indicates to the calibration loop 150 to pass 143 to the next sensor, preferably to a sensor close to that which has just been considered, until all the sensors 110 / have been calibrated.

In one embodiment of the invention, some of the steps of the sensor position adjustment 150 and the calibration 150 are performed in a different order. For example, each sensor is adjusted for the four corners of its surface 123 / are measured. It is also possible to measure 137 only once the common corners between different surfaces 123 / to be covered in order to improve the accuracy of the location during a passage of a mobile element 200 of a surface 123 / to be covered to another and save time during calibration 150.

The global coordinates of the location system 100 are preferably identical to the overall coordinates of the projection system 300.

The fact that it is the projection system 300 which indicates the reference points for the calibration 180 of the location system 100 makes it possible that one of these two systems can not be offset with respect to the other. An offset of the two systems 100, 300 would not be felt by the users, in particular by the drivers of the mobile elements 200.

However, and even if the sensor position adjustment 160 and the calibration 150 have been described above as using the projection system 300, a position adjustment 160 of the sensors and a calibration 150 also allow the determination of the global coordinate of a point from its coordinates in the matrix 122 / of a sensor are possible using another technique, for example a technique using a differential GPS and / or a laser range finder.

FIG. 10 illustrates the sensor capture surface 120 / and the sensor matrix 122 /. The sensor 120 / capturing surface 110 /, as illustrated in FIG. 2, is a surface in real space whereas the matrix of the sensor 122 / is the grid of pixels in the location system 100.

Sensor 120 / sensing surface 110 / includes surface 123 / to be covered by sensor 110 / and transition surface 125 /. The surface 123 / to be covered by the sensor is preferably a rectangle having four corners 130 /, 131 /, 132 /, 133 / as described above, but could have any shape, in particular a hexagonal shape. The surface 125 / of transition is preferably included in the surface to be covered 123 / of another sensor, or outside the surface on which it is desired to make localizations. Due in particular to the fact that the camera of the sensor 110 / does not always have an optical axis perfectly perpendicular to the surface 123 / to be covered, the surface 123 / to be covered, if rectangular, corresponds to the matrix 122 / sensor to a quadrilateral 124 / any having four corners 130b /, 131b /, 132b / ', 133b /'. Calibration 150 maps points 130 / -133 / in the global coordinates to points 130b / -133b / 'in the coordinates of sensor array 122 /.

FIG. 11 schematizes an operation 199 of the locating system 100 according to the present invention, considering that two transmitters 210a, 210b are present in the cone 121 for capturing the sensor 110 / (not shown). A transmission 151a generates an infrared signal 152a for the transmitter 210a. A transmission 151b generates an infrared signal 152b for the transmitter 210b. The two infrared signals 152a, 152b are detected by the camera 114 during a detection 153. The detection 153 corresponds, for each of the signals 152a, 153a, to an event on one or more pixels, preferably adjacent, of a matrix of In response, the camera 114 generates an image 154 having a first resolution, which is equal to the resolution of the capture matrix 122 / (see FIG. 10) and sends this first resolution image 154 to the device 115. data processing. The image 154 of the first resolution preferably comprises a point for all the two infrared signals 152a, 152b because the two infrared signals 152a, 152b merge into a single point.

The data processing device 115 performs a sub-pixel analysis 155 to increase the resolution of the image and obtain an image in a second resolution, which is equal to the resolution of the sensor array 122 (illustrated by reference 122). / in Figure 10). The device 115 also carries out a determination 156 of the coordinates and the sizes of the points corresponding to the two infrared signals 152a, 152b on the matrix of the sensor 122.

The data processing device 115 checks, during a check 157, if more than four points are present in the second resolution image. If not, 158, the data processing device 115 sends the coordinates and sizes 159 of the points corresponding to all the infrared signals to the microcontroller 112. If yes, 190, the points corresponding to the infra-red signals are divided into groups of maximum four. points. During a first sending, the data processing device 115 sends the microcontroller 112 the coordinates and sizes 191 of the points of a first group of points, and, during a second sending, the data processing device 115. sends to the microcontroller 112 the coordinates and sizes 192 of the points of the second group of points. If there are more than eight points, during a third sending, the data processing device 115 sends the microcontroller 112 the coordinates and size of the points of a third group of points, and so on shown).

