Method for controlling remotely controllable member involving one or more moving objects

Abstract

The invention relates to a method for controlling a remotely controllable member, the method comprising the steps of: transmitting a data signal between a moving object and a fixed point, the data signal being transmitted by a source of electromagnetic radiation by modulating the electromagnetic radiation to a receiver of the electromagnetic radiation, the source and the receiver being coupled to the fixed point and the moving object, respectively, alternatively, the source and the receiver are coupled to the moving object and the fixed point, respectively; providing a masking device configured to limit a transmit field and / or a receive field of the signal to an area comprising the fixed point and defined by the masking device; the processing unit defines a command executable by the remotely controllable member based on the data extracted from the signal, the position of the transmission area, and / or the orientation of the moving object; the command is transmitted to the remotely controllable component for execution.

Description

Technical Field

[0001] The invention relates to monitoring and / or triggering actions after positioning one or more movable objects individually or simultaneously by one or several remotely controllable members integrated into the movable objects or not. The movable objects can be, for example, badges, bicycles, pedal scooters, scooters, robots or drones of the type, equipped with or without drives (e.g. electric drives). Background Art

[0002] Today, many cities are equipped with automatic rental systems that offer the public a fleet of vehicles that can be used for a limited duration (for example less than a day) to make a journey. This solution is particularly intended to relieve congestion in public transport and reduce the flow of cars within cities. The fleet of vehicles can be deployed with or without parking stations installed in different locations in the area where the vehicles in the fleet are used. Each of these stations includes a terminal that allows locking the vehicle between two rental periods and, for example, recharging the vehicle's battery if the vehicle is electrically driven.

[0003] In the case of a fleet without a deployed station, the vehicles communicate with the central system to send their respective geographic locations. The vehicles also include their own locking devices controlled by the central system. The central system sends the location of available vehicles to users who wish to rent a vehicle. When the user requests the start of vehicle rental and the end of vehicle rental from the central system, the central system determines and stores the start of vehicle rental and the end of vehicle rental, and then the central system controls the unlocking or locking of the vehicle.

[0004] However, the development of this type of service is undermined by a minority of users who do not respect other users of public space and traffic rules. In practice, vehicles, in particular vehicles of the pedal scooter type, are often used inappropriately, for example in pedestrian areas or on sidewalks, or even without respecting traffic lights and directions. In the absence of a fleet of deployed stations, it is also common for vehicles to be abandoned in the middle of sidewalks or at building exits. The geolocation devices fitted to the vehicles are not accurate enough to enable the central system to determine whether the vehicle is parked in an inconvenient location. In the case of bicycles or pedal scooters, it is also impossible for the central system to determine whether the vehicle is standing or lying. In addition, it has been shown that public institutions can only oppose such uncivilized behavior to a very limited extent and tend to prohibit this type of service, which is detrimental to the managers of the service and well-behaved users.

[0005] It is therefore desirable to be able to remotely monitor the movement of movable objects. In the context of a self-service vehicle rental service, it may also be desirable to be able to ensure that the vehicle is returned to a specific location at the end of the rental, and, where possible, to ensure that the vehicle is properly stored in the case of a vehicle sharing system without a reserved parking spot. It may also be desirable to monitor robots or drones in a defined space (e.g., a cargo storage shed), or to monitor access to a room or department by authorized personnel, or even to broadcast voice or video messages to personnel in a defined location. Summary of the invention

[0006] An embodiment relates to a method for monitoring a remotely controllable component, the method comprising the steps of: transmitting a data signal between a movable object and a fixed point, the data signal being transmitted by an electromagnetic radiation source to a receiver of electromagnetic radiation by modulating the electromagnetic radiation, the source and the receiver being coupled to the fixed point and the movable object, respectively, or the source and the receiver being coupled to the movable object and the fixed point, respectively; providing a masking device, the masking device comprising one or more elements for masking electromagnetic radiation, the masking device being configured to limit a transmission field and / or a reception field of the data signal to a transmission area including the fixed point and defined by the masking device; extracting data from the data signal by a processing unit connected to the receiver; defining by the processing unit a command that can be executed by the remotely controllable component based on the extracted data, the position of the transmission area and / or the orientation of the movable object; transmitting by the processing unit the command to the remotely controllable component; and executing the command by the remotely controllable component.

[0007] Thus, one or several movable objects can be remotely monitored according to their position and orientation in space, or commands can be triggered when the movable objects are in certain positions defined according to the masking device.

[0008] According to one embodiment, the method includes the steps of: receiving, by at least two receivers in a receiver group installed on a movable object, two data signals transmitted by electromagnetic radiation respectively emitted by two fixed electromagnetic radiation sources, the transmission field and / or the reception field of the data signal emitted by each of the two sources being limited to the corresponding transmission area defined by a masking device; extracting, by a processing unit of the movable object connected to the receiver group, an electromagnetic radiation source identifier from each received data signal; determining, by the processing unit of the movable object connected to the receiver group, the direction of a preferred moving axis of the movable object in the moving plane of the movable object and the positioning area based on the identifiers of the two electromagnetic radiation sources and the identifier of the receiver that has received the data signal, and executing, by the processing unit, a command to the electromechanical component of the movable object based on the direction of the preferred moving axis of the movable object and the positioning area.

[0009] In this way it can be determined whether the movable object is exactly in the position and orientation defined by the masking device and a command can be triggered only if this condition is met.

[0010] According to one embodiment, the command belongs to the following set of commands: a command for limiting the speed of a movable object; a command for stopping the movement of a movable object; and a command for locking a movable object.

