Manual direct vision device for tracking elements in an area of ​​interest

Abstract

Manual direct vision device for tracking elements in an area of ​​interest. The invention relates to an element tracking device (100) configured to be manipulated by an operator, comprising a foot (30), a body (20), and a head (10). The tracking device (100) comprises at least a first sensor and a second sensor configured to measure the rotation of the body (20). The head (10) comprises a sighting device (11) and optionally a rangefinder (13). The tracking device (100) further comprises a processing unit (31) capable of processing the data from the first and second sensors in order to calculate the three-dimensional coordinates of the targeted element of interest. The tracking device (100) further comprises a transmission unit configured to transmit the three-dimensional coordinates calculated by the processing unit (31) to a control panel. Figure for the abstract: Fig. 1

Description

Title of the invention: Manual direct vision device for tracking elements in an area of ​​interest technical field

[0001] The present invention relates to a manual device for tracking elements in an area of ​​interest, in particular a tracking device for the show and animation of an area of ​​interest. Previous technique

[0002] Tracking moving elements within an area of ​​interest is a major issue in the field of entertainment and animation. Indeed, it is desirable to be able to track the position of people and / or objects on the stage, for example, in order to continuously illuminate them.

[0003] For this purpose, it is known to use follow spots. Such spotlights are directed and manipulated directly by an operator to track the movements of an artist. However, this tracking method is not suitable when the spotlight is placed in confined spaces that do not allow for an operator to be present. Furthermore, the operator may find themselves suspended at a height in a position that is difficult to secure.

[0004] It is therefore desirable for the operator to be located away from the projectors being controlled. For this purpose, remote tracking devices using a camera that films the scene can be used. The operator can then view the scene remotely using a display screen. The cameras can be mounted on the projectors to follow their movements, or they can be positioned to provide a still image of the scene. However, such systems require the installation of cameras and are complex to implement in the existing environment. Furthermore, such systems do not allow the operator to directly view the scene. Consequently, difficulties may arise if people or objects being tracked leave the camera's field of view, for example, if they leave the stage and enter the audience, or if there is interference on the video link.Furthermore, since the operator does not have a direct view of the stage, or is even positioned backstage, they are less immersed in the performance. As human perception plays an important role in relevant artist / object tracking, the quality of the tracking may be diminished.

[0005] Generally, animation systems comprise a control console, a remote tracking device including a camera and a plurality of light projectors. The tracking device modifies the Commands are sent from the control panel to the projectors. Typically, the control panel transmits "pan" and "tilt" rotation values ​​to the projectors, and the tracking system then replaces some of these rotation values ​​with others. Such an animation system is described in document EP 3 393 213 A1. Therefore, it is essential that the tracking system be perfectly synchronized with both the control panel and the projectors. Consequently, the tracking system must have the necessary libraries and patches to adapt to the control panel and the various projectors. Description of the invention

[0006] The present invention aims to remedy the aforementioned drawbacks by proposing a remote manual device with direct vision.

[0007] To this end, the invention proposes a tracking device for tracking elements in an area of ​​interest configured to be manipulated by an operator comprising a foot, a body and a head, the head being fixed on the body, the body being mobile in rotation about a first direction and about a second direction relative to the foot, the tracking device comprising at least a first sensor configured to measure the rotation of the body about the first direction and at least a second sensor configured to measure the rotation of the body about the second direction, the tracking device further comprising an actuation means configured to allow the operator to actuate the rotating body, the tracking device being characterized in that the head comprises a sighting device for an element of interest along a sighting direction,the tracking device further comprising a processing block configured to receive and process data from the first and second sensors, the processing block being capable of obtaining the height of the target element of interest, the processing block being capable of calculating the three-dimensional coordinates of the target element of interest in a coordinate system of the area of ​​interest from the data from the first and second sensors, from the height of the target element of interest obtained and from reference values ​​indicating the position of the head of the tracking device in the coordinate system of the area of ​​interest, the tracking device further comprising a transmission block configured to transmit the three-dimensional coordinates calculated by the processing block to a control panel.

[0008] Since the tracking device of the invention is remote, it can be used safely by an operator. The aiming device allows the operator a direct view of the scene, without the intermediary of a camera, which improves their immersion. in the environment and thus the quality of the tracking performed. In addition, the operator can easily track people or objects leaving the scene.

[0009] The tracking device of the invention is not attached to any particular animation device; that is, it is not attached to any particular projector, video system, or pyrotechnic device. Thus, the data provided by this tracking device can be used by several animation devices simultaneously, or by different animation devices successively. The tracking device of the invention provides simple three-dimensional coordinates, which can be used by a wide variety of animation devices. Therefore, the tracking performed by the tracking device of the invention can be used by light projectors as well as for sound, video, image projection, pyrotechnics, or stage design.

[0010] The tracking device of the invention is compact and easy to install. In particular, it integrates easily into the existing ecosystem of the area of ​​interest. Indeed, the tracking device of the invention is not connected to a video stream and communicates only with the control panel. Since the tracking device of the invention does not communicate with the animation devices of the area of ​​interest, it is not necessary to install libraries and patches specific to the type and brand of each animation device, and there are no complex synchronizations to perform. The tracking device of the invention simply transmits the coordinates of the elements of interest to the control panel via simple protocols. Thus, it is the control panel that manages the data conversion for each of the animation devices.

[0011] The height of the target element of interest can be obtained in several different ways. The height of the target element of interest can be obtained using a rangefinder located on the head of the tracking device, as described below. The height of the target element of interest can also be indicated by the operator to the tracking device. Finally, the height of the target element of interest can also be indicated to the tracking device automatically or via an external means, for example, via a network or an external data storage device.

[0012] According to a particular embodiment of the invention, the head further comprises a laser pointer configured to emit a laser along the aiming direction.

[0013] The presence of a laser pointer makes it possible to improve the accuracy of the aiming of the tracking device, in particular during the calibration phase.

[0014] According to another particular embodiment of the invention, the actuation means is a handle configured to be manipulated with one hand.

[0015] The tracking device of the invention being light and easy to handle, it can be operated with one hand, which allows one hand to be free to manage other systems or controls.