The shipments are preferably clocked with a rate identical to that of the analysis steps 155 and 156 determining the coordinates and the sizes of the points. If there are four points or less, then the rate of the sends for each point is equal to the timing of the analysis steps 155 and the determination 156 of the coordinates and the sizes of the points. If there are five or more points, the coordinates and the size of each point are sent less often to the microcontroller 112.

There is therefore no limit to the number of transmitters 210 that can be located, but if this number exceeds four, the refreshing of the location data, that is to say the coordinates and the sizes of the points, reaching the microcontroller 112 is weaker. In one embodiment of the invention, the detection 153, the analysis 155 and the determination 156 are done 500 times per second, which allows that even if the location data reaches the microcontroller only one cycle out of two, 250 times per second, the location of the emitters remains very precise.

Based on the coordinates and the sizes of the points 159 or 191,192, the microcontroller 112 makes a determination 193 of a position information of the sensor 110 with which it communicates and sends a position information 102 of said sensor to the server 400. This sending requires a a certain processing time to the microcontroller 112, so that if the coordinates and sizes of the points 159 arrived at the microcontroller 500 times per second, the microcontroller 112 sends the position information 102 to the server about 270 times per second, which corresponds to a cycle frequency of 270Hz if there are four points or less. If there are five or more points, the frequency is about 135 Hz. The high cycle frequency achieved in one embodiment of the present invention provides a very short latency for the reaction of the 800 system of creation. from environment to changes in location of moving elements 200.

Based on the position information 102, and possibly based on other information or predefined settings, the server 400 performs a data processing 410.

The operating steps 199 that are performed by the locating system 100 are included in a position determination 101 shown in FIG. 12.

Figure 12 shows schematically an operation 2000 of the environment creation system 800 according to an embodiment of the present invention.

The server 400 performs a data processing 410 which results in a determination 420 of image projection information and a determination 420 of a parameter information. The data processing 410 may be carried out on the basis of an exchange of information with the management device 500 (not shown in FIG. 12). The data processing 410 comprises a determination 420 of a projection information and a determination 430 of a feature information as described above.

Based on the determination 420 of image projection information and parameter information, the server 400 sends parameter information 403 to the mobile element 200. Based on the parameter information 403, movable member 200 performs a feature matching 205 of the movable member. The characteristic adaptation 205 of the movable element can induce a position modification 204 of the movable element 200.

Based on the determination 420 of image projection information and parameter information, the server 400 sends image projection information 402 to the projection system 300. Based on the projection information 402 image, the projection system 300 performs an image projection 301 which results in at least one image 600. The driver 700 makes a perception 201 of the image during which it perceives information contained in the image 600. based on the perception 201 of the image 600, the driver 700 of the mobile element 200 gives instructions 202 to the mobile element 200. The instructions 202 can result in the adaptation 205 of characteristics of the mobile element 200, 203 information for the server that is sent to the server 400 and / or influence the position 204 of the mobile element 200. The information 203 for the server can be transferred by a transfer step 208 preferably as described in figure 4.

The position 204 is determined by the location system 100 during a position determination 101. The location system 100 then sends position information 102 to the server 400. The information 203 for the server and the position information 102 are then used by the server 400 during a data processing 410 in a next cycle. Operation 2000 therefore involves a cycle. Other interactions and sending or exchange of information between the management device 500, the server 400, the projection system 300, the mobile element 200 and the location system 100 are possible non-detailed in FIG. framework of the invention. The environment created by the environment creation system 800 according to the invention preferably comprises a set of perceptible effects from the mobile element 200 or from another location, that is to say the image 600, the adaptation 205 of the characteristics of the movable element, in particular by means 250 of action, and potentially additional effects such as ambient lighting.

Processes possibly included in the data processing 410 carried out by the server 400 are: a global coordinate determination for the mobile elements 200, a tracking of the mobile elements 200, an identification of the mobile elements 200, an anti-collision method, A guiding method, a mood lighting and a display of images captured by the environment creation system 800.

The server 400 can also manage touch screens displaying a thumbnail of the track and with which observers can interact. These can then add elements on the track in real time for example.

These methods can be based on the position information 102 received from the set of sensors 110 of the location system 100 according to the present invention and / or the information 203 for the server received from the set of mobile elements 200 belonging to the 800 environment creation system.

