METHOD AND SYSTEM FOR GENERATION AND DETECTION OF AT LEAST ONE HAZARD ZONE

Description

[0001] The invention relates to the field of safety and obstacle detection, and more specifically to the field of detecting and avoiding fixed or moving obstacles in a given area.

[0002] The invention aims more particularly to dynamically protect pedestrians or vehicles, whether moving or not, from at least one spatial zone to be avoided.

[0003] Document WO 201501094 discloses an anti-collision warning system intended to be worn by a user, this system comprising in particular a satellite geolocation system and communication means adapted on the one hand to transmit position coordinates of the wearer and on the other hand to receive the position coordinates of a vehicle representing a mobile danger zone. Document WO2015144684A1 discloses a system for protecting people on a construction site using a tag worn by a person to determine their position relative to a potentially dangerous zone,

[0004] However, the alert system described in this document is of the passive type, because it does not allow the position of the vehicle representing this danger zone to be avoided to be predicted in advance, in relation to the position of the pedestrian to be protected.

[0005] The invention thus aims to propose a method making it possible to overcome the drawbacks cited above, that is to say to propose a method making it possible to anticipate the position of at least one determined spatial zone, in particular a danger zone to be avoided, relative to the position of the person or element to be protected.

[0006] The invention also aims to propose a method for detecting such a spatial area. The invention finally aims to propose a system suitable at least for implementing the above methods.

[0007] For this purpose, the method for generating at least one fixed spatial danger zone to be avoided in a space, using at least one generation system carried by a pedestrian and comprising at least location means and electronic management means, successively comprises at least: i. a step of sending by the electronic management means a command triggering the acquisition of the spatial coordinates of the generation system to the location means; ii. a step of determining by the electronic management means a contour of determined shape and dimensions delimiting the spatial zone from the spatial coordinates of the generation system acquired by the location means, and recording the spatial coordinates defining said contour in a memory space of the electronic management means; iii. a step of determining and recording consisting of the detection of the fixed spatial zone and / or a mobile spatial zone by the generation system capable of detecting such a spatial zone, this step comprising the successive sub-steps of: a.periodic determination of the position coordinates of the system by the location means, of the spatial coordinates of the mobile zone, and of the distance between said position of the generation system and said mobile spatial zone and / or the fixed spatial zone (13) by the electronic management means; b. when the distance determined in the previous sub-step is less than a predetermined distance recorded in the memory space of the management means, emission of an alert signal by an alert device of the generation system; iv. a step of determination by the electronic management means of the possible trajectories of the generation system and / or the mobile spatial zone from their respective spatial coordinates, then determination of a probability of collision between the generation system and the mobile spatial zone and / or the fixed spatial zone.

[0008] Thus, with the method of the invention, by ensuring the generation of spatial coordinates of danger zones to be avoided and by allowing the recording of these coordinates in a system provided for this purpose, the position of these spatial zones to be avoided is known at all times. In fact, the system is always capable of anticipating the position of at least one determined spatial zone.

[0009] The generation method of the invention may also include the following optional features considered in isolation or in all possible technical combinations: The method comprises an additional step during which the coordinates of the fixed spatial zone are sent to at least one other generation system, via communication means integrated into each system. Step i of sending the acquisition command is carried out manually by actuating a trigger member of the push button type secured to the generation system and electrically connected to the electronic management means. The dimensions of the fixed spatial zone, and the position of the spatial zone relative to the position of the generation system acquired in step i, are automatically assigned to said fixed spatial zone by the electronic management means during step ii, according to quantities recorded in the memory space of said electronic management means. Step ii of determining a contour of the fixed spatial zone comprises the successive sub-steps of: a.periodic recording in the memory space of the electronic management means of the position coordinates of the generation system as said generation system is moved to define the contour of the spatial zone; b. once the contour of the spatial zone has been defined, sending by the electronic management means of a command ending the acquisition of spatial coordinates relating to the position of the system. The sending of the end of acquisition command during sub-step b is triggered by the release of the triggering member. The space in which the fixed spatial zone is defined is modeled by the electronic management means of the system in the form of a mesh.The ratio between the distance separating the mesh nodes and the precision provided by the location means of the generation system is recorded in the memory space of the electronic management means, this ratio being between 1 and 3, and preferably being of the order of 2. Inside the spatial zone, the ratio is reduced by a factor recorded in the memory zone of the electronic management means, preferably by a factor of the order of . 2 . The detected spatial zone being a mobile spatial zone, in particular a moving vehicle, sub-step a of step iii comprises the periodic determination, by the electronic management means of the system, of the spatial coordinates of the mobile zone to enable the electronic management means to periodically determine the distance between the generation system and the mobile zone 2 whose coordinates have been determined. The electronic management means determine the possible trajectories of the generation system and / or the mobile zone from their respective spatial coordinates, then determine a probability of collision between the generation system and the spatial zone. The nature and / or the intensity of the alert signal generated by the alert device depends on the probability of collision determined by the electronic management means and recorded in the memory space of the generation system.The determination of the probability of collision is carried out according to the successive sub-steps: a. determination by the electronic management means of the generation system of the number of trajectories that can be taken by the generation and detection system; b. determination by the electronic management means of the number of trajectories leading to a certain collision of the system with at least one mobile spatial zone; c. determination by the electronic management means of the number of division nodes N separating the generation and detection system from the trajectory closest to the system and leading to a certain collision, each division node representing T possible trajectories that can be taken from an upstream trajectory relative to the direction of movement of the system; d. calculation by the electronic management means of the probability of collision according to the formula 1 / . TN<The alert signal generated by the alert device depends on a weighting index associated with the spatial area detected by the system, this weighting index depending on the number of systems having generated said spatial area.