[0016] According to another particular embodiment of the invention, the aiming device is a reticle sight.

[0017] Thus, the aiming device is simple and lightweight while offering satisfactory precision.

[0018] According to another particular embodiment of the invention, the body includes a first pivot joint allowing the body to be rotated around the first direction and a second pivot joint allowing the body to be rotated around the second direction.

[0019] The use of a first pivot joint and a second pivot joint offers numerous advantages, particularly compared to a ball joint. First, such a mechanism allows the head and body to remain in place when the operator releases the actuating means. Thus, when the operator is no longer manipulating the actuating means, there are no unwanted rotations of the body. Furthermore, such a configuration facilitates the adjustment and control of the tracking device as described above. Indeed, the sensitivity of the first rotation can be adjusted independently of the sensitivity of the second rotation. This is particularly advantageous since pan rotation usually requires a greater amplitude and less sensitivity than tilt rotation. Thus, the tracking device allows for smoother and more controlled tracking.Operator comfort is also improved, as the tracking device offers better ergonomics. Finally, such a mechanism with two pivot links facilitates the integration of electronics into the tracking device.

[0020] According to another particular embodiment of the invention, the head includes a rangefinder configured to measure the distance along the line of sight between the tracking device and the targeted element of interest, the processing block being configured to receive and process the data from the rangefinder, the processing block being capable of calculating the height of the targeted element of interest from the data from the rangefinder.

[0021] The presence of a rangefinder makes it very easy to determine the height of the target element, without requiring any additional action from the operator. Indeed, without a rangefinder, the height of the target element must be provided to the tracking device via the network or by the operator. Furthermore, the presence of a rangefinder facilitates the calibration of the tracking device. In fact, the rangefinder eliminates the need to manually measure the coordinates of several points in the area of ​​interest.

[0022] The invention also relates to an animation system for an area of ​​interest comprising at least one tracking device as described above, a control panel and at least one animation device, the tracking device(s) being configured to transmit the three-dimensional coordinates of elements of interest to the control panel, the control panel being configured to control the animation device(s).

[0023] According to a particular embodiment of the invention, the animation device(s) comprise one or more of the following elements: a loudspeaker, a video screen, an image projection device, a pyrotechnic device.

[0024] Indeed, as explained previously, the present tracking device can be used for animation devices other than light projectors.

[0025] The invention also relates to a method for calibrating a tracking device as described above, comprising:

[0026] - the input of three-dimensional coordinates in the coordinate system of the area of ​​interest of a point A of the area of ​​interest in the processing block,

[0027] - aiming at point A with the tracking device and recording the data from of the first sensor, the second sensor, and the rangefinder when aiming at point A,

[0028] - the successive targeting of at least two other points B and C of the area of ​​interest with the tracking device, points A, B and C belonging to the same plane, and the recording of data from the first sensor, the second sensor and the rangefinder during the targeting of points B and C by the processing unit, then

[0029] - the calculation of the reference values ​​of the tracking device including the coordinates in three dimensions and the three-dimensional orientation of the head of the tracking device in the reference frame of the area of ​​interest from the input coordinates of point A and the data from the first sensor, the second sensor and the rangefinder when aiming at points A, B and C.

[0030] The presence of the rangefinder makes it possible to calibrate the tracking device by knowing the coordinates of a single point instead of three points. Calibration is therefore particularly easy to perform.

[0031] The invention also proposes a method for calibrating an animation system as described above, comprising:

[0032] - the input of three-dimensional coordinates in the coordinate system of the area of ​​interest of a point A of the area of ​​interest in the processing block of the tracking device,

[0033] - aiming at point A with the tracking device and recording the data from of the first sensor, the second sensor, and the rangefinder when aiming at point A,

[0034] - the successive targeting of at least two other points B and C of the area of ​​interest with the tracking device, points A, B and C belonging to the same plan, and the recording data from the first sensor, the second sensor and the rangefinder during the targeting of points B and C by the processing unit, then

[0035] - the calculation of the reference values ​​of the tracking device including the coordinates in three dimensions and the three-dimensional orientation of the tracking device head in the reference frame of the area of ​​interest from the input coordinates of point A and the data from the first sensor, the second sensor and the rangefinder when aiming at points A, B and C,

[0036] - the calculation by the processing block of the coordinates of points B and C from the reference values ​​of the tracking device and data from the first sensor, the second sensor and the rangefinder during the sightings of points B and C, then

[0037] - the use of at least points A, B and C to calibrate the animation devices of the animation system.

[0038] Animation devices such as projectors require at least three points for calibration. It is therefore conventionally necessary to select three points in the area of ​​interest and manually measure the distance between these points, for example using a tape measure, in order to determine their coordinates. This method of determining the coordinates of the points is time-consuming and presents a high risk of error. The present method proposes to use the tracking device described above to easily and quickly determine the coordinates of these points, with limited operator intervention.

[0039] The invention further proposes a method for determining the position of an element of interest within an area of ​​interest comprising:

[0040] - aiming at the element of interest with the tracking device as described previously,

[0041] - the transmission to the processing block of the data from the first sensor and the second sensor when the object of interest is targeted,

[0042] - obtaining the height of the element of interest by the processing block,

[0043] - the calculation of the three-dimensional coordinates of the element of interest in the coordinate system of the area of ​​interest by the processing block from the data from the first sensor and the second sensor, the reference values ​​and the height of the element of interest obtained.

[0044] According to a first preferred embodiment, the height of the element of interest is obtained by calculation by the processing block from the data from the rangefinder when the element of interest is targeted.

[0045] According to a second embodiment, the height of the element of interest is indicated by the operator to the tracking device. In particular, the height of the element of interest is indicated by the operator by rotating a potentiometer knob located on the tracking device, for example on the actuation means.