When determining global coordinates for the points located by the location system 100, the server 400 uses the position information 102 which indicates the coordinates and the size of a point in the array 122 of the sensor that has performed the detection. of that point. Preferably, the sensors 110 have previously been calibrated according to the calibration method 180 described with reference to FIG. 9. The location system 100 may potentially have been calibrated in another way.

When determining global coordinates, the server 400 determines, preferably through the coefficients for passing coordinates in the matrix 122 of the sensor 110 to the global coordinates and determined during the calibration 180, the global coordinates of each of the points detected by the 100 location system.

The global coordinates are used by the tracking method. Tracking maps the most recent global coordinates of a point to a previously identified point. The criterion preferably used for this correspondence is the proximity of the most recent global coordinates with previous global coordinates, if possible with global coordinates of the previous just cycle. For example, at each iteration of the location the location on which the moving element is expected to find at the next iteration is calculated based on the position of the movable element, its direction, speed and acceleration . During the next iteration of the location, a comparison is made between the points received at the points calculated as those where it is expected to find a movable element to associate a perceived point with a moving element. This criterion works well thanks to the high frequency of the location system 100 and the accuracy of the location system 100, because in the interval between two cycles of the location system 100, the mobile elements 200 have not had the time to move a lot.

If the tracking could match the most recent global coordinates of a point with a previously identified point, these global coordinates are identified as those of the moving element 200 which corresponds to this previously identified point.

If no point in the position information 102 received from a given time corresponds to a mobile element 200 which is recorded by the server 400 as normally locatable by the location system 100, this mobile element 200 receives the status of "lost from view ". The server 400 then sends a message to the mobile element 200 telling it to turn off its transmitter 210. The server 400 sends successively to each mobile element 200 lost sight of a message requesting that said mobile element 200 turn on its transmitter 210.

If the tracking could not match the most recent global coordinates of a point with a previously identified point and at least one of the moving elements 200 is lost from view, the identification tries to make the connection between the appearance of a point and the lighting of the transmitter requested by the server. If this link exists for a certain time, the global coordinates of the point are identified as those of the mobile element 200 which had lit its transmitter.

The collision avoidance method uses the results of global coordinate determination, tracking, and / or identification. The collision avoidance method also potentially uses coordinates of other elements than moving elements, such as the boundaries of the area covered by the projection system 300 or the coordinates of other objects. Based on the results of the global coordinate determination, tracking and / or identification, the server 400 calculates the speed (in intensity and direction) and the acceleration (in intensity and direction) of the mobile elements 200 and / or localized points. Using the Uniformly Varied Rectilinear Motion (MRVU) formulas, the server 400 then calculates the position probabilities of the moving elements 200 at a future time. For example, this can be done by calculating the position the vehicle would have when stopped if it was forced to brake from the current iteration. This makes it possible to anticipate collisions between moving elements or with other objects and to determine the intensity of a possible future collision by determining relative velocities at the moment of impact, which are representative of the violence of the impact. If the probability that several mobile elements 200 are below a threshold distance is greater than a determined probability, the server 400 sends, in the characteristic information 403, a message to the mobile elements 200 concerned so that they brake , so that this braking is automatic because performed without human intervention.

The guidance method preferably uses the results of the identification, and may optionally use the results of the global coordinate determination and / or tracking. The guidance method also preferably uses information related to the image 600. For example, in the case of a kart race, the guidance method uses the information concerning the global coordinates of the edges of the karting track 911 (FIG. 2).

The guidance method analyzes the trajectory of the mobile elements 200 and compares it to a trajectory considered optimal on the track 911. The guidance method then determines the actions that the pilot 700 must perform to follow this optimal trajectory. The server 400 sends, in the feature information 403, a message to the mobile elements 200 so that a message is broadcast to the driver 700. If the message contains audio parts, they are broadcast to the driver 700 by the one or more speakers. 259. If the message contains video parts, they are broadcast to the driver 700 by the dashboard. The message may also contain seat or steering wheel vibrations or an ignition of one or more steering wheel buttons. The audio message may be contained in the feature information 403 or be present in a memory included in the mobile element 200. The audio message may be automatically selected by the server 400 or the on-board computer 230 in a message list. audio, or automatically built by the server 400 or the on-board computer 230. The audio message may possibly be broadcast in a speaker that is not part of the mobile element 200.

In another embodiment of the invention, the audio message is expressed in real time by a person other than the pilot 700. This may be someone present on the edge of the runway 911 which gives guidance to the pilot 700 in a microphone connected to the server 400.