[0010] The invention also aims to propose a method for detecting at least one spatial danger zone to be avoided, previously generated using at least one generation system which also forms a system for detecting such a zone, said system comprising at least location means and electronic management means, which detection method comprises at least the successive steps of: i. periodic determination of the position coordinates of the detection system by the location means and of the distance between said position of the system and the fixed spatial zone generated by the electronic management means; ii. when the distance determined periodically in the previous sub-step is less than a predetermined distance recorded in the memory space of the management means, emission of an alert signal by an alert device of the detection system.

[0011] The detection method of the invention may also include the following optional characteristics considered in isolation or in all possible technical combinations: The spatial area is generated by the generation system implementing the generation method as described above. The method comprises an additional step of detecting the mobile spatial area, during which the spatial coordinates of the mobile area are periodically determined by the electronic management means of the system, which management means periodically determine the distance between the position of the system and the mobile spatial area whose coordinates have been determined. The periodic determination of the coordinates of the mobile area is carried out according to the successive sub-steps of: a. periodic reception of the spatial coordinates of the mobile area by communication means included in the system; b. periodic recording of the spatial coordinates of the mobile area in the memory space of the system.The electronic management means determine the trajectory of the system and / or the mobile zone from their respective spatial coordinates, then determine a probability of collision between the system and the spatial zone. The alert signal generated by the alert device depends on the probability of collision determined by the electronic management means and recorded in the memory space of the system. The determination of the probability of collision is carried out according to the successive sub-steps: a. determination by the electronic management means of the generation system of the number of trajectories that can be taken by the generation and detection system; b. determination by the electronic management means of the number of trajectories leading to a certain collision of the system with at least one mobile or fixed spatial zone; c.determination by the electronic management means of the number of division nodes separating the generation and detection system from the trajectory closest to the system and leading to a certain collision, each division node representing T possible trajectories which can be taken from an upstream trajectory relative to the direction of movement of the system; d. calculation by the electronic management means of the probability of collision according to the formula 1 / . TN< . Each division node represents two possible downstream trajectories that can be taken from the upstream trajectory, and in that the collision probability is calculated according to the formula 1 / 2 N< The alert signal generated by the alert device depends on a weighting index associated with the spatial area detected by the system, this weighting index depending on the number of systems having generated said spatial area.

[0012] The invention also relates to a system for generating and detecting at least one fixed or mobile spatial danger zone to be avoided, adapted to implement the generation method and the detection method as described above, characterized essentially in that it comprises: electronic management means comprising a memory space, a triggering member of the generation method as described above, location means for determining in real time the coordinates of the system, communication means at least adapted to receive in real time the spatial coordinates of a mobile spatial zone, an alert device intended to generate an alert signal when the distance between the system and the mobile or fixed spatial zone is less than a determined value recorded in the memory space and / or when the probability of collision between the system and the mobile or fixed spatial zone is non-zero, energy supply means.

[0013] The generation and detection system may also include the following optional features considered in isolation or in all possible technical combinations: The generation and detection system is implemented in the form of a safety vest.

[0014] The invention also relates to a set of two systems for generating and detecting at least one spatial zone as described previously, one of the systems having generated a fixed spatial zone by implementing the generation method as described previously, is adapted to transmit via its communication means the coordinates of the generated fixed spatial zone to the communication means of the other system of the set.