[0046] Finally, the invention relates to a method for controlling animation devices of an animation system for an area of ​​interest as described above, said control method comprising:

[0047] - targeting an element of interest with the animation system's monitoring device,

[0048] - the transmission to the processing block of the data from the first sensor and the second sensor when the object of interest is targeted,

[0049] - obtaining the height of the element of interest by the processing block,

[0050] - the calculation of the three-dimensional coordinates of the element of interest in the coordinate system of the area of ​​interest by the processing block using data from the first and second sensors, reference values, and the height of the element of interest obtained,

[0051] - the transmission of the three-dimensional coordinates of the element of interest by the transmission block from the tracking device to the animation system control panel, then

[0052] - the control of one or more animation devices by the control panel order based on the coordinates transmitted by the tracking device. Brief description of the drawings

[0053] [Fig.1] Fig.1 is a schematic perspective view of a tracking device according to the invention.

[0054] [Fig.2] The [Fig.2] is a front view of the tracking device of the [Fig.1].

[0055] [Fig.3] Fig.3 is a top view of the tracking device of Fig.1 during the aiming at a point of interest.

[0056] [Fig.4] The [Fig.4] is a side view of the tracking device of the [Fig.1] when aiming at a point of interest.

[0057] [Fig.5] The [Fig.5] is a diagram illustrating an animation system according to the invention comprising the tracking device of figures 1 to 4.

[0058] [Fig.6] Fig.6 is a perspective view of the tracking device of Figures 1 to 4 aimed at a point during a calibration phase.

[0059] [Fig.7] The [Fig.7] is a diagram illustrating the operation of the processing block of the tracking device during the calibration phase.

[0060] [Fig.8] The [Fig.8] is a diagram illustrating the operation of the processing block of the tracking device during the use phase. Description of the implementation methods

[0061] The present invention relates to a device for tracking elements in an area of ​​interest.

[0062] By "elements" we mean persons, objects or locations.

[0063] The area of ​​interest may be a stage. The area of ​​interest may include several stages. The area of ​​interest may be a performance hall. If the area of ​​interest is a performance hall, it may include at least one stage and at least one audience seating area. The area of ​​interest may also be an open-air site. If the area of ​​interest is an open-air site, it may include at least one stage and at least one audience seating area such as bleachers or bleachers.

[0064] The tracking device of the invention is configured to be manipulated by an operator, preferably a human operator.

[0065] Figures 1 to 4 illustrate an example of a tracking device 100 according to the invention. The tracking device 100 comprises a head 10, a body 20 and a foot 30. The tracking device 100 extends overall in length along a first direction Dh. Thus, the body 20 is located between the head 10 and the foot 30 along the first direction Di.

[0066] The head 10 includes a sighting device 11. The sighting device 11 is configured to allow the operator to sight a point Pv within an area of ​​interest. The sighting device 11 is configured to allow the operator to sight a point Pv through the sighting device Dv. The sighting device 11 is configured to allow the operator to see the targeted element through the sighting device 11. When the operator sights an element, the light emitted by said targeted element passes through the sighting device 11.

[0067] The aiming device 11 is configured to allow the operator to aim at a point Pv along a aiming direction Dv. The aiming direction Dv connects the aiming device 11 to the aimed point Pv in the area of ​​interest.

[0068] The sighting device 11 is screenless. The sighting device 11 is not connected to a camera. The sighting device 11 may include one or more lenses or screens. The sighting device 11 may, for example, be a reticle sight, a telescope, or a crosshair. The sighting device 11 may conventionally consist of a plate made of transparent material on which a target is depicted. The plate may, for example, be made of glass or plastic.

[0069] The aiming device 11 may include one or more indicator lights. The indicator light(s) may, for example, indicate a direction to the operator using the aiming device 11. For example, the indicator light(s) may be in the form of one or more arrows indicating a direction. The aiming device 11 may not have an indicator light.

[0070] The head 10 preferably includes a rangefinder 13. The rangefinder 13 is configured to measure a distance along the line of sight Dv defined by the sighting device 11. In particular, the rangefinder 13 is configured to measure the distance dv between the head 10 of the sighting device 11 and the sighted point Pv. The rangefinder 13 may be a A laser rangefinder, preferably one emitting in the non-visible spectrum. An ultrasonic rangefinder may also be used.

[0071] The head 10 may further include a laser pointer 12. The laser pointer 12 emits in the visible range. The laser pointer 12 is preferably used only for the calibration phase of the tracking device 100.

[0072] The laser pointer 12 is configured to point to a point along the sighting direction Dv defined by the sighting device 11. Preferably, the laser pointer 12 is configured to emit a laser beam parallel to the beam emitted by the rangefinder 13.

[0073] The laser pointer 12 can be included in the rangefinder 13.

[0074] The sighting device 11 is preferably located at the end of the head 10, opposite the body 20. Thus, the rangefinder 13 and the optional laser pointer 12 do not interfere with vision through and around the sighting device 11. The operator can therefore easily look through the sighting device 11 and then look directly at the scene without being hindered.

[0075] The head 10 of the tracking device 100 is without a screen. The tracking device 100 has no video stream. Thus, the tracking device 100 has no units for receiving or processing a video stream.

[0076] The body 20 is mobile relative to the foot 30.

[0077] The body 20 is free to rotate about a first axis of rotation Ab. The first The axis of rotation Ai extends along the first direction Db. Rotation around the first axis of rotation Ai defines a first rotation. Rotation around the first axis of rotation Ai defines a first angle of rotation Op. The first axis of rotation Ai can allow a "pan" type rotation.

[0078] The body 20 is also free to rotate about a second axis of rotation A2 perpendicular to the second axis of rotation Ab. Rotation about the second axis of rotation A2 defines a second rotation. Rotation about the second axis of rotation A2 defines a second angle of rotation 02. The second axis of rotation A2 can allow a "tilt" type rotation.

[0079] According to a preferred first embodiment of the invention, the body 20 comprises a first pivot joint 21 about the first axis of rotation Ai and a second pivot joint 22 about the second axis of rotation A2. The first pivot joint 21 comprises an adjustment means for said first pivot joint 21. The second pivot joint 22 comprises an adjustment means for said second pivot joint 22. The adjustment means for the first and / or second pivot joint 21, 22 may be in the form of a screw. The adjustment means for the first pivot joint 21 is separate from the adjustment means for the second pivot joint 22. Thus, the first pivot joint 21 The first pivot joint 21 can be adjusted independently of the second pivot joint 22. In particular, the first pivot joint 21 can have a different setting than the second pivot joint 22. The adjustment means can modify the friction parameter of the pivot joints 21 and 22, and thus modify the sensitivity of the pivot joints 21 and 22. Preferably, the "pan" type rotation has less friction than the "tilt" type rotation. Indeed, it is generally desirable to have a wide and fairly rapid "pan" type rotation and a precise "tilt" type rotation.