[0011] According to one embodiment, the method includes steps, including: a processing unit determines, based on a transmitter identifier, whether a positioning area of ​​a movable object is located in an authorized parking area of ​​the movable object; when the positioning area is located in the authorized parking area, the processing unit executes an end-of-use command and transmits an end-of-use notification message to a remote server, the end-of-use command including a command for locking the movable object, the end-of-use notification message including location data and an identifier of the movable object; and the processing unit does not execute the end-of-use command as long as the positioning area is not located in the authorized parking area.

[0012] According to one embodiment, the movable object is located in an area comprising a plurality of data signal transmitters, the method further comprising the step of determining the geographic location of the movable object based on a transmitter identifier extracted from a signal received from one of the transmitters.

[0013] According to one embodiment, the data signal is transmitted by modulating a supply current of an electromagnetic radiation source belonging to the transmitting device.

[0014] According to one embodiment, the modulation of the supply current is of SPWM type.

[0015] An embodiment may also relate to a device to be mounted on a movable object, the device comprising: a receiver assembly comprising at least one electromagnetic radiation receiver, each receiver of the receiver assembly being associated with a corresponding masking device, the masking device limiting the angle of incidence at which the receiver can receive electromagnetic radiation, each masking device having a respective orientation; and a processing unit connected to the receiver assembly and to an interface of a control member to be linked to the movable object, the device being configured to perform the method previously defined.

[0016] According to one embodiment, the receiver assembly comprises a front receiver block to be installed in a front position of the movable object and a rear receiver block to be installed in a rear position of the movable object, each of the front receiver block and the rear receiver block being connected to a processing unit and bringing together several electromagnetic radiation receivers, the receivers of each of the front receiver block and the rear receiver block being associated with corresponding masking devices having different orientations for capturing electromagnetic radiation having different orientations.

[0017] According to one embodiment, the receiver assembly comprises an image sensor, the processing unit being configured to analyse an image provided by the image sensor to determine the presence of image areas having a predefined colour. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be better understood from the following description of exemplary embodiments with reference to the accompanying drawings, in which like reference numerals correspond to elements that are identical or similar in structure and / or function.

[0019] Figure 1 schematically illustrates an object emitting an electromagnetic field for transmitting a data signal to a receiving object according to one embodiment,

[0020] Figure 2 schematically represents a set of circuits installed in a receiving object according to one embodiment,

[0021] Figure 3 Schematically illustrates a situation in which a receiving object is located in an electromagnetic field emitted by a transmitting object and another transmitting object according to an embodiment,

[0022] Figure 4 Schematically shows a situation in which a receiving object having two transmitters is located in an electromagnetic field emitted by a transmitting object according to an embodiment,

[0023] Figure 5 schematically shows an object emitting an electromagnetic field for transmitting a data signal to a receiving object according to another embodiment,

[0024] Figure 6 schematically represents a set of circuits installed in a transmitting object and a receiving object according to one embodiment,

[0025] Figure 7 schematically shows an object emitting an electromagnetic field for transmitting a data signal to a receiving object according to another embodiment,

[0026] Figure 8 schematically represents two objects emitting an electromagnetic field for transmitting a data signal to a receiving object having two receivers according to one embodiment,

[0027] Fig. 9 Schematically shows an object emitting an electromagnetic field and three receiving objects for transmitting a data signal according to another embodiment,

[0028] Fig.10 schematically shows a vehicle in an electromagnetic field transmitting a data signal according to one embodiment,

[0029] Fig.11schematically shows a vehicle equipped with a data signal sensor according to one embodiment,

[0030] Fig.12 is a schematic perspective view of a front sensor block mounted on a vehicle according to one embodiment,

[0031] Fig.13 is a schematic perspective view of a rear sensor block mounted on a vehicle according to one embodiment,

[0032] Fig.14 schematically shows a set of circuits installed in a vehicle according to one embodiment,

[0033] Fig.15 schematically represents a parking area equipped with a device for emitting an electromagnetic field according to one embodiment,

[0034] Fig.16 schematically represents different areas equipped with a device for emitting an electromagnetic field according to one embodiment,

[0035] Fig.17 A graph representing a signal over time, illustrating a method for transmitting data by modulation of electromagnetic radiation according to one embodiment,

[0036] Fig.18 A set of circuits installed in a vehicle for communicating with a remote processing unit is schematically represented according to another embodiment. DETAILED DESCRIPTION

[0037] Figure 1 Represents a transmitter TX1 of electromagnetic radiation that is in a field TF1 and transmits a data signal to a receiving object MO1 according to an embodiment. The transmitter TX1 may be fixed, while the receiving object is movable. The transmission of the data signal may be performed by amplitude modulation of the electromagnetic radiation. The transmitted data may comprise an identifier of the transmitting object TX1. The transmitting object TX1 may be associated with a masking device OT1 comprising one or several elements masking the electromagnetic radiation, the masking device being configured to limit the transmitting field TF1 to a transmission area, the shape of which is defined by the configuration of the masking device.

[0038] The receiving object MO1 comprises a receiver RX1 which may also be associated with a masking device OR1 defining the shape of a receiving field RF1. When the transmitting object TX1 and the receiver RX1 are simultaneously located in the transmitting field TF1 and the receiving field RF1, data signals transmitted by the transmitter TX1 may be received by the receiver RX1.

[0039] According to one embodiment, the exposed surfaces of the masking device OT1 and / or the masking device OR1 are treated to reduce or prevent reflection of electromagnetic radiation.