[0015] The invention also relates to a computer program comprising instructions which, when the program is executed by computer, cause it to implement the steps of the generation method as described previously and the steps of the detection method as described previously.

[0016] The invention also relates to a computer-readable storage means, on which the computer program as described above is recorded.

[0017] Other characteristics and advantages of the invention will emerge clearly from the description given below, for information purposes only and in no way limiting, with reference to the appended figures, among which: there figure 1 is a diagram illustrating the main steps of the method of generating at least one spatial zone of the invention; figure 2 is a diagram illustrating the main steps of the method of detecting at least one spatial zone of the invention; figure 3 illustrates a pedestrian carrying the generation system at the edge of a location deemed dangerous and for which a dangerous zone has been automatically generated by said system; figures 4 to 6illustrate a two-dimensional space in the form of a mesh, and in which are respectively represented different probable trajectories of a pedestrian towards a spatial zone detected and / or generated by a generation and detection system according to the invention.

[0018] It is first specified that in the figures, the same references designate the same elements regardless of the figure in which they appear and regardless of the form of representation of these elements. Similarly, if elements are not specifically referenced in one of the figures, their references can be easily found by referring to another figure.

[0019] It is also specified that the figures essentially represent an embodiment of the subject of the invention but that there may be other embodiments which meet the definition of the invention.

[0020] The present invention relates to a method for generating spatial zones within a delimited space 3 in which pedestrians 1 and motorized vehicles 2 are likely to move. This space 3 is, for example and in a non-limiting manner, a construction site or an area under construction, and in which places or elements considered dangerous 14 must be avoided in particular by the pedestrians 1 to avoid any accident. Such elements are for example mobile vehicles 2 or lifting equipment, and such places are for example holes or trenches 14 made in the ground, or a fixed location where there is an electrical risk.

[0021] Thus, the generation method of the invention makes it possible to generate spatial zones 13 whose coordinates, for example geocentric coordinates in the reference frame of the delimited space 3, correspond to the coordinates of the places or elements to be avoided. Thus, in the remainder of the description, the spatial zones 13 to be avoided and generated during the generation method of the invention will be called dangerous zones 13.

[0022] On the other hand, the detection method of the invention makes it possible, during its implementation, to detect at least one dangerous zone 13 to be avoided and previously generated, for example during the implementation of the method for generating such zones, or by any other method capable of generating a dangerous zone 13. This detection method is also capable of detecting any dangerous zone 2 which has not been previously generated, in particular a mobile dangerous zone 2, under conditions which will be discussed later in the description.

[0023] The delimited space 3 and the danger zones 2, 13 may be three-dimensional and defined according to geocentric coordinates in a three-dimensional reference frame. For example, such a danger zone 2, 13 may be the danger cone generated by the movement of a lifting device, such as a crane. Of course, this method is perfectly suited to a delimited space 3 and two-dimensional danger zones. In the remainder of the description, and with reference to figures 1 to 6 , the two methods of the invention will be described for a delimited space 3 and two-dimensional dangerous zones 2, 13. The two-dimensional delimited space will be called, in the remainder of the description, work surface 3.

[0024] The method for generating at least one dangerous zone 13 to be avoided, as well as the method for detecting such a zone 13, is implemented by a system for generating this zone 13, the characteristics of which will now be described.

[0025] This system is preferably portable, for example to be easily placed on board a vehicle. But above all, this generation system is intended to be carried by a pedestrian 1 moving in the work area 3, in order to protect him from these dangerous zones 2, 13 inherent to any construction site.

[0026] In a preferred embodiment, the generation system is a vest capable of being worn by the pedestrian 1 (in particular a worker moving in the work area 3), and in which various devices are integrated allowing the implementation of the generation and detection methods of the invention and which will be explained below.

[0027] The generation system comprises electronic management means, typically comprising an electronic card provided with at least one processor and at least one memory space, for example and in a non-limiting manner a rewritable semiconductor mass memory. These electronic management means ensure the control and coordination of the other devices integrated into the generation system. The electronic management means make it possible in particular to control the implementation of the method for generating at least one dangerous zone 13.

[0028] The generation system comprises location means, to enable the position coordinates of the system to be determined at any time. For example, these location means are a triangulation device of the GPS (global positioning system) type or preferably an Ultra Wide Band positioning device, also known as a UWB (Ultra Wide Band) location device, which has the advantage of providing excellent location accuracy, typically of the order of thirty centimeters. These two devices enable the geocentric coordinates of the generation system to be determined at any time.