[0080] The body 20 may comprise only two pivot joints, as in the example illustrated in Figures 1 to 4. Preferably, the body 20 allows for "pan" rotation and "tilt" rotation, but lacks "roll" rotation. Such a configuration has the advantage of being simple to implement and robust. Conversely, the body may optionally include a third pivot joint about a third axis of rotation perpendicular to the first and second axes of rotation Ai and A2. The body then allows for "roll" rotation.

[0081] According to a second embodiment of the invention, the body may include a ball joint. The ball joint thus allows the body to rotate about the first axis of rotation Ai and about the second axis of rotation A2. The ball joint also allows the body to rotate about a third axis of rotation perpendicular to the first and second axes of rotation Ai and A2. The body can thus perform "pan", "tilt", and "roll" rotations.

[0082] The head 10 is fixed to the body 20. Each rotation of the body 20 causes the head 10 to rotate. Thus, when the body 20 rotates about the first axis of rotation Ai, the head 10 also rotates about the first axis of rotation Ab. Similarly, when the body 20 rotates about the second axis of rotation A2, the head 10 also rotates about the second axis of rotation A2. Preferably, the transmission ratio between the rotation of the body 20 and the rotation of the head 10 is 1. Thus, the tracking device 100 is more robust and simpler to manufacture and use.

[0083] The tracking device 100 includes a first angular sensor 21a configured to measure the first angle of rotation Op. The first angular sensor 21a is preferably located in the body 20. In particular, the first angular sensor 21a is preferably located at the first pivot joint 21. The tracking device 100 includes a second angular sensor 22a configured to measure the second angle of rotation O2. The second angular sensor 22a is preferably located in the body 20. In particular, the second angular sensor 22a is preferably located at the second pivot joint 22.

[0084] The body 20 further comprises an actuating means 24. The actuating means 24 allows the operator to actuate the body 20. In the example illustrated in Figures 1 to 4, the actuating means 24 is a handle. The handle 24 comprises a grip 25. To perform the first rotation of the body 20, the operator moves the grip 25 laterally, that is, in a plane perpendicular to the first axis of rotation Ab. To perform the second rotation of the body 20, the operator moves the grip 25 in a direction parallel to the first axis of rotation Ab, that is, in the first direction Di. Preferably, the handle 24 comprises a single grip 25. Preferably, the handle 24 can be operated with one hand. Indeed, since the body 20 and the head 10 of the tracking device 100 are lightweight and easy to operate, it is possible to operate the body 20 with one hand. This leaves the operator with a free hand to perform other tasks.

[0085] The body 20 is configured so that when the operator releases the actuation means 24, the body 20 remains stationary.

[0086] The actuation means 24 may further have a plurality of buttons 26, 27. In particular, the actuation means 24 may include a control block, as illustrated in Figures 1 and 2. The control block may have a plurality of buttons 26, 27. The buttons 26, 27 may be of different types. For example, at least some of the buttons 26 may be of the switch type, as illustrated in Figures 1 and 6. At least some of the buttons 27 may be of the rotary knob type, for example, a potentiometer knob. In particular, the control block may have an inner face and an outer face opposite the inner face. The outer face may, for example, have a plurality of switch-type buttons 26. The inner face may, for example, have at least one rotary knob 27 (visible in [Fig. 2]). The buttons 26, 27 may be placed in ergonomic positions for the operator.

[0087] The potentiometer knob(s) 27 can be used to control several parameters. For example, the potentiometer knob(s) 27 can be used to set a height value for the targeted element. The potentiometer knob(s) 27 can also be used to set the intensity of the light or sound of at least one of the animation devices. The other knob(s) 26 can be used to act on the algorithms present in the processing block 31 described below. The other knob(s) 26 can also be used to modify the parameter controlled by the potentiometer knob(s) 27.

[0088] The foot 30 allows the tracking device 100 to be placed on the ground or on a platform, or allows the tracking device 100 to be fixed to a structure. The foot 30 can be in the form of a base or a support.

[0089] The tracking device 100 includes a processing block 31. The processing block 31 is preferably located on the foot 30. The processing block 31 is preferably adjacent to the body 20. The processing unit 31 may include a human-machine interface 32. The human-machine interface 32 may be in the form of a screen as illustrated in Figures 1 to 4. The human-machine interface 32 may indicate to the operator points of interest to be targeted. The screen of the human-machine interface 32 is preferably a touchscreen. One or more indicator lights may be located on the processing unit 31, for example next to the screen 22. One or more control buttons may be located on the processing unit 31, for example next to the screen 22. The control buttons located on the processing unit 31 preferably control functions that are problematic to activate unexpectedly or by mistake. It is therefore preferable not to have such buttons on the actuation means 24, because the buttons present on said actuation means 24 are more likely to be manipulated by mistake.In particular, the processing block 31 may have a button configured to activate the laser pointer 12. By placing such a button activating the laser pointer 12 on the processing block 31 rather than on the actuation means 24, the risk of accidentally turning on the laser pointer 12 is reduced.

[0090] The processing block 31 may also have one or more ports for connecting external devices containing memory. In particular, the processing block 31 may have one or more USB ports. The processing block 31 can thus be configured to receive data transmitted by a connected external device and / or to record data to a connected device. The connected external device containing memory is, for example, a USB flash drive or an external hard drive.

[0091] The tracking device is capable of recording a data set in a connected external device comprising a memory. The tracking device is capable of receiving a data set from a connected external device comprising a memory. The data set may, for example, be a configuration corresponding to a particular area of ​​interest. For example, the data set may include the coordinates of particular portions of the area of ​​interest or information about the marker of the particular area of ​​interest. For example, if the area of ​​interest is a scene comprising a pond, the data set may include the coordinates of the scene boundaries and the pond boundaries.

[0092] The processing block 31 may include a computing module 31a and a memory module 31b. Figures 7 and 8 illustrate an example of interaction between the computing module 31a, the memory module 31b and the other components of the tracking device 100 during calibration and use phases, which will be described later.