The guidance method allows the pilot 700 to receive real-time guidance.

The guidance method also serves to guide a visually impaired pilot. In the case where the invention is used by one or more visually impaired drivers, the image projection system can be deactivated, even if the environment exists in the memory of the server 400.

The ambient lighting method is linked to the use of a room lighting system which consists of lighting, for example RGB LED strips present on a bar near the image 600, and a microcontroller connected to the server 400. The server 400 calculates, based on lighting information often related to the context, the color of the lights. The lighting information can be a start of a race, the call of an absent player, the use of a special bonus and the theme of the track 911 (track on ice, on land, on grass, etc. .). The display of images captured by the environment creation system 800 is preferentially made to the camera 265 present on the mobile element 200. The camera 265 sends the images that it captures to the on-board computer 230, which sends the server 400 in the instruction information 203. The server 400 then generates messages leading to the display of these images on a giant screen placed near the image or on the Internet.

In the case of using the environment creation system 800 for karting, a use already illustrated in FIG. 2, the image 600 includes persistent elements, such as the track 911, and ephemeral elements as bonus elements. When a kart 200 rolls on a bonus element, which is detected by the system 800 environment creation through a correspondence between the projection position of the bonus element and the location of the kart 200 made by the system 100 of projection, the 200 kart wins the bonus. This gives him an advantage: he gains the ability to shoot with the gun, to go faster, etc. The various bonuses present in video games of karting, car, fight, can be experienced by the drivers in a real karting, as well as other types of bonuses.

If the kart 200 exits the track 911, which is perceived by the server 400 via the location system 100, the server 400 can determine that a penalty is applied to the kart 200. The server 400 then sends, in the information 403, a message to the kart 200 with the effect of this penalty. This can be for example a stopping of the kart 200 or a limited maximum speed. This can result in acceleration clamping, single wheel braking, one wheel braking and acceleration on the other or a vibration of the kart 200.

The server 400 considers that a first kart 200a fires a shot on a second kart 200b when the server 400 calculates that the instruction 202 corresponding to the shot was made by the driver of the first kart at a location (determined by the location system 100) and a moment such that the firing having a determined speed has reached the second kart, which is also located by the locating system 100. The firing is preferably carried out by the pilot by pushing on the firing button 224. firing is preferably made visible by an ephemeral image projected by the projection system 300 and rendered audible by the pilot of the first kart in his loudspeaker by a firing sound that moves away and by the driver of the second kart in his loudspeaker. speaker by a shooting sound approaching. In the event of successful firing, the server 400 indicates to the second kart 200b (FIG. 1), in the characteristic information 403 (FIG. 12) intended for the second kart 200b, that its maximum power is decreased, which has the effect of reducing its maximum speed, and also indicates a message to display on the dashboard. The server 400 also indicates to the first kart 200a, in the feature information 403 destined for the first kart 200a, that it has successfully fired.

Another effect made possible by the system 800 for creating an environment according to the invention is the possibility for a first kart 200a to benefit from a suction effect by a second kart 200b. If the first kart is placed at the rear of the second kart, which is detected by the server via the location of the two karts by the location system 100, its maximum speed is increased by the server 400, via a characteristic information 403. , to simulate that its resistance to air is decreased, as in a motor racing suction effect.

Another effect made possible by the system 800 for creating an environment according to the invention is the possibility of compensating for the lack of performance of a vehicle (for example due to a wear of a mechanical element or the excessive weight of a vehicle. pilot) by analyzing the speed of the kart in comparison with the requested acceleration and by applying a coefficient to the accelerator.

Another effect made possible by the system 800 for creating an environment according to the invention is the possibility of creating a correction factor so as to balance the race by favoring the players who are behind and disadvantaging the players at the front. of the race

Another effect made possible by the system 800 for creating an environment according to the invention is a game with "paint" mode in which the pilots "paint" the ground with their kart, ie a drag a color specific to each kart is shown in the image 600 behind the kart and remains on the image 600. The object of the game is to paint a maximum surface with the color assigned to his kart. In the painting mode, the video stream computers 303 are informed by the server 400 of the position 204 and the color of each kart. For each kart in its projection cone 611, based on its position 204 and its color, the video stream computer 303 determines the paint areas of that color appearing in its partial image 610. The stream computer video 303 continuously traces a very thick line between the previous position of a kart and its new position. The video stream computer 303 determines in real time the number of pixels covered by the different paints (on their respective projection surface of course). They return to the server a table, continuously, which details the number of pixels counted for each painting and which allows him to calculate the scores The computer of projection is then able to identify the different traces of paintings and to totalize them ( in pixels). It simply returns to the server the result of each iteration that will take note of it for the processing of the scores.