[0040] exist Figure 1 In the example of , the masking device OT1 has the shape of a cone, the transmitter TX1 is arranged inside the cone, at the top of the cone. The masking device OR1 has the shape of a well formed in the receiving object MO1, the receiver RX1 is arranged at the bottom of the well. Therefore, the transmission field TF1 is wider than the reception field RF1. Due to the masking device OT1, the masking device OR1, the accuracy of both the transmission level and the reception level can be adjusted, including the ability to align two objects completely on the same straight line XT.

[0041] Figure 2 Represents a circuit installed in a receiving object MO1 according to one embodiment. According to one embodiment, the receiving object MO1 comprises a control unit CU connected to a receiver RX1. The control unit CU is configured to extract data from a data signal received by the receiver. The control unit CU may be configured to determine the position of the receiving object MO1 based on an identifier of the transmitter TX1 and a reception area defined by a masking device associated with the receiver and based on the position and width of a transmission field generated by the transmitter TX1. The position and width of the transmission field generated by the transmitter TX1 may be determined based on the data transmitted by the data signal.

[0042] According to one embodiment, the receiving object MO1 is equipped with a communication circuit COM connected to the control unit CU to communicate with a remote server CSV, in particular to transmit to it, for example in real time, the identifier of the receiving object, the identifier of the transmitter TX1. The server CSV is thus able to locate the receiving object MO1 in real time. The communication between the communication circuit COM and the server CSV can be established via a telephone of the "smartphone" type, for example, which can be the telephone of the user of the receiving object. The link between the circuit COM and the telephone SM can be of the BLE ("Bluetooth Low Energy") type.

[0043] The control unit CU may be configured to control the control circuit CC of the receiving object MO1 depending on the position of the receiving object MO1 determined in the reference frame of the transmitter TX1 and the data received from the transmitter TX1 .

[0044] It should be noted that the receiver may receive signals from different objects emitting electromagnetic radiation, but due to the positioning of the masking device OT1 and / or the masking device OR1 and the emitting object TX1, the receiver RX1 receives at most one data signal from a single emitting object at any time. Figure 3The situation is shown where a receiving object MO1 is located in electromagnetic fields TF1, TF4 respectively emitted by a transmitter TF1 and another transmitter TX4. The data signal emitted by the transmitter TX4 cannot be received by the receiver RX1 because the receiving field RF1 of the receiver RX1 does not include the transmitter TX4.

[0045] Figure 4 The case of a receiving object MO5 is shown, comprising two receivers RX4, RX5, each having a receiving field RF4, RF5 located in opposite directions and delimited by a corresponding masking device OR4, OR5. The object MO5 is placed in the transmission field TF1 of the transmitting device TX1. Since only the receiving field TF4 covers the transmitter TX1, only the corresponding receiver RX4 receives the data signal transmitted by the transmitter TX1. Thus, with a reduced opening of the masking device OR1 or OT1, the orientation of the receiving object MO1 in the reference frame related to the transmitter TX1 can be determined with even greater accuracy. Figure 4 In the example, the presence of two receivers RX4, RX5 enables the processing unit CU connected to them to determine, based on the identifier of the receiver RX4, RX5 that has received the data signal, which face of the object MO5 associated with the masking device OR4, OR5 is facing the receiver TX1.

[0046] Figure 5 An object MO2 emitting an electromagnetic field TX2 transmitting a data signal to a receiving object RO2 according to another embodiment is shown. Figure 5 and Figure 1 The object MO2 differs from the object MO1 in that the transmitter is movable and the receiver is fixed, and the object MO2 differs from the object MO1 in that the object MO2 includes a transmitter TX2 instead of a receiver RX1.

[0047] The receiver RX2 of the receiving object RO2 may be associated with a masking device OR2 comprising one or several elements for masking electromagnetic radiation, the masking device being configured to limit the receiving field RF2 to a transmission area, the shape of which is defined by the configuration of the masking device. The transmitter TX2 may also be associated with a masking device OT2 defining the shape of the transmission field TF2. When the transmitter TX2 and the receiver RX2 are simultaneously located in the transmission field TF2 and the reception field RF2, the data signal transmitted by the transmitter TX2 may be received by the receiver RX2.

[0048] Figure 6Represents a transmitting object MO2 and a receiving object RO2. The data signals received by the receiver RX2 are transmitted to the processing unit CU1, which processes these signals to extract data including the identifier of the transmitting object TX2 therefrom. The processing unit CU1 can be configured to determine the order to be transmitted to the transmitting object TX2, taking into account the position of the receiving object RO2 known to the processing unit CU1 and the identifier of the transmitting object transmitted by the data signal received from the receiver RX2. The order thus determined by the processing unit CU1 can be transmitted to the processing unit CU of the object MO2 via another transmission channel, for example, through a wireless network such as a WiFi type network or a mobile network or even a Bluetooth type link, which can be automatically established due to the proximity between the fixed point and the movable object. The control unit CU1 can also control other devices, such as a device DV located near the receiver RX2 and connected to the processing unit CU1. The device DV can be, for example, a door latch or a fixed anti-theft device, or a device for emitting sound, light or video signals or messages. Therefore, the movable object can simply be a badge worn by the user and having a device for emitting data signals in the form of electromagnetic radiation. The command to be executed may be the triggering of the opening of a door or the broadcasting of a sound, light or video message related to an object in the immediate environment of the fixed point (e.g. a work of art or a machine). The masking devices OR2 and / or OT2 may allow limiting the area in which the emitting object MO2 must be located in order to trigger the issuance of a command by the control unit CU1 to the device CC and / or DV to be controlled. The device to be controlled may, for example, provide access to a room or a service.