[0093] The processing block 31 receives data from the rangefinder 13. In particular, the processing block 31 receives the distances dv measured by the rangefinder 13. The block of Processing unit 31 receives data from the first and second angular sensors 21a and 22a. In particular, processing unit 31 receives the first and second rotation angles 0i and 02 measured by the first and second angular sensors 21a and 22a.

[0094] The data sent by the rangefinder 13 and the first and second angular sensors 21a and 22a are processed and stored in the processing block 31. In particular, the data sent by the rangefinder 13 and the first and second angular sensors 21a and 22a can be stored in the memory module 31b. The data sent by the rangefinder 13 and the first and second angular sensors 21a and 22a can be processed by the calculation module 31a. The memory module 31b can store in memory one or more values ​​calculated by the calculation module 31a.

[0095] The tracking device 100 further includes a transmission block 33. The transmission block 33 is configured to transmit the Cv coordinates calculated by the processing block 31. The transmission block 33 is configured to transmit the Cv coordinates over a network. The network protocol PRN used is "neutral". The network protocol PRN used to transmit the Cv coordinates can be a "PosiStageNet" (PSN) protocol or an "Open Sound Control" (OSC) protocol. Several network protocols PRNs can be used simultaneously. The network protocol used by the transmission block 33 is preferably not a DMX protocol.

[0096] The tracking device 100 can be plugged into the mains. The tracking device 100 can also be powered by a battery.

[0097] The tracking device 100 as described above is integrated into an animation system of an area of ​​interest ZI as illustrated in [Fig.5].

[0098] The animation system comprises at least one tracking device 100 as described above, a control panel 800, and a plurality of animation devices 210, 220, 310, 320, 410, 420. The animation devices may, for example, be light projectors, loudspeakers, video screens, image projection devices, or pyrotechnic devices. As illustrated in [Fig. 5], the animation system may, for example, comprise a first light projector 210, a second light projector 220, a first loudspeaker 310, a second loudspeaker 320, a first pyrotechnic device 410, and a second pyrotechnic device 420. The animation devices 210, 220, 310, 320, 410, 420 are configured to interact with the area of ​​interest ZI.

[0099] The animation system may include a plurality of 100 tracking devices, in order to simultaneously track several elements of interest.

[0100] The 800 control panel is configured to control the animation devices. Typically, the 800 control panel can use the DMX protocol to communicate with the animation devices.

[0101] The tracking device 100 can transmit the coordinates of the targeted elements via network to the control panel 800. Preferably, the coordinates are not transmitted to the control panel 800 via a DMX protocol. The PRN network protocol used is "neutral." The PRN network protocol used to transmit the Cv coordinates can be a "PosiStageNet" (PSN) protocol or an "Open Sound Control" (OSC) protocol. Several PRN network protocols can be used simultaneously.

[0102] The tracking device 100 can be connected to the control panel 800 by cable, for example by Ethernet cable. The tracking device 100 can also be connected to the control panel 800 wirelessly, in particular by wireless network.

[0103] The monitoring device 100 does not transmit information to the animation devices 210, 220, 310, 320, 410, 420. Thus, the animation system lacks communication channels linking the monitoring device 100 to the animation devices 210, 220, 310, 320, 410, 420.

[0104] The tracking device 100 according to the invention can operate in calibration phase or in use phase.

[0105] We will now describe a calibration method for the tracking device 100 as described previously in relation to Figures 6 and 7.

[0106] The objective of the calibration phase is to calculate and store the reference coordinates CR(xR,yR,zR) and the reference orientations 0R(0iR,02R,O3R) of the head 10 in the (X, Y, Z) coordinate system of the area of ​​interest ZI. Indeed, obtaining the reference coordinates CR and the reference orientations 0R of the head 10 in the (X, Y, Z) coordinate system of the area of ​​interest ZI is preferable in order to determine the coordinates of the Pv points targeted during the use phase. Preferably, the (X, Y, Z) coordinate system of the area of ​​interest ZI is a Cartesian coordinate system.

[0107] If the tracking device 100 includes a rangefinder 13, the coordinates of a single point A in the area of ​​interest ZI are sufficient to calibrate the tracking device (100). It is therefore not necessary to know the coordinates of other points in the area of ​​interest. Preferably, point A corresponds to the origin of the coordinate system of the area of ​​interest ZI. Point A can be represented by a marker reflecting the rangefinder beam.

[0108] At least points B and C are also defined in the area of ​​interest. Points A, B, and C lie in the same plane. Points B and C can be marked by markers reflecting the rangefinder beam. Point B is preferably chosen on the same line as the line passing through the head 10 of the tracking device 100 and point A. Thus, the head of the tracking device 100, point A, and point B are aligned (not shown). Point C is chosen so that it is not aligned with points A and B. Thus, the line passing through points A and B and the line passing through points A and C intersect. Preferably, a fourth point D, distinct from points A, B, and C, is also chosen to improve the accuracy of the calibration. Point D lies in the same plane as points A, B, and C. Point D can also be marked by a reflective marker. Preferably, points A, B, and C are as far apart as possible.

[0109] The operator indicates the coordinates CA(xA,yA,zA) of point A in the (X, Y, Z) coordinate system of the area of ​​interest ZI to the tracking device 100. The operator can input the coordinates CA of point A using the human-machine interface 32 of the processing block 31. The coordinates CA of point A are thus stored in the processing block 31. In particular, the coordinates CA of point A can be stored in the memory module 31b.

[0110] The operator successively aims at each of the points A, B, and C with the tracking device 100. The operator also aims at point D if there is a fourth point. Preferably, the operator uses the pointer 12 to improve the accuracy of the aiming.

[0111] At each sighting, the distance dA, dB, dc, dD measured by the rangefinder 13 is stored in the processing block 31. In particular, the distance dA, dB, dc, dD measured by the rangefinder 13 can be stored in the memory module 31b. Similarly, at each aiming, the first rotation angle 0iA, 0iB, Oie, 0iD measured by the first angular sensor 21a and the second rotation angle 02A, 02B, 02c, 02D measured by the second angular sensor 22a are stored in the processing block 31. In particular, the first rotation angle 0iA, 0iB, Oie, 0iD measured by the first angular sensor 21a and the second rotation angle 02A, 02B, 02C, 02D measured by the second angular sensor 22a can be stored in the memory module 31b.