The server 400 may insert an ephemeral sand image on a portion of the runway 911 by giving the indication to the projection system 300 via the projection information 402. If a kart 200 rolls on the sand image, which is determined by the location system 100, it receives a penalty.

Thanks to the environment creation system 800 according to the invention, karting can be fun by riding alone and a race between different drivers can be influenced by the projection effects of the image 600 or the effects of the means of action 250 kart, like shooting.

A driver can have a level, as in video games, which increases as he plays. A successful shot at a higher level pilot may yield a greater bonus than a successful shot at a lower level pilot.

In one embodiment of the invention, the server 400, which knows the position of the mobile elements 200 through the location system 100, adapts the image 600 projected by the projection system so that nothing is projected on the movable elements 200 or that on the contrary a halo of a certain color is projected on the mobile elements 200.

Possible uses other than karting of the environment creation system 800 are the following: • skiing, especially indoor skiing: location of a transmitter on the equipment of skiers, projection of images on the ski slope, with a mobile element formed by the skier and the equipment of the skier • bicycle, notably an indoor bike: location of a transmitter on bicycles or cyclists' helmets, projection of an image of a bicycle track or images on a race track bicycle, with a mobile element formed by the bicycle, the cyclist and his equipment • remote-controlled car circuit: locating a transmitter on the cars, the driver of a car being physically out of the car even if it is described here as part of the mobile element, projection of a car track • "laser-game": location of a transmitter on the equipment of the players, mobile element including the player and his team including a pistol and firing sensors, projecting elements such as bonuses or targets into pieces that make up a play maze • locating objects or robots in a factory: robots or objects to be located with a transmitter , there is no preference for a projection system and pilot in this use • location of objects on sports grounds: for example location of a ping-pong ball reflecting infrared and illuminated with infrared radiation in an environment (table and floor in particular) that does not reflect by infrared

In these uses, as in other uses, part of the environment creation system 800 can be used independently of the rest of the environment creation system 800. For example: • only the location system 100 is used, potentially coupled with the server 400, only the projection system 300 is used, potentially coupled with the server 400, only the mobile element 200 is used, potentially coupled with the server 400, the location system 100 and the system projection 300 are used, potentially coupled with the server 400, • the location system 100 and the mobile element 200 are used, potentially coupled with the server 400, or • the projection system 300 and the mobile element 200 are used, potentially coupled with the server 400.

In each case, one or more of the methods described in the context of the invention may be implemented.

The following preferential elements allow a reliable location, accurate to the nearest centimeter, at a frequency of more than 200 Hz, tens of moving elements on a surface of more than 100 m 2: • a set of sensors 110 according to the present invention, • the connection of the sensors 110 by I2C to the microcontrollers 112, the connection of the microcontrollers 112 via Ethernet to the server 400, and the calibration 180 of the location system according to the present invention.

Such precision and frequency of location allows moving elements to travel at a speed of 30km / h in the environment created by the environment creation system by having this environment, which includes the kart, potentially projected images. other elements, which adapts to their precise position. This also avoids collisions between moving parts and allows the driver to be guided by the guidance method according to its precise location.

The environment creation system 800, preferably incorporating the projection system 300, the location system 100 and one or more movable elements 200, allows the pilot and spectators to be immersed in an environment mixing tangible elements, such as moving elements, and images and where tangible elements and images interact. The combination of the following preferential elements allows the pilot and / or spectators to be immersed in the environment created by the environment creation system 800; Image 600, containing persistent elements and ephemeral elements, these ephemeral elements depending on the location of the moving elements, the effects created by the means of action 250, and the ambient lighting.

The environment creation system 800 according to the invention is movable, light, fast to set up (potentially in one day). It is comfortable, easy to use, provides a high level of safety, and gives the pilot and spectators the feeling of fully experiencing a complete experience.

The locating system 100 according to the invention is also movable, lightweight, quick to set up, comfortable and easy to use.

The projection system 300 according to the invention is also movable, lightweight, quick to set up, comfortable and easy to use.