[0049] exist Figure 6 In the example of , the masking device OT2 has the same shape as the masking device OR1, the receiver RX2 is arranged inside the cone, at the top of the cone. The masking device OT2 has the same shape as the masking device OR1, the transmitter TX2 is arranged at the bottom of the well. Therefore, the reception field RF2 is wider than the transmission field TF2. Due to the masking devices OT2, OR2, it is possible to adjust the accuracy of both the transmission stage and the reception stage, including the ability to align two objects completely on the same straight line XT.

[0050] Depending on the requirement for precise positioning on an exact axis, extremely high levels of accuracy can be achieved by placing the transmitter and receiver at the bottom of a well of depth and diameter appropriate to the accuracy requirements. Figure 7Represents a transmitting object MOT3 comprising a transmitter TX3 and a receiving object MOR3 comprising a receiver RX3. The transmitter TX3 is associated with a well-shaped masking device OT3, which is placed at the bottom of the well-shaped masking device OT3. Similarly, the receiver RX3 is associated with a well-shaped masking device OR3, which is placed at the bottom of the well-shaped masking device OR3. In this way, the transmission field TF3 can have a very narrow width and can only be received by the receiver RX3 at the bottom of the well OR3 if the transmission field and the reception field are perfectly aligned along the same axis XT. The configuration of the masking device OT3 or OR3 enables axial linear positioning.

[0051] Figure 8 A receiving object MOR4 is shown which, unlike the receiving object MOR3, comprises a second receiver RX4 which can be associated with a masking device OR4. Figure 8 Also represented is a transmitting device MOT3 and another transmitting device MOT4, which comprises a transmitter TX4 that can be associated with a masking device OT4. In this case, when the receivers RX3, RX4 of the receiving device MOR4 simultaneously receive data signals from the transmitters TX3, TX4, the receiving device MOR4 can be positioned in space relative to the transmitters TX3 and TX4. The accuracy of the positioning depends on the shape of each of the masking devices OT3, OR3, OT4, OR4. In the case where the masking devices OT3, OT4, OR3, OR4 are wells, the receiving device MOR4 can be accurately positioned in space when the receiver RX3 is located on the axis XT of the transmission field TF3 of the transmitter TX3 and the receiver RX4 is located on the axis XT4 of the transmission field TF4 of the transmitter TX4. When the receiving device MOR4 is in this position, the processing unit CU of the receiving device MOR4 can issue a command. Such positioning accuracy can also be achieved by reversing the positions of the transmitter and the receiver.

[0052] Fig. 9Another embodiment is shown in which the receiver must see both transmitters at the same time. This embodiment allows, for example, monitoring the use of a device such as a personal computer by a user or access to a service provided via a personal computer. This embodiment comprises a transmitting device, such as a transmitting device RO2, which is equipped with a transmitter RX2 and a masking device OR2, which is connected to a control unit CU. The authorized users U1, U2 carry corresponding transmitting devices TX6, TX7, for example badges equipped with, for example, infrared transmitters. A device such as the device PC1 is associated with a corresponding transmitting device TX5 in a tamper-proof manner. The control unit CU is configured such that the control unit CU authorizes the use of the device PC1 as long as the receiver receives a valid data signal from both the transmitter TX5 associated with the device PC1 and one of the transmitters TX6, TX7 of one of the authorized users U1, U2. As long as this condition is met, the control unit UC sends an enabling signal to the device PC1 allowing it to be used. If this condition is not met or is no longer met, the control unit CU stops sending the enabling signal (for example at regular intervals) or sends a disabling signal. The device PC1 is configured to be able to be used or provide access to the service only when it receives an enable signal, or only after receiving an enable signal and as long as it has not received a disable signal. In conjunction with the enable signal and / or the disable signal, the use of the computer PC1 or access to the service may also be conditional on performing a user authentication procedure.

[0053] Fig.10 Represents a vehicle V1 arranged in an electromagnetic field (e.g. a light field LB) emitted by a signal emitting device LS according to one embodiment. The electromagnetic field emitted by the source covers an area LA on the ground. According to one embodiment, the intensity of the electromagnetic field LB is modulated to transmit a data signal which may include identification data. The data signal comprises, for example, an identifier of the emitting device LS. The data signal may also comprise other data, for example data relating to the irradiated area LA. The modulation is performed, for example, in amplitude. The vehicle V1 comprises one or several sensors configured to receive the electromagnetic field LB and a demodulation circuit for extracting the identification signal from the electromagnetic field LB.

[0054] The transmitting device LS transmits electromagnetic radiation in a wavelength band including visible light, and the electromagnetic radiation propagates in the atmosphere but does not propagate in most solid materials (eg, materials that are opaque to visible light).

[0055] The signal emitting device LS may be, for example, a street lighting pole or a specific street furniture provided with a source of electromagnetic radiation and the light field LB may be the light field emitted by one or several bulbs mounted in the pole or on a mast or any other structure.

[0056] The shape of the emitted electromagnetic field LB may be defined by one or several shutters and / or optical lenses.

[0057] According to one embodiment, the data transmitted by the field LB include in particular data that may belong to a set that brings together:

[0058] an identifier of the area LA illuminated by the field LB or the transmitting device LS,

[0059] the type of area illuminated by field LB, and

[0060] A list of identifiers of signal emitting devices, illumination areas adjacent to the area LA, each adjacent area being able to be associated with a type of area.