[0112] Thus, the processing module 31 stores a data set E comprising the distances dA, dB, dC, dD measured by the rangefinder 13, the first rotation angles 0iA, 0iB, Oie, 0iD measured by the first angular sensor 21a, and the second rotation angles 02A, 02B, 02C, 02D measured by the second angular sensor 22a for each of the targeted points A, B, C, D. In particular, the data set E can be stored in the memory module 31b.

[0113] The processing block 31 then uses the coordinates CA(xA,yA,zA) of point A entered by the operator, the distances dA, dB, dc, dD measured by the rangefinder 13, the first rotation angles 01A, 0iB, 0iC, 0iD measured by the first angular sensor 21a and the second rotation angles 02A, 02B, 02C, 02d measured by the second Angular sensor 22a calculates the reference coordinates CR(xR,yR,zR) and the reference orientations 0r(0iR,02r,03r) of the head 10 in the (X, Y, Z) coordinate system of the area of ​​interest ZI. The processing block 31 then stores the reference coordinates CR and the reference orientations 0R of the head 10 in the (X, Y, Z) coordinate system of the area of ​​interest ZI. In particular, the calculation module 31a can calculate the reference coordinates CR(xR,yR,zR) and the reference orientations 0r(0iR,02r,03r) of the head 10 in the (X, Y, Z) coordinate system of the area of ​​interest ZI. The reference coordinates CR and the reference orientations 0R of the head 10 in the (X, Y, Z) coordinate system of the area of ​​interest ZI can then be stored in the memory module 31b.

[0114] When the calibration phase is complete, the operator can turn off the laser pointer 12.

[0115] Calibrating the tracking device 100 is not essential for its operation. It is possible to install the tracking device at a predetermined location and enter the reference values ​​(CR, 0R) directly into the tracking device 100. The reference values ​​(CR, 0R) can be entered manually by the operator, for example, using the human-machine interface 32. The reference values ​​(CR, 0R) can also be communicated from the control panel 800 to the tracking device 100. The reference values ​​(CR, 0R) can also be communicated by an external device connected to the tracking device 100, as described previously.

[0116] The tracking device 100 also allows for the calibration of the animation system 1. Certain animation devices, for example projectors, require calibration using a well-known method based on at least three points A, B, and C in the area of ​​interest ZI. Points A, B, and C lie on the same plane. Traditionally, points A, B, and C are chosen by an operator who manually measures their positions, for example, using a tape measure. However, such a calibration method is time-consuming and can lead to errors. The present invention proposes a method for calibrating the animation system that allows for faster measurement of the positions of points A, B, and C using the tracking device of the invention.

[0117] Points A, B and C can be materialized by markers reflecting the beam of the rangefinder 13.

[0118] Preferably, point A corresponds to the origin of the coordinate system of the area of ​​interest ZI. Thus, its coordinates CA(xA,yA,zA) are particularly easy to determine. Point B is preferably chosen on the same line as the line passing through the head 10 of the tracking device 100 and point A. Thus, the head of the tracking device 100, point A, and point B are aligned (not shown). Point C is chosen so as not to The line passing through points A and B must be aligned. Thus, the line passing through points A and B and the line passing through points A and C are intersecting. Preferably, a fourth point D, distinct from points A, B, and C, is also chosen to improve the accuracy of the calibration. Point D lies in the same plane as points A, B, and C. Point D can also be marked by a reflective marker. Preferably, points A, B, and C are placed as far apart as possible.

[0119] The operator indicates the coordinates CA(xA,yA,zA) of point A in the (X, Y, Z) coordinate system of the area of ​​interest ZI to the tracking device 100. The operator can input the coordinates CA of point A using the human-machine interface 32 of the processing block 31. The coordinates CA of point A are thus stored in the processing block 31. In particular, the coordinates CA of point A can be stored in the memory module 31b.

[0120] The operator successively sights each of the points A, B, and C with the tracking device 100. The operator also sights point D if there is a fourth point. Preferably, the operator uses the pointer 12 to improve the accuracy of the sighting.

[0121] At each sighting, the distance dA, dB, dc, dD measured by the rangefinder 13 is stored in the processing block 31. In particular, the distance dA, dB, dc, dD measured by the rangefinder 13 can be stored in the memory module 31b. Similarly, at each aiming, the first rotation angle 0iA, 0iB, Oæ, 0iD measured by the first angular sensor 21a and the second rotation angle 02A, 02B, 02c, 02D measured by the second angular sensor 22a are stored in the processing block 31. In particular, the first rotation angle 0iA, 0iB, Oæ, 0iD measured by the first angular sensor 21a and the second rotation angle 02A, 02B, 02C, 02D measured by the second angular sensor 22a can be stored in the memory module 31b. Calculation module 31a uses this data to calculate the coordinates CB(xB,yB,zB), Cc(xc,yc,Zc) and CD(x D,yD,Zo) of points B, C and D in the (X, Y, Z) coordinate system of the area of ​​interest ZI.Thus, the coordinates of points B and C, and possibly D, are determined very easily and quickly, with few constraints for the operator.

[0122] The CB, Cc and CD coordinates of points B, C and D can then be transmitted to the control panel 800. The CB, Cc and CD coordinates calculated by the processing block 31 are transmitted by the transmission module 33 to the control panel 800. Animation devices requiring at least three points for calibration can then be calibrated on the basis of these CB, Cc and CD coordinates.

[0123] When the calibration phase is complete, the operator can turn off the laser pointer 12.

[0124] We will now describe a method of using the tracking device 100 as described previously in connection with [Fig. 8]. According to a first embodiment Preferably, the rangefinder 13 is used to determine the coordinates of the target feature. However, in some cases, the rangefinder 13 cannot be used. This is the case, for example, when the target feature is not capable of reflecting the beam emitted by the rangefinder. In this case, a second embodiment allows the coordinates of the target feature to be determined without using the rangefinder 13.