The environment creation system 800 according to the invention combines the advantages of real karting, such as real acceleration, and video game karting such as bonuses, interactions with the environment and that players have a level of experience.

Claims (57)

claims A system for creating an environment (800), the environment comprising at least one image (600) arranged to be perceptible by at least one driver (700) of at least one mobile element (200), the system comprising The at least one movable element (200), which itself comprises an electronic interface (240) and at least one means of action (250) connected to the electronic interface (240), • a projection system (300) arranged to project the at least one image (600), • a location system (100) arranged to determine a position of each movable element (200) present near the at least one image (600), and a server (400) arranged to be connected to the electronic interface (240) of each mobile element (200), to the localization system (100) and to the projection system (300), the server (400) being arranged for controlling the projection system (300) and said at least one action means (250) on the basis of the position of each mobile element (200) received from the locating system (100). The system of claim 1, wherein the connection between the electronic interface (240) and the server (400) is via an on-board computer (230). 3. The system of claim 1 or 2, wherein each movable member (200) further comprises at least one actuator (220) connected to the electronic interface (240) and arranged to be actuated by the pilot (700) of the mobile element (200), the server (400) being arranged to act on the projection system (300) and on the at least one action means (250) on the basis of an actuation of at least one actuator (220). The system of any preceding claim, wherein each movable member (200) further comprises a transmitter (210). 5. System according to claim 4, wherein the transmitter (210) comprises at least one source (211) of electromagnetic radiation. The system of claim 5, wherein the source (211) of electromagnetic radiation comprises an infra-red emitter. 7. System according to claim 6, wherein the source (211) of electromagnetic radiation comprises a light emitting diode with a power of between 5 and 50 watts. The system of any preceding claim, wherein the projection system (300) comprises at least one video stream computer (303) and at least one projector (310), each video stream computer being connected to the server (400) and each projector being connected to the video stream computer (303). The system of claim 8, wherein the projection system (300) comprises a plurality of projectors (310), each of the projectors (310) being arranged to project a partial image (610a-610e) such that all of the partial images (610a-610e) projected by the projectors (310) form the image (600). The system of claim 9, wherein the partial images (610a-610e) overlap at least partially. 11. System according to any one of the preceding claims, wherein the location system (100) comprises at least one microcontroller (112) connected to the server (400) and at least one sensor (110) connected to the microcontroller (112). The system of claim 11, wherein a connection between each sensor (110) and the microcontroller (112) to which the sensor is connected uses I2C. The system of claim 11 or 12, wherein a connection between each microcontroller (112) and the server (400) uses Ethernet. The system of any one of claims 11 to 13, wherein each sensor (110) comprises a camera (114) arranged to take an image and capable of detecting infra-red radiation. The system of claim 14, wherein the sensor (110) further comprises a data processing device (115) arranged to increase the resolution of the image taken by the camera (114). The system of claim 14 or 15, further comprising an identification system (118) of the sensor by which the server (400) is able to identify the sensor (110) from which information (102) reaches it from a a plurality of sensors (110). The system of any one of claims 14 to 16, wherein each sensor (110) is connected to a display system (117) comprising a plurality of light emitting diodes, the sensor (110) and the display system. (117) to which it is connected being arranged for the ignition of a number of diodes equal to the number of movable elements (200) perceived by the sensor (110). 18. System according to any one of the preceding claims, wherein the at least one movable element (200) is a kart and the image (600) comprises a track (911) karting. 19. A method of creating an environment, the environment comprising at least one image (600) arranged to be perceptible by at least one pilot (700) of at least one mobile element (200), the method comprising a cycle including the steps of: • determining (420) a projection information (402) by a server (400), • transferring the projection information (402) to a projection system (300), • projection (301) of the image (600) by the projection system (300) based on the projection information (402), • determining (430) a feature information (403) by the server (400) for each element mobile (200), • transfer of the information (403) of characteristics to the corresponding movable element (200), • adaptation (205) of characteristics of the mobile element (200) on the basis of the information (403) of characteristics, • receiving instructions (202) from a pilot of the mobile element (200), which causes the mobile device (200) generates information (203) for the server (400), • information transfer (203) for the server of the mobile element (200) to the server (400), • modification of the position ( 204) of the movable member (200) based on the instructions (202), • determining (101) the position of the movable member (200) by the locating system (100), which generates