[0061] The type of region can be one of the following:

[0062] pedestrian areas or sidewalks,

[0063] pedestrian crossing,

[0064] Areas adjacent to pedestrian crossings,

[0065] areas adjacent to or including traffic lights,

[0066] areas adjacent to or including a stop,

[0067] One-way traffic area,

[0068] Areas located at the edge of the authorized traffic area,

[0069] Areas where convoy vehicles are prohibited from passing,

[0070] A parking area reserved for fleet vehicles.

[0071] Furthermore, the data transmitted by the field LB may vary over time, or be sent only during certain time periods.

[0072] Fig.11 1 represents a vehicle V1 according to an embodiment. The vehicle V1 is equipped with sensor assemblies SM1, SM2 configured to receive electromagnetic signals of the type emitted by the transmitting device LS. The sensor assemblies SM1, SM2 include a front sensor assembly SM1 configured to be mounted at the front of the vehicle V1 and a rear sensor assembly SM2 configured to be mounted at the rear of the vehicle V1. Fig.11 and Fig.12In the example of , the vehicle V1 is a scooter. According to one embodiment, the front sensor assembly SM1 is mounted on the handlebar 11 of the scooter V1 or at the top of the front post 12 supporting the handlebar, and the rear sensor assembly SM2 is mounted on or in the fender 13 of the rear wheel of the scooter.

[0073] According to one embodiment, each of the sensors SM1, SM2 of the vehicle is associated with a masking device comprising one or several elements masking electromagnetic radiation. Each masking device is configured to limit the reception field of the data signal to a transmission zone comprising the transmitting device LS and defined by the masking device. The masking device is also configured to prevent another data signal emitted by another source through modulation of electromagnetic radiation from being transmitted to the sensor associated with the masking device when the vehicle is in the transmission zone.

[0074] Fig.12 Represents a front sensor assembly SM1 according to one embodiment. The front sensor assembly SM1 comprises a front sensor S1, two sensors, a right side sensor S2 and a left side sensor S3, and a zenith sensor S4. According to one embodiment, each of the front sensor S1 and the side sensors S2, S3 is associated with a masking device OS11, OS12, OS21, OS22, OS31, OS32 arranged to limit the width of the field observed by the sensor. Similarly, the zenith sensor S4 is associated with a masking device OS41 forming a well at the bottom of which the sensor Z4 is arranged. The zenith sensor S4 at the bottom of its well OS41 allows very precise positioning of the vehicle in the horizontal plane.

[0075] Fig.13 : represents a rear sensor assembly SM2 according to one embodiment. The rear sensor assembly SM2 comprises a rear sensor S11 and two sensors, a right side sensor S12 and a left side sensor S13. Each of the rear sensor S11 and the side sensors S12, S13 is associated with a masking device OS51, OS53, OS53, which for example forms a cavity in the bottom of which the sensor is arranged to limit the width of the field observed by the sensor or the angle of incidence at which the sensor can be illuminated. Lenses can also be placed in front of the sensors S1 to S4, S11 to S13 to capture or distinguish certain directions of electromagnetic rays and thus allow easy detection of, for example, whether the vehicle V1 is standing or lying down.

[0076] In general, the arrangement of sensors S1 to S4, S11 to S13 at the bottom of the well allows the vehicle V1 to be accurately located in a plane perpendicular to the axis of the well. By distributing the sensors and the electromagnetic sources in a suitable manner, the position and orientation of the vehicle can thus be accurately determined. More generally, as Fig.13 and Fig.14The number and arrangement of sensors and the position and orientation of the transmitting devices presented as examples in the drawings may vary and be more generally adapted to the configuration of the vehicle and the intended application.

[0077] Fig.14 Represents a circuit installed in a vehicle V1 in the case where the vehicle V1 is driven by an electric motor ENG according to one embodiment. The motor ENG of the vehicle V1 is linked to a battery BT via a control circuit CC which ensures the power supply of the motor and monitors the speed of the motor as a function of the position of the manual accelerator control. According to one embodiment, the circuit of the vehicle V1 comprises a control unit CU connected to the sensors S1 to S4, S11 to S13 of the sensor assembly SM1, SM2. The control unit CU is configured to demodulate the signals received by each of the sensors S1 to S4, S11 to S13 in order to determine data transmitted by a transmitting device LS located nearby which transmits a transmission field covering one of the sensors despite the presence of a masking device associated therewith. The control unit CU is also configured to determine the position V of the vehicle V1 in a fixed reference frame OXYZ associated with the device for transmitting the signal LS received by one of the sensors S1 to S4, S11 to S13, based on the identifier of the sensor receiving the signal LS and the reception area defined by the masking device associated with the sensor, and based on the position and width of the emission field generated by the emission of the signal LS. The position and width of the emission field generated by the signal LS can be determined based on the data transmitted by the signal.

[0078] In the example of a pedal scooter, the control unit CU may also determine that the vehicle is substantially vertical when the sensor S4 at the bottom of the well S41 receives the data signal LS.

[0079] It should be noted that the sensors S1 to S4, S11 to S13 may receive signals from different data signal transmitting devices, but due to the positioning of the masking devices and the transmitting devices, each of the sensors receives at most one data signal from a single transmitting device LS at any time.

[0080] According to one embodiment, the vehicle V1 is equipped with a communication circuit COM connected to the control unit CU to communicate with a remote server CSV, in particular to transmit thereto, for example in real time, the vehicle identifier, the transmitting device LS identifier, for example the last received identifier. The server CSV can thus locate in real time all the vehicles in the fleet. The communication between the communication circuit COM and the server CSV can be established via a telephone SM of the "smartphone" type, for example, which can be the user's telephone. The link between the circuit COM and the telephone SM can be of the BLE ("Bluetooth Low Energy") type.