[0125] We now describe the method of using the tracking device 100 according to the first embodiment. The operator targets a point of interest Pv. The distance dv measured by the rangefinder 13, the first rotation angle 0i measured by the first angular sensor 21a, and the second rotation angle 02 measured by the second angular sensor 22a are transmitted to the processing block 31. In particular, the distance dv measured by the rangefinder 13, the first rotation angle 0i measured by the first angular sensor 21a, and the second rotation angle 02 measured by the second angular sensor 22a can be transmitted to the calculation module 31a. Using the reference coordinates CR and the reference orientations 0R, the processing block 31 calculates the coordinates Cv(xv,yv,zv) of the point Pv in the (X, Y, Z) coordinate system of the area of ​​interest ZI.In particular, using the reference coordinates CR and the reference orientations 0R stored in the memory module 31b, the calculation module 31a calculates the coordinates Cv(xv,yv,zv) of the point Pv in the (X, Y, Z) frame of the area of ​​interest ZI.

[0126] We now describe the method of using the tracking device 100 according to the second embodiment. The operator indicates the height of the element of interest to the tracking device 100. The operator can indicate the height of the element of interest using the human-machine interface 32 of the processing unit 31. The operator can indicate the height of the element of interest using one or more buttons located on the actuating means 24. Preferably, the operator can indicate the height of the element of interest using a potentiometer knob. This potentiometer knob can be located on the processing unit 31 or on the actuating means 24.

[0127] Determining the height of the element of interest presents no particular difficulties for the operator. For example, if the scene is at an altitude of 0 m in the coordinate system of the area of ​​interest, the operator will enter a value of 0 for the height of an element of interest above the surface of the scene. If the element of interest is a person, the value entered by the operator will correspond to the height of the center of the person in the coordinate system of the area of ​​interest. The use of a potentiometer knob allows the operator to easily adjust the selected height in real time. This is particularly useful when the targeted element of interest changes height, for example, in the case of a dancer who bends down and jumps.

[0128] The height indicated by the operator, the first rotation angle 0i measured by the first angular sensor 21a, and the second rotation angle 02 measured by the second angular sensor 22a are thus transmitted to the processing block 31. In particular, the height indicated by the operator, the first rotation angle 0i measured by the first angular sensor 21a, and the second rotation angle 02 measured by the second angular sensor 22a are transmitted to the calculation module 31a. Using the reference coordinates CR and the reference orientations 0R, the processing block 31 calculates the coordinates Cv(xv,yv,Zv) of the point Pv in the (X, Y, Z) coordinate system of the area of ​​interest ZI. In particular, using the reference coordinates CR and the reference orientations 0R stored in the memory module 31b, the calculation module 31a calculates the coordinates Cv(xv,yv,zv) of the point Pv in the frame (X, Y, Z) of the area of ​​interest ZI.

[0129] The Cv coordinates of point Pv calculated by the processing block 31, in particular by the calculation module 31a, are then transmitted to the control panel 800. The Cv coordinates of point Pv calculated by the processing block 31 are transmitted by the transmission module 33. The Cv coordinates can be transmitted over a network. Preferably, the Cv coordinates are not transmitted via a DMX protocol. The PRN network protocol used is "neutral". The PRN network protocol used to transmit the Cv coordinates can be a "PosiStageNet" (PSN) protocol or an "Open Sound Control" (OSC) protocol. Several PRN network protocols can be used simultaneously.

[0130] The control panel 800 can then use the Cv coordinates transmitted by the tracking device 100 to control the animation devices 210, 220, 310, 320, 410, 420.

[0131] The processing block 31 may include a prediction algorithm. Such an algorithm is configured to predict the coordinates of a moving element of interest. Thus, the processing block 31 can calculate predictive coordinates of the point from the Cv coordinates of the point Pv calculated by the processing block 31. The processing block 31 can transmit the predictive coordinates to the transmission module 33, rather than the Cv coordinates of the point Pv. Thus, even if there is a delay between the time the processing block 31 receives the data from the head 10 of the tracking device 100 and the time the animation devices are actuated, the tracking remains relevant thanks to the prediction algorithm.

[0132] The method of use as described above can be carried out continuously when the tracking device 100 is switched on, so as to continuously transmit the coordinates Cv of the target points Pv.

[0133] During operation, the tracking device 100 of the invention may include a selective operating mode. According to a first selective operating mode, the tracking device 100 is configured to continuously transmit the coordinates Cv of the target points Pv only when said target points Pv are present within a predetermined area. If the target points PV are located outside the predetermined area, the continuous transmission of the coordinates Cv ceases. According to a second selective operating mode, the tracking device 100 is configured to continuously transmit the coordinates Cv of the target points Pv and to transmit a Boolean value indicating whether said target points Pv are present within a predetermined area or not. The interpretation of the Boolean value is then performed by the control panel 800, which executes different commands depending on the Boolean value.

[0134] Thus, the control method according to the invention may include, after the step of calculating the three-dimensional coordinates Cv of the element of interest in the coordinate system of the area of ​​interest by the processing block, determining whether the target point Pv belongs to a predetermined area or not. If the point belongs to the predetermined area, the coordinates Cv are transmitted by the transmission block 33 to the control panel 800. If the point does not belong to the predetermined area, the coordinates Cv are not transmitted by the transmission block 33 to the control panel 800.

Claims

Demands

1. A tracking device (100) for elements in an area of ​​interest (AOI) configured to be manipulated by an operator, comprising a foot (30), a body (20), and a head (10), the head (10) being fixed to the body (20), the body (20) being rotatable about a first direction (DJ) and about a second direction (D2) relative to the foot (30), the tracking device (100) comprising at least one first sensor (21a) configured to measure the rotation (0J) of the body (20) about the first direction (D1) and at least one second sensor (22a) configured to measure the rotation (02) of the body (20) about the second direction (D2), the tracking device (100) further comprising an actuation means (24) configured to allow the operator to rotate the body (20), the tracking device (100) being characterized in that the head (10) includes a sighting device (11) for an item of interest along a sighting direction (Dv),the tracking device (100) further comprising a processing block (31) configured to receive and process data from the first sensor (21a) and the second sensor (22a), the processing block (31) being capable of obtaining the height of the target element of interest, the processing block (31) being capable of calculating the three-dimensional coordinates (Cv) of the target element of interest in a coordinate system (X, Y, Z) of the area of ​​interest (ZI) from the data (0b 02, dv) from the first sensor (21a) and the second sensor (22a), from the height of the target element of interest obtained and from reference values ​​(CR, 0R) indicating the position of the head (10) of the tracking device (100) in the coordinate system (X, Y, Z) of the area of ​​interest (ZI), the tracking device (100) further comprising a transmission block (33) configured to transmit the coordinates (Cv) in three dimensions calculated by the processing block (31) at a control panel (800).