information (102) of position, • transfer of position information (102) from location system (100) to server (400), and • data processing (410) by server (400), including determination (420) of projection information (402) and determining (430) a feature information (403) based on information (203) for the server (400) and position information (102). The method according to claim 19, wherein the adaptation (205) of characteristics of the mobile element (200) comprises the steps of: • determining (231) information for an electronic interface performed by an on-board computer ( 230) connected to the server (400), • determination (233) of signals for the means of action performed by an electronic interface (240) connected to the on-board computer (230), and • modification (235, 238) of action means characteristics realized by at least one means of action (250) connected to the electronic interface (240). The method of claim 20 or 21, wherein the adaptation (205) of characteristics of the mobile element (200) comprises the steps of: • determining (241) information for the dashboard made by a computer board (230) connected to the server (400), and • display modification (243) performed by an edge board (260) connected to the on-board computer (230). 22. A method according to any one of claims 19 to 21, wherein the projection (301) of the image (600) by the projection system (300) comprises the steps of: • determination of video stream (341) performed by at least one video stream computer (303) connected to the server (400), and • projecting (343) an image made by at least one projector (310) connected to the at least one video stream computer (303) . The method of any of claims 19 to 22, wherein determining (101) the position of the movable member (200) by the locating system (100) comprises the steps of: • detecting (153) at least one signal (152) from the mobile element (200) by a camera (114) on a sensor (110) forming part of the locating system (100), • generating by the camera (114) d an image (154) comprising at least one point corresponding to the detected signal (152), • transfer of the image (154) of the camera (114) to a data processing device (115) of the sensor (110), Determining (156) the coordinates and the size of each point on a matrix relative to the sensor (110) by the data processing device (115), transferring the coordinates and the size of each point on the matrix relative to the sensor (110) of the data processing device (115) to a microcontroller (112) forming part of e of the location system (100), and • transfer of the coordinates and the size of each point on the matrix relating to the sensor (110) of the microcontroller (112) to the server (400). The method of claim 23, wherein the transfer of the coordinates and the size of each dot on the array relative to the sensor (110) of the data processing device (115) to the microcontroller (112) is realized using I2C. 25. The method of claim 23 or 24, wherein the transfer of the coordinates and the size of each point on the matrix relative to the sensor (110) of the microcontroller (112) to the server (400) is achieved using Ethernet. The method of any one of claims 23 to 25, wherein the transfer of the coordinates and size of each dot to the array relative to the sensor (110) of the microcontroller data processing device (115) (112). is performed for a maximum number of points at a time, if the image (154) contains more points than this maximum number, the transfer of the coordinates and the size of each point on the matrix relating to the sensor (110) of the device data processing (115) to the microcontroller (112) is performed in several times. A method of installing an environment creation system (800) comprising at least one image (600), the system (800) comprising a projection system (300) and a location system (100), the method comprising the steps of: • placing (330) the hardware of the projection system (300), • calibrating (320) the projection system (300), • placing (170) the location system hardware (100), and Calibration (180) of the location system (100). 28. The method of claim 27, wherein the calibration (320) of the projection system comprises, for at least one projector (303) forming part of the projection system (300): a determination (321) of a part of the image (600) which is included in a partial image (610) projected by the projector (303), • a projection (323) by the projector (303) of the partial image (610), and • an adjustment ( 324) of the partial image (610) so that the partial image (610) corresponds to the part of the image (600) determined during the determination (321). 29. The method of claim 27 or 28, wherein the calibration (180) of the location system (100) comprises, for at least one sensor (110) forming part of the location system (100), the steps of: • determination (182) of the surface to be covered by each sensor (110), and • adjustment (160) of position of each sensor, the adjustment (160) of position of each sensor including a projection, by the projection system (100) , an adjustment image indicating in which position to adjust the sensor (110). The method of claim 28 or 29, further comprising a calibration (150) which comprises, for each of the corners of the surfaces to be covered, the steps of: • projection (136), by the projection system (300), d a reference to a specific location of the surface to be covered by each sensor (110), the specific location being indicated in a global coordinate system of the environment, • placing (137) a portable transmitter near the projected landmark and • calibration measurement (138) during which the sensor (110) determines the coordinates of the position of the portable transmitter in a sensor array (110). The method of claim 30, wherein the calibration (150) further comprises a mapping step (144) between the specific locations to which the marks have been projected and the coordinates of the position of the portable transmitter in the matrix. (12) 2 sensor (110), the correspondence (144) resulting in a means for passing coordinates in the matrix (122) of the sensor (110) to the global coordinates. 