[0081] The vehicle V1 may also be equipped with a satellite positioning device SPC, for example of the GPS ("Global Positioning System") or Galileo type. Such a device may be useful if the vehicle cannot locate itself because it is not in the transmission range LB of the transmitting device LS and if the vehicle is not supported by the user or for any other reason.

[0082] The control unit CU is configured to control the control circuit CC of the motor ENG as a function of the position of the vehicle V1 determined in the reference system OXYZ and of data received from a transmitting device located nearby.

[0083] Depending on the type of area that may appear in the received data, the command applied by the control unit CU to the control circuit CC may be a command to stop the motor ENG, in particular if the type of area received is a pedestrian area or a one-way traffic area and the direction of movement of the vehicle is opposite to the authorized direction of movement, or if the area is prohibited for convoy vehicles. When the type of area received is an area adjacent to a stop sign, a traffic light or a pedestrian crossing and the direction of movement of the vehicle tends to bring the vehicle close to a stop sign, a traffic light or a pedestrian crossing, the command applied by the control unit CU to the control circuit CC may be a deceleration or speed limit command associated with a maximum speed. The command applied by the control unit CU to the control circuit CC may be a vehicle locking command associated with the end of the rental of the vehicle, in particular if the vehicle V1 is not motorized but is equipped with a locking device that can be controlled remotely.

[0084] Fig.15 Denotes a parking area Z1 in which the vehicles V1, V2, V3, V4 of the fleet can be abandoned at the end of their lease. The parking area Z1 is illuminated by an electromagnetic radiation source LS having an emission field covering a strip-shaped ground area Z2 in which the handlebars of the vehicles V1 to V4 must be positioned. Fig.15 In the example of , the handlebars of vehicles V1, V2, V4 are located above the strip Z2, while the handlebars of vehicle V3 are not located above the strip Z2 but in the parking area Z1. Vehicle V4 is not located in the parking area Z1. The right front sensor S2 of vehicles V1, V2 receives radiation emitted by the source LS, while the other sensors of vehicles V1, V2 do not receive this radiation because they are located outside the emission field of the source LS. Only the left rear sensor S13 of vehicle V3 is located in the emission field of the source LS. The left front sensor S3 of vehicle V4 receives radiation emitted by the source LS, while the other sensors of vehicle V4 do not receive this radiation because they are located outside the emission field of the source LS.

[0085] According to one embodiment, the control unit CU is configured to determine that the vehicles V1 to V4 are correctly placed on the parking area Z1 based on the identifiers transmitted by the data signals received by the different sensors. In the case of the vehicles V1, V2, the control unit CU determines that the data signals received by the right front sensors S2, S3 are correct (the identifier of the source LS is only received by the right front sensor S2), and that the other sensors of the vehicle and in particular the sensor S4 do not receive these data signals, indicating that they are substantially vertical. From this, the control unit CU infers that the vehicles V1, V2 are correctly positioned in the parking area Z1. In the case of the vehicle V3, the control unit CU determines that the data signals emitted by the source LS are not received by the right front sensor S2, and therefore determines that the vehicle V3 is incorrectly positioned on the parking area Z1. In the case of the vehicle V4, the control unit CU determines that the data signals emitted by the source LS are not received by the front sensor S2, but by the left front sensor S3, and therefore determines that the vehicle V3 is positioned upside down relative to the desired position on the parking area Z1. In this case, the control unit CU can determine that only the end of the rental of the vehicles V1, V2 is allowed. Thus, using at least one electromagnetic radiation source LS, the orientation of the vehicle can be determined.

[0086] The control unit CU can therefore determine the position of the reference system V,x,y associated with the vehicle in the reference system OXY of one of the transmitting devices LS, LS1 which has transmitted an identifier to the control unit CU. The control unit CU can also transmit the position of the reference system V,x,y to the server CSV.

[0087] With more electromagnetic radiation sources covering the same area, the position and orientation of the vehicles V1 to V4 can be determined more accurately.

[0088] It should also be noted that the sensors mounted on the vehicle can be replaced by electromagnetic radiation sources, and the source LS can be replaced by electromagnetic radiation sensors. In this configuration, the control unit linked to the sensors can locate the vehicle and

[0089] According to one embodiment, the sensors S1 to S4, S11 to S13 are simple photovoltaic cells. More generally, the sensor is an element that is sensitive to a band of electromagnetic radiation and provides an electrical signal that represents a change in the intensity or wavelength of the received radiation. Therefore, one or several of the sensors S1 to S4, S11 to S13 can be an image sensor, such as a camera. Using the image sensor, the command to be executed by the vehicle can be determined based on the color that appears in the image provided by the image sensor. According to one example, the image provided by the camera can be analyzed to determine whether a traffic light is visible in the image and whether the traffic light is red or green, to determine the command provided to the vehicle V1 accordingly.

[0090] It should also be noted that the vehicle V1 can be equipped with only two sensors, for example a sensor at the front of the vehicle and a sensor at the rear of the vehicle, in particular if it is necessary to evaluate only the position and orientation Vx of the vehicle V1 in the plane of motion OX,Y relative to the signal emitting device LS. Furthermore, if the aim is only to force the user to return the vehicle to certain parking areas (for example Z1) at the end of the rental, a single sensor installed on the vehicle is sufficient to detect that the vehicle is in one of these areas.