[0029] The generation system further comprises a triggering member connected to the electronic card, which is for example of the push button type. This button allows the wearer of the generation system to start the implementation of the method for generating at least one dangerous zone 13, as will be described later.

[0030] The generation system also comprises communication means connected to the electronic card, for example a wireless transceiver device operating in a telecommunications network, and allowing the generation system to communicate and exchange data with a remote server. The functions of these communication means will be described later in connection with the description of the method for generating a dangerous zone 13.

[0031] Finally, the generation system comprises means for supplying energy to the other devices of said generation system, these supply means being, for example, a rechargeable battery.

[0032] In reference to the figure 1 , the method for generating at least one dangerous zone 13 implemented by the generation system will now be described. For this purpose, a program recorded in the memory space of the electronic card of the generation system comprises instructions which, when the program is executed by the electronic card, cause said program to implement the steps of the generation method.

[0033] During the first step 101 of the generation method, which occurs when the wearer 1 of the generation system is positioned at the edge of a place that he considers dangerous 14, the wearer 1 actuates the triggering member, by pressing the push button. Pressing 101 this button has the direct consequence of sending, by the electronic card, a command to the location means triggering the acquisition of the geocentric coordinates of the generation system. These coordinates are then recorded 102 in the memory space of said electronic card.

[0034] The second step 103 of the method consists of determining a contour delimiting the dangerous zone 13, from the geocentric coordinates of the generation system determined in the first step. This second step 103 can be carried out according to two variants, depending on whether the wearer 1 releases the push button following a movement of the generation system or not.

[0035] In the first variant with reference to the figure 3 , the wearer 1 remains motionless and releases the push button. In this case, the electronic card of the generation system automatically assigns the dimensions and position of the danger zone 13, relative to the determined position of said generation system, according to quantities recorded in the memory space of the electronic card. For example, the electronic card will generate a danger zone 13 of circular shape with a determined diameter and centered on the determined position of the generation system.

[0036] In the second variant, the wearer initially keeps the push button pressed and moves 103 around the edge of the place deemed dangerous 14. As the wearer 1 moves, the electronic card periodically determines and records 104 in its memory space the position coordinates of the moving system, based on information from the location means.

[0037] In a second step, once the wearer has defined the outline of the place deemed dangerous 14, the latter releases 105 the push button. The electronic card then sends a command 106 ending the periodic acquisition of the coordinates of the generation system.

[0038] Thus, the geocentric coordinates defining the outline of the place deemed dangerous 14, obtained according to the first or second variant described above, then recorded 104 in the memory space of the electronic card of the generation system carried by the pedestrian 1, are attributed to this dangerous zone 13 by the electronic card. It is understood that the dangerous zones 13 thus generated are fixed zones.

[0039] Optionally, but preferably, and during the third step 107 of the generation method, the electronic card of the generation system sends 107, via the transceiver of the generation system, the geocentric coordinates defining the generated danger zone 13 to the remote server. These coordinates of the danger zone 13 are then recorded in a memory space of the server, for example a hard disk or any other known computer storage means.

[0040] This third step 107 is of particular importance when several pedestrians 1, each equipped with a generation system according to the invention, move in the work surface 3. Indeed, each generation system can communicate via its transceiver with the server, and thus send or retrieve data there. In particular, as soon as a danger zone 13 is generated by one of the generation systems present in the work surface 3 and its coordinates recorded in the dedicated space of the server, all the other generation systems retrieve the coordinates of this danger zone 13 via their transceiver.

[0041] Preferably, the system for generating a dangerous zone 13 also makes it possible to detect any dangerous zone generated 13 by said generation system or any other generation system present in the work surface 3. This function of detecting a dangerous zone 13 is of course intended to protect the pedestrian 1 carrying the generation system and moving inside the work surface 3. The generation system thus also forming a detection system, the generation system will be referred to in the remainder of the description as the generation and detection system.

[0042] To optimize this protection, the generation and detection system also includes an alert device, for example an audible and / or visual alarm, connected to the electronic card and adapted in particular to emit an alert when a dangerous zone 13 is detected by the generation and detection system.

[0043] In reference to the figure 2 , a method for detecting a dangerous zone 2, 13 by the generation and detection system will now be described. It is understood that the carrier 1 of the system and / or the dangerous zone 2 is / are mobile and are therefore likely to encounter each other. The detection method aims to avoid this pitfall.

[0044] During the first step 201 of the detection process, the electronic card determines whether the danger zone is fixed 13 or mobile 2.