32. A method for guiding a pilot (700) of a mobile element (200), the guiding method comprising the steps of: determining an optimal trajectory for the mobile element (200), locating the mobile element (200) by a locating system (100), • determining at least one action that the pilot (700) must perform in order for the movable element (200) to approach the optimal trajectory, and • diffusion to the pilot (700) of a message containing advices for the moving element (200) to follow the optimal trajectory. 33. Anti-collision method of at least one mobile element (200) comprising the steps of: locating each mobile element (200) by a location system (100), determining the speed and acceleration of each element mobile (200), • calculating position probabilities of moving elements (200) at a future time, and • if the probability that more than one moving element (200) is below a threshold distance is greater than a probability determined, automatic braking of the movable elements (200) concerned. 34. Computer program for carrying out a method according to any one of claims 19 to 26. 35. Computer program for implementing a method according to any one of claims 27 to 31. 36. Computer program for carrying out a method according to claim 32. 37. Computer program for implementing a method according to claim 33. 38. Non-transient storage medium on which a computer program product including software code portions in executable format on a computing device and configured to perform the steps of a method according to any one of claims 19 to 19 is stored. 26. A non-transient storage medium on which is stored a computer program product comprising pieces of software code in executable format on a computing device and configured to perform the steps of a method according to any one of claims 27 to 27. 31. 40. A non-transitory storage medium on which is stored a computer program product comprising pieces of software code in executable format on a computing device and configured to perform the steps of a method according to claim 32. 41. A non-transitory storage medium on which is stored a computer program product comprising pieces of software code in executable format on a computing device and configured to perform the steps of a method according to claim 33. 42. A mobile element (200) comprising: an electronic interface (240), arranged to communicate with a server (400), at least one actuator (220) connected to the electronic interface (240) and arranged to be actuated by a driver (700) of the movable element (200), • at least one action means (250) connected to the electronic interface (240) and arranged to perform a modification of characteristics (235, 238) of the mobile element (200) based on a signal (234, 237) received from the electronic interface (240). Mobile element (200) according to claim 41, wherein the connection between the electronic interface (240) and the server (400) passes through an on-board computer (230). Mobile element (200) according to claim 42 or 43, further comprising a transmitter (210). The mobile element (200) of claim 44, wherein the transmitter (210) comprises at least one source (211) of electromagnetic radiation. 46. The movable element (200) of claim 45, wherein the source (211) of electromagnetic radiation comprises an infrared emitter. 47. The movable element (200) according to claim 46, wherein each of the sources (211, 212) of electromagnetic radiation comprises a light emitting diode having a power of between 5 and 50 watts. 48. A projection system (300) arranged to project at least one projected image onto at least one floor (600), the system (300) comprising at least one video stream computer 303 arranged to be in communication with a server (400) and at least one projector (310) connected to the video stream computer (303). 49. System according to claim 48, comprising a plurality of projectors (310), each of the projectors (310) being arranged to project a partial image (610a-610e) such that the set of partial images (610a-610e) projected by the projectors (310) form the image (600). 50. The system of claim 49, wherein the partial images (610) overlap at least partially. 51. A location system (100) comprising at least one microcontroller (112) arranged to communicate with a server (400) and at least one sensor (110) connected to the microcontroller (112). The system of claim 51, wherein a connection between each sensor (110) and the microcontroller (112) to which the sensor is connected uses I2C. The system of claim 51 or 52, wherein a connection between each microcontroller (112) and the server (400) uses Ethernet. The system of any one of claims 51 to 53, wherein each sensor (110) comprises a camera (114) arranged to take an image and is capable of detecting infrared radiation. The system of claim 54, wherein the sensor (110) further comprises a data processing device (115) arranged to increase the resolution of the image taken by the camera (114). The system of any one of claims 51 to 55, further comprising a sensor identification system (118) by which the server (400) is capable of identifying the sensor (110) from which information (102) from among a plurality of sensors (110). The system of any one of claims 51 to 56, wherein each sensor (110) is connected to a display system (117) comprising a plurality of light emitting diodes, the sensor (110) and the system (117). display to which it is connected being arranged to ignite a number of diodes equal to the number of movable elements (200) perceived by the sensor (110).