[0091] Fig.16 Different situations are shown which can be managed by the control unit CU. Fig.16 A zone Z10 is presented which receives the electromagnetic field emitted by the source LS10. The identifier transmitted by the source LS10 corresponds to a zone where the circulation of the vehicle V1 is prohibited. When receiving the signal emitted by the source LS10, the control unit CU is configured to stop the motor ENG of the vehicle V1.

[0092] Fig.16 A zone Z11 receiving an electromagnetic field emitted by a source LS11 is presented, which zone is located at the entrance to a speed-restricted zone Z12. Upon receiving the signal emitted by the source LS11, the control unit CU of the vehicle V1 is configured to control the motor ENG of the vehicle V1 so as to reduce the speed of the vehicle to a maximum authorized speed.

[0093] Fig.16 Crosswalk zones Z13, Z14 are presented which receive electromagnetic fields emitted by sources LS13, LS14 respectively. When receiving a signal emitted by source LS13 or LS14, control unit CU is configured to control motor ENG of vehicle V1 so as to reduce the speed of the vehicle to the speed set for crossing the crosswalk.

[0094] Fig.16 A zone Z15 is presented which receives an electromagnetic field emitted by a source LS15, which zone is located at the entrance to a zone Z16 where vehicles coming from another direction have priority. Upon receiving the signal emitted by the source LS15, the control unit CU is configured to control the motor ENG of the vehicle V1 so as to reduce the speed of the vehicle to a speed enabling the vehicle to stop immediately in the presence of another vehicle in the zone Z16.

[0095] Fig.16 A zone Z17 is shown receiving an electromagnetic field emitted by a source LS17, which zone is located at the entrance to a zone Z16 comprising a traffic light or a stop sign. Upon receiving the signal emitted by the source LS17, the control unit CU is configured to control the motor ENG of the vehicle V1 so as to reduce the speed of the vehicle to a speed that enables the vehicle to stop immediately at the stop sign or at the traffic light.

[0096] According to one embodiment, the signal transmitted by the transmitting device LS is generated by driving a light source such as an LED (light emitting diode) using a signal modulated with SPWM (sinusoidal pulse width modulation), the frequency of the SPWM signal can be set to a value greater than 1 MHz, and the signal has a duty cycle that is sinusoidally modulated at a frequency comprised between 1 kHz and 22 kHz. Fig.17 Curves C1, C2 are shown as a function of time, curve C1 corresponding to the power supply signal of the source LS, and curve C2 corresponding to the resulting signal emitted by the source LS, as it can be received by one of the sensors S1 to S4, S11 to S13 of the vehicle V1. The residual magnetism of the light source makes it possible to obtain a substantially sinusoidal signal when the duty cycle of the power supply signal of the light source is varied in a certain way. The data transmission to the processing unit CU can be performed by varying the frequency of the sinusoidal signal thus generated.

[0097] In the above, electromagnetic radiation emitters are, for example, sources of light (visible light) or sources of infrared wavelengths (from near infrared to far infrared), recognizing that at longer wavelengths the emitted field may not be as easily guided.

[0098] It will be clear to a person skilled in the art that the invention is susceptible to various modifications and various applications. In particular, the invention is not limited to arranging the electromagnetic radiation transmitter at a fixed point and the receiver on the movable object. In fact, without departing from the scope of the invention, the receiver can be fixed and the transmitter can be arranged on the movable object. In this case, the control unit is linked to each receiver and can therefore identify the movable objects and send commands to them, for example via another transmission channel.

[0099] therefore, Fig.18Represents a movable object V10, which differs from the vehicle V1 in that the sensor is replaced by one (or several) electromagnetic radiation sources LS21. The source LS21 continuously or periodically emits a data signal including an identifier of the movable object V10. A fixed sensor such as a sensor S21 is arranged in the environment of the movable object V10. A masking device is associated with the source LS21 or the sensor S21 to limit the transmission field between the source LS21 and the sensor S21 to the field F21. The data signals received by the sensor S21 are transmitted to a processing unit CU1, such as a server CSV, which processes these signals to extract data including the identifier of the movable object V10 therefrom. The processing unit CU1 can be configured to determine the instructions to be transmitted to the movable object V10, taking into account the position of the sensor S21 known to the processing unit and the identifier of the movable object transmitted to the sensor by the data signal. The instructions thus determined by the processing unit CU1 can be transmitted by the processing unit to the processing unit CU of the movable object V10 via another transmission channel, for example, via a wireless network such as a WiFi type network or a mobile network or a Bluetooth type link, which can be established automatically due to the proximity between the fixed point and the movable object. The control unit CU1 can also control devices external to the movable object.

[0100] Thus, the commands to be executed emitted by the processing unit CU1 are not necessarily intended for the movable object V10, but can be executed by a device DV to be controlled located near a fixed point and connected to the processing unit CU1. The device DV can be, for example, a door latch or a fixed anti-theft device, or a device for emitting a sound, light or video message or signal. Thus, the movable object can simply be a badge worn by a user and having a device for emitting a data signal in the form of electromagnetic radiation. The command to be executed can be a trigger for the opening of a door or a broadcast of a sound, light or video message related to an object in the vicinity of the fixed point (e.g. a work of art or a machine). In this case, a masking device can be associated with a receiving device S21 arranged at a fixed point to limit the area in which the movable object must be located to trigger the command performed by the control unit CU1 linked to the receiving device S21. The masking device can also be associated with a source LS21.