[0045] During the second step 202 of the detection method, the location means controlled by the electronic card periodically determine the position of the generation and detection system.

[0046] In a first variant of this second step 202, when the dangerous zone 13 is fixed (i.e. the zone has been previously generated by a generation and detection system), the electronic card periodically determines, during a third step 204, the distance between the position of the generation and detection system determined in the second step and said dangerous zone 13.

[0047] In a second variant, when the dangerous zone 2 is mobile (i.e. the zone is represented by a moving vehicle 2), the generation and detection system must also periodically determine 203, during the second step, the geocentric coordinates of the mobile zone 2. To do this, the generation and detection system may comprise additional detection means, for example a radar-type device. Alternatively and preferably, the vehicle 2 comprises a location means and a transceiver adapted to periodically transmit its position. This position data of the vehicle 2 can then be intercepted by any generation and detection system located in the working surface 3 via its transceiver, then recorded periodically in the memory space of the electronic card of the generation and detection system considered.

[0048] In a third step 205, when the distance between the dangerous zone 2, 13 and said generation and detection system becomes less than a determined value recorded in the memory space of the electronic card 205, then the alert device emits a signal 207 perceptible by the wearer 1. The latter is thus warned that he is approaching a dangerous zone 2, 13, and that his attention must be particularly paid to this risk of collision.

[0049] On the other hand, as long as the distance between the dangerous zone 2, 13 and said generation and detection system remains greater than the determined value, then the detection method of the invention resumes following the first step 201.

[0050] In a particularly advantageous manner, the generation and detection system of the invention makes it possible to adapt the nature and / or the intensity of the alert signal according to the level of danger of the detected danger zone 2, 13 to be avoided. For example, the level of danger may refer to the probability of collision between the pedestrian 1 carrying the generation and detection system and the danger zone 2, 13, or may depend on a weighting index attributed to the danger zone 2, 13. These two particular cases will be described below.

[0051] The detection method of the invention therefore comprises additional steps making it possible to evaluate the level of danger of the detected dangerous zone 2, 13, and where appropriate previously generated 13, in order to allow the electronic card of the generation and detection system considered to adapt the alert signal.

[0052] In the first particular case, a weighting index of the danger zone 13 generated by one of the generation and detection systems is assigned to the latter by the electronic card of the system considered, and recorded in the memory space of said electronic card. Thus, each time the coordinates of a generated danger zone 13 are sent to the other generation and detection systems, the weighting index assigned to the corresponding danger zone 13 is also sent.

[0053] If another generation and detection system subsequently generates a danger zone 13 whose outline overlaps at least in part with an existing danger zone 13, then the weighting index associated with this danger zone 13 is iterated by a value determined by the electronic map of the generation systems present in the work surface 3. For example, the weighting index of a danger zone 13 generated once is 1, the weighting index of a danger zone generated twice by two different systems is 2, and so on. In other words, the more often a danger zone 13 is generated by the generation and detection systems present in the work surface, the higher its weighting index, and the higher the electronic map of the generation and detection system detecting such a zone 13 considers the danger level of this danger zone 13.The alert signal then emitted 207 by the generation and detection system considered in the event of detection of such a dangerous zone 13 is all the more critical as the weighting index is high.

[0054] For example, if the alert signal is an audible signal, the higher the weighting index, the louder the sound intensity. In the case of a visual alert signal, a color code can be established, varying from green to red depending on the weighting index. Of course, other types of alert signals that vary depending on the weighting index can be imagined without departing from the scope of the invention.

[0055] Thus, in this first case of taking into account the level of danger, the triggering of the alert 207 by the electronic card is always dependent on the distance separating the dangerous zone 13 from the generation and detection system considered, but the nature and / or the intensity of the signal emitted depends on the weighting index associated with the detected dangerous zone 13.

[0056] In the second particular case, the level of danger is directly linked to the probability of collision between the moving carrier 1 of a generation and detection system and a dangerous zone, mobile 2 or fixed 13.

[0057] To determine this probability, the electronic map of the generation and detection system considered uses the geocentric coordinates of said system and of the danger zone(s) 2, 13 already periodically determined, to determine at least one possible trajectory 9, 60 - 64 of the system considered and / or of the mobile zone 2. Then, for each possible trajectory of the carrier 1 identified 60 - 64, the electronic map of the generation and detection system considered determines whether or not this trajectory 60 - 64 collides with the mobile zone 2.

[0058] This therefore allows the electronic card to calculate, from all the trajectories 9, 60 - 64 that can be taken by the carrier 1 and / or the mobile zone 2, the probability of collision between the carrier and the mobile danger zone 2. If the calculated probability 206 is zero, then the detection method of the invention resumes after the first step 201. If the calculated probability 206 is greater than 0, the electronic card will control the warning device so that the latter emits a warning signal 207. In addition, depending on the value of this probability, the electronic card will control the warning device so that the latter emits a signal corresponding to the calculated risk of collision. For example, if the warning signal is an audible signal, the sound intensity will be all the stronger as the probability of collision is high.In the case of a visual warning signal, a color code can be established, varying from green to red depending on the probability of collision. Of course, other types of warning signals varying according to the weighting index can be imagined without departing from the scope of the invention.

[0059] The calculation of this probability of collision and the alert level resulting from this probability will now be illustrated through the three examples represented in figures 4 to 6 .

[0060] THE figures 4 to 6 represent a rectangular working surface 3 for which a mesh 4 of determined pitch P has been produced. This mesh 4, which aims to optimize the hazard assessment and generally the detection of a dangerous zone 2, 13, will be described in detail later. The points represented in these figures are therefore the nodes 5 of the mesh 4.

[0061] In addition, each of the figures 4 to 6represents the trajectory 9 taken by a vehicle 2 (square-shaped points 10), such a vehicle 2 representing a mobile danger zone 2. In addition, the possible trajectories 60 - 64 of a pedestrian 1 carrying a generation and detection system are represented by triangles 11.

[0062] Pedestrian 1 moving in work area 3 can take three different trajectories 62, 63, 64. From his starting point 12 (located to the right of the figures 4 to 6 ), and moving towards danger zone 2 (i.e. to the left of the figures 4 - 6), a main path 60 taken by the pedestrian 1 divides a first time into a first 61 and a second 62 branches at a first division node 7. Then the first 61 of the two branches itself divides into a first 63 and a second 64 sub-branches at a second division node 8. Only the first 63 of the sub-branches collides with the trajectory 9 of the vehicle 2 representing the mobile danger zone 2.

[0063] All this information is recorded in the memory space of the electronic card of the system carried by the pedestrian 1, and this electronic card determines the probability of collision as a function of the number of division nodes 7, 8 separating the pedestrian 1 from the sub-branch 63 crossing the trajectory 9 of the vehicle 2, namely the first sub-branch 63.

[0064] On the figure 4, pedestrian 1 is located on the main path 60 between his starting point 12 and the first division node 7. The electronic map of the generation and detection system carried by pedestrian 1, using the data relating to the three trajectories 62, 63, 64, to the division nodes 7, 8 and to the existence of a collision between the first sub-branch 63 and the trajectory 9 of vehicle 2, therefore identifies the presence of two division nodes 7, 8 between the generation and detection system and the first sub-branch 63. Pedestrian 1 has a one in two risk of taking the first branch 61, then a one in two risk of then taking the first sub-branch 63. The probability of collision of pedestrian 1 of the figure 3 calculated by the electronic card is therefore 25%. The electronic card controls the emission of a non-critical alert signal, for example a simple light signal.

[0065] On the Figure 5, pedestrian 1 has already taken the first branch 61 and is therefore located between the first division node 7 and the second division node 8. The electronic card of the generation and detection system carried by the pedestrian therefore identifies the presence of a single division node 8 between the generation and detection system and the first sub-branch 63. Pedestrian 1 has a one in two chance of taking the first sub-branch 63. The probability of collision of pedestrian 1 of the figure 3 calculated by the electronic card is therefore 50%. The electronic card controls the emission of a medium-critical alert signal, for example a light signal coupled with an audible signal.

[0066] On the figure 6, pedestrian 1 has taken the first sub-branch 63. If he continues on his way, the probability of collision with vehicle 2 is therefore 100%, because pedestrian 1 no longer has any chance of changing direction. The electronic card controls the emission of a critical alert signal, for example a light signal coupled with an audible signal and a message specifying the nature of the danger, displayed on a display means of the generation and detection system connected to the electronic card. Such a signal must cause pedestrian 1 to stop.

[0067] These three examples can of course be generalized to as many division nodes as possible, knowing that downstream of each division node, a number T of possible directions are considered for the pedestrian (the downstream term being understood in relation to the direction of movement of pedestrian 1). To determine a probability of collision, the electronic map of the detection system worn by pedestrian 1 determines the number N of division nodes existing between the position of the detection system and the trajectory leading to a certain collision with a dangerous zone 2, 13. The probability of collision determined by the electronic map of the detection system considered is then 1 / TN< . In simplified terms, by considering only two possible directions downstream of each division node, the probability of collision determined by the electronic card of the detection system considered will then be 1 / 2 N< .