[0101] The invention is also not limited to monitoring fleets of vehicles in urban spaces, but is also applicable to monitoring a single vehicle or, more generally, to monitoring one or several movable objects in an open or closed space, such as inside a building. The invention can also be used in any other space, provided that the space is equipped with at least one emitter of electromagnetic radiation. The movable object can be, for example, a drone or a robot.

[0102] The invention is also not limited to movable objects equipped with several sensors. In fact, a single sensor may be sufficient to determine in particular whether the movable object is in an authorized zone, or more generally in an area where a command must be activated.

[0103] The identification signal transmitted by modulated electromagnetic radiation may simply be an indication of the type of area (eg parking lot, pedestrian zone, one-way or no-traffic street, near a crosswalk, etc.).

[0104] The data signal is not necessarily transmitted by modulating the intensity of the electromagnetic radiation. In fact, other known types of modulation may be implemented, such as frequency modulation or pulse width modulation, the radiation being emitted in trains of pulses.

Claims

1. A method for monitoring a remotely controllable component, the method comprising the steps of: Transmitting a data signal between a mobile object (V1, V10) and a fixed point, the data signal being transmitted by an electromagnetic radiation source (LS, LS1 to LS21) to a receiver (S1, S21) of the electromagnetic radiation by modulating the electromagnetic radiation, the source and the receiver being coupled to the fixed point and the mobile object, respectively, or the source and the receiver being coupled to the mobile object and the fixed point, respectively; providing a masking device (OS11 to OS53), said masking device comprising one or several elements for masking said electromagnetic radiation, said masking device being configured to limit a transmission field and / or a reception field of said data signal to a transmission area including said fixed point and defined by said masking device; extracting data from the data signal by a processing unit (CU, CU1) connected to the receiver; defining, by the processing unit, a command executable by the remotely controllable member as a function of the extracted data, the position of the transmission zone and / or the orientation of the mobile object; transmitting said command by said processing unit to said remotely controllable member (CC, DV); as well as The command is executed by the remotely controllable component.

2. The method according to claim 1, comprising the steps of: receiving, by at least two receivers of a receiver group (S1 to S4, S11 to S13) mounted on the movable object, two data signals transmitted by electromagnetic radiation emitted by two fixed sources (LS, LS1) of electromagnetic radiation, respectively, the transmission field and / or reception field of the data signal emitted by each of the two sources being limited to a corresponding transmission area defined by a masking device; extracting, by the processing unit (CU) of the movable object linked to the receiver group, an identifier of the electromagnetic radiation source from each received data signal; determining, by the processing unit (CU) of the movable object linked to the group of receivers, the direction (Vx) of the preferred axis of movement of the movable object in the plane of movement (OXY) of the movable object and the localization zone, based on the identifiers of the two electromagnetic radiation sources and the identifiers of the receivers that have received the data signal, and The commands to the electromechanical components (CC) of the movable object are executed by the processing unit according to the direction (Vx) of the preferred axis of movement of the movable object and the positioning area.

3. The method according to any one of claims 1 and 2, wherein: The command belongs to a command set comprising: a command for limiting the speed of said movable object (V1), a command for stopping the movement of the movable object, and A command for locking the movable object.

4. The method according to any one of claims 1 to 3, comprising the steps of: The processing unit (CU) determines, based on the transmitter identifier, whether the positioning area of ​​the movable object (V1) is located in the authorized parking area of ​​the movable object, When the positioning area is located in the authorized parking area, the processing unit executes an end-of-use command and transmits an end-of-use notification message to a remote server (CSV), wherein the end-of-use command includes a command for locking the movable object, and the end-of-use notification message includes the positioning data and an identifier of the movable object, and The processing unit will not execute the use end command until the positioning area is located in the authorized parking area.

5. The method according to any one of claims 1 to 4, wherein: The movable object (V1) is located in an area comprising a plurality of transmitters (LS) of data signals, the method further comprising the step of determining the geographical location of the movable object based on the transmitter identifier extracted from the signal received from one of the transmitters.

6. The method according to any one of claims 1 to 5, wherein: The data signal is transmitted by modulation of a supply current of an electromagnetic radiation source belonging to a transmitting device (LS).

7. The method according to claim 6, wherein: The modulation of the supply current is of SPWM type.

8. A device to be mounted on a movable object (V1), the device comprising: a receiver group (S1 to S4, S11 to S13), said receiver group comprising at least one receiver of electromagnetic radiation, each receiver of said receiver group being associated with a respective masking device, said masking device limiting the angle of incidence at which said receiver can receive said electromagnetic radiation, each masking device having a respective direction, and A processing unit (CU) connected to the receiver group and to an interface of a controllable member (CC) to be linked to a mobile device, the device being configured to execute a method according to any one of claims 1 to 7.

9. The device according to claim 8, wherein: The receiver group (S1 to S4, S11 to S13) includes a front receiver block (SM1) to be installed in a front position of the movable object (V1) and a rear receiver block (SM2) to be installed in a rear position of the movable object, each of the front receiver block and the rear receiver block is connected to the processing unit (CU), and a number of receivers (S1 to S4, S11 to S13) are grouped together, and the receivers of each of the front receiver block and the rear receiver block are associated with corresponding shielding elements, and the shielding elements have different orientations to capture electromagnetic radiation with different orientations.

10. The apparatus according to any one of claims 8 to 9, wherein: The receiver group (S1 to S4, S11 to S13) comprises an image sensor, and the processing unit (CU) is configured to analyze an image provided by the image sensor to determine the presence of an image area having a predefined color.

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