[0068] Thus, in the second particular case of taking into account the level of danger, the triggering 207 of the alert by the electronic card is independent of the distance separating the danger zone 2, 13 from the generation and detection system, and the alert can be triggered as soon as a probability of collision exists 206, even if the generation and detection system is still relatively far from the danger zone 2, 13. The nature and / or the intensity of the signal emitted depends this time on the probability of collision.

[0069] It should be understood that the two particular cases described above are not exclusive, and can be implemented by the same generation and detection system during the detection method of the invention, at the same time or alternatively. It is even more advantageous to combine these two particular cases to ensure optimal safety of the wearer 1. For example, a detected collision probability coupled with a high weighting index of the dangerous zone considered 13 will lead to the generation and detection system considered emitting a particularly critical alert signal, even if the collision probability is not particularly high.

[0070] In reference to the figures 4 to 6, and to optimize the danger assessment and generally the detection of a dangerous zone 2, 13, the electronic cards of the generation and detection systems present in the working surface 3 each include in their memory space a mesh 4 of said working surface 3. This mesh 4 is produced beforehand, either by the electronic card directly, or by any computer system, in which case the mesh 4 is subsequently sent and recorded in the memory space of the electronic card of the generation and detection system considered.

[0071] The mesh 4 comprises a plurality of regularly spaced nodes 5, and the mesh pitch P (i.e. the distance separating two adjacent nodes 5) depends directly on the precision provided by the location means of the generation and detection system. Preferably, the ratio between the mesh pitch P and the precision of the location means is between 1 and 3, and is more preferably of the order of 2. Thus, when the location system is a UWB location device whose precision is of the order of thirty centimeters, the mesh pitch P is of the order of sixty centimeters. This ratio is recorded in the memory space of the electronic card of the generation and detection system considered.

[0072] Advantageously, as soon as a dangerous zone 13 is generated, each generation and detection system present in the working surface 3 and having received the coordinates of this generated dangerous zone 13 calculates a new mesh pitch P of the portion of the working surface located inside said generated dangerous zone 13. This new pitch P is smaller, which increases the definition of the mesh 4 in the generated dangerous zone 13 and therefore the precision of the future detection. Preferably, the new ratio between the new mesh pitch P inside the generated dangerous zone 13 and the precision of the localization system is of the order of 2 . Of course, this new mesh pitch P applies to all hazardous areas 13 generated inside the working surface 3.

[0073] The embodiment described above is in no way limiting, and modifications may be made thereto without departing from the scope of the invention. For example, the steps of the detection method described above may be an integral part of the generation method of the invention, and may be implemented after the second or third step of said generation method.

Claims

1. Method for generating at least one fixed spatial danger zone (13) to be avoided in a space (3), using at least one generation system worn by a pedestrian and comprising at least locating means and electronic management means, which generation method successively comprises at least: i. a step of the electronic management means sending (102) a command triggering the acquisition of the spatial coordinates of the generation system to the locating means; ii. a step of the electronic management means determining (103) an outline of determined shape and dimensions delimiting the fixed spatial zone (13) on the basis of the spatial coordinates of the generation system acquired by the locating means, and recording (104) the spatial coordinates defining said outline in a memory space of the electronic management means; iii. a determination and recording step (105) consisting in detecting the fixed spatial zone (13) and / or a mobile spatial zone (2) by means of the generation system capable of detecting such a spatial zone (2, 13), this step comprising the successive sub-steps of: a. the locating means periodically determining the position coordinates of the system, and the electronic management means periodically determining the spatial coordinates of the mobile zone (2) and the distance between said position of the generation system and said mobile spatial zone (2) and / or the fixed spatial zone (13); b. when the distance determined in the preceding sub-step is smaller than a predetermined distance recorded in the memory space of the management means, a warning device of the generation system issuing a warning signal; iv. a step of the electronic management means determining the possible trajectories (9, 60-64) of the generation system and / or of the mobile spatial zone (2) on the basis of their respective spatial coordinates, then determining a probability of collision between the generation system and the mobile spatial zone (2) and / or the fixed spatial zone (13).

2. Generation method according to the preceding claim, wherein it comprises an additional step (106) during which the coordinates of the fixed spatial zone (13) are sent to at least one other generation system via communication means integrated into each system.

3. Generation method according to Claim 1 or 2, wherein the step i of sending (102) the acquisition command is carried out manually by actuating (101) a triggering member of push-button type that is integral with the generation system and electrically connected to the electronic management means.

4. Generation method according to any one of Claims 1 to 3, wherein the dimensions of the fixed spatial zone (13) and the position of the fixed spatial zone (13) with respect to the position of the generation system acquired in step i are automatically assigned to said fixed spatial zone (13) by the electronic management means during step ii (103, 104) according to quantities recorded in the memory space of said electronic management means.

5. Generation method according to any one of Claims 1 to 3, wherein step ii (103, 104) of determining an outline of the fixed spatial zone (13) comprises the successive sub-steps of: a. periodically recording (104), in the memory space of the electronic management means, the position coordinates of the generation system as said generation system is moved in order to define the outline of the spatial zone (103); b. once the outline of the fixed spatial zone (13) has been defined, the electronic management means sending a command terminating the acquisition of spatial coordinates in relation to the position of the system.

6. Generation method according to Claim 5, wherein the sending of the termination-of-acquisition command during sub-step b is triggered by the release (105) of the triggering member.

7. Generation method according to any one of the preceding claims, wherein the space (3) in which the fixed spatial zone (13) is defined is modelled by the electronic management means of the system in the form of a mesh (4).

8. Generation method according to any one of the preceding claims, wherein the probability of collision is determined according to the successive sub-steps: a. the electronic management means of the generation system determining the number of trajectories that may be taken by the generation and detection system; b. the electronic management means determining the number of trajectories leading to a certain collision of the system with at least one mobile spatial zone (2) or fixed spatial zone (13); c. the electronic management means determining the number of dividing nodes N separating the generation and detection system from the trajectory closest to the system and leading to a certain collision, each dividing node representing T possible trajectories that may be taken from a trajectory that is upstream relative to the direction of movement of the system; d. the electronic management means calculating the probability of collision according to the formula 1 / TN.

9. Method for detecting at least one spatial danger zone (13) to be avoided, previously generated according to any one of Claims 1 to 8 using at least one generation system which also forms a system for detecting such a zone, said system comprising at least locating means and electronic management means, which detection method comprises at least the successive steps of: i. the locating means periodically determining (202, 204) the position coordinates of the detection system, and the electronic management means periodically determining the distance between said position of the system and the generated fixed spatial zone (13); ii. when the distance periodically determined in the preceding sub-step is smaller (205) than a predetermined distance recorded in the memory space of the management means, a warning device of the detection system issuing a warning signal (207).

10. Detection method according to the preceding claim, wherein the electronic management means determine the trajectory of the system and / or of the mobile zone (2) on the basis of their respective spatial coordinates, then determine a probability of collision between the system and the mobile spatial zone (2) or the fixed spatial zone (13).

11. Detection method according to the preceding claim, wherein the probability of collision is determined according to the successive sub-steps: a. the electronic management means of the generation system determining the number of trajectories (9, 60-64) that may be taken by the generation and detection system; b. the electronic management means determining the number of trajectories (63) leading to a certain collision of the system with at least one mobile spatial zone (2) or fixed spatial zone (13); c. the electronic management means determining the number of dividing nodes (7, 8) separating the generation and detection system from the trajectory (63) closest to the system and leading to a certain collision, each dividing node (7, 8) representing T possible trajectories that may be taken from a trajectory that is upstream relative to the direction of movement of the system; d. the electronic management means calculating the probability of collision according to the formula 1 / TN.

12. System for generating and detecting at least one fixed spatial danger zone (13) or mobile spatial danger zone (2) to be avoided, suitable for implementing the generation method according to any one of Claims 1 to 8 and the detection method according to any one of Claims 9 to 11, comprising: • electronic management means comprising a memory space, • a member for triggering the generation method according to any one of Claims 1 to 8, • locating means for determining the coordinates of the system in real time, • communication means at least suitable for receiving the spatial coordinates of a mobile spatial zone (2) in real time, • a warning device intended to generate a warning signal when the distance between the system and the mobile or fixed spatial zone (2, 13) is smaller than a determined value recorded in the memory space and / or when the probability of collision between the system and the mobile or fixed spatial zone (2, 13) is non-zero, • power supply means.

13. Set of two systems for generating and detecting at least one spatial zone according to the preceding claim, wherein one of the systems, having generated a fixed spatial zone (13) by implementing the generation method according to any one of Claims 1 to 8, is suitable for transmitting, via its communication means, the coordinates of the generated fixed spatial zone (13) to the communication means of the other system of the set.