2. Tracking device (100) according to claim 1, wherein the head (10) further comprises a laser pointer (12) configured to emit a laser along the aiming direction (Dv).

3. A tracking device (100) according to any one of claims 1 to 2, wherein the body (20) comprises a first pivot joint (21) for enabling rotation of the body (20) about the first direction (DJ) and a second pivot joint (22) for enabling to perform the rotation of the body (20) around the second direction (D2).

4. A tracking device (100) according to any one of claims 1 to 3, wherein the head 10 includes a rangefinder (13) configured to measure the distance (dv) along the line of sight (Dv) between the tracking device (100) and the targeted element of interest, the processing block (31) being configured to receive and process the data (dv) from the rangefinder (13), the processing block (31) being capable of calculating the height of the targeted element of interest from the data (dv) from the rangefinder (13).

5. An animation system for an area of ​​interest (AOI) comprising at least one tracking device (100) according to any one of claims 1 to 4, a control panel (800) and at least one animation device (210, 220, 310, 320, 410, 420), the tracking device(s) (100) being configured to transmit the three-dimensional coordinates (Cv) of elements of interest to the control panel (800), the control panel (800) being configured to control the animation device(s) (210, 220, 310, 320, 410, 420).

6. Animation system according to claim 5, wherein the animation device(s) (210, 220, 310, 320, 410, 420) comprise one or more of the following: a loudspeaker, a video screen, an image projection device, a pyrotechnic device.

7. A method for calibrating a tracking device (100) according to claim 4, comprising: - inputting three-dimensional coordinates (CA) into the (X, Y, Z) coordinate system of the area of ​​interest (AOI) of a point A in the area of ​​interest (AOI) in the processing block (31), - sighting point A with the tracking device (100) and recording the data from the first sensor (21a), the second sensor (22a), and the rangefinder (13) while sighting point A, - successively sighting at least two other points B and C in the area of ​​interest (AOI) with the tracking device (100), points A, B, and C lying in the same plane, and recording the data from the first sensor (21a), the second sensor (22a), and the rangefinder (13) during the aiming of points B and C by the processing block (31), then - the calculation of the reference values ​​(CR, 0R) of the tracking device (100) including the three-dimensional coordinates and the three-dimensional orientation of the head (10) of the tracking device (100) in the (X, Y, Z) coordinate system of the area of ​​interest (ZI) from the input coordinates (CA) of point A and the data from the first sensor (21a), the second sensor (22a) and the rangefinder (13) during the aiming of points A, B and C.

8. A method for calibrating an animation system (1) according to claim 5 or 6, related to claim 4, comprising: - inputting three-dimensional coordinates (CA) in the (X, Y, Z) coordinate system of the area of ​​interest (AOI) of a point A in the area of ​​interest (AOI) into the processing block (31) of the tracking device (100), - aiming at point A with the tracking device (100) and recording the data from the first sensor (21a), the second sensor (22a), and the rangefinder (13) during the aiming of point A, - successively aiming at least two other points B and C in the area of ​​interest (AOI) with the tracking device (100), points A, B, and C lying in the same plane, and recording the data from the first sensor (21a), the second sensor (22a), and the rangefinder (13) during the aiming of points B and C by the processing block (31), then - the calculation of the reference values ​​(CR,0R) of the tracking device (100) including the three-dimensional coordinates and three-dimensional orientation of the head (10) of the tracking device (100) in the (X, Y, Z) coordinate system of the area of ​​interest (ZI) from the input coordinates (CA) of point A and the data from the first sensor (21a), the second sensor (22a) and the rangefinder (13) when sighting points A, B and C, - the calculation by the processing block (31) of the coordinates of points B and C from the reference values ​​(CR, 0R) of the tracking device (100) and data from the first sensor (21a), the second sensor (22a) and the rangefinder (13) when sighting points B and C, then, - the use of at least points A, B and C to calibrate the animation devices (210, 220, 310, 320, 410, 420) of the animation system (1).

9. Method for determining the position of an element of interest in an area of ​​interest (AOI) comprising: - aiming the element of interest with the tracking device (100) according to any one of claims 1 to 4, - transmitting to the processing block (31) the data from the first sensor (21a) and the second sensor (22a) when the element of interest is being aimed, - obtaining the height of the element of interest by the processing block (31), - calculating the three-dimensional coordinates (Cv) of the element of interest in the (X, Y, Z) frame of the area of ​​interest (AOI) by the processing block (31) from the data from the first sensor (21a) and the second sensor (22a), the reference values ​​(CR, 0R) and the height of the element of interest obtained.

10. Method for determining a position according to claim 9, wherein the height of the element of interest is indicated by the operator to the tracking device (100).

11. A method for determining a position according to claim 10, wherein the height of the element of interest is indicated by the operator by rotating a potentiometer knob located on the tracking device (100).

12. Method for determining a position according to claim 9 related to claim 4, wherein the height of the element of interest is obtained by calculation by the processing block (31) from the data or data from the rangefinder (13) when the element of interest is sighted.

13. Method for controlling animation devices (210, 220, 310, 320, 410, 420) of an animation system (1) of an area of ​​interest (AOI) according to claim 5 or 6 comprising: - aiming at an element of interest with the tracking device (100) of the animation system (1), - transmitting to the processing block (31) the data from the first sensor (21a) and the second sensor (22a) when the element of interest is targeted, - obtaining the height of the element of interest by the processing block (31), - the calculation of the three-dimensional coordinates (Cv) of the element of interest in the (X, Y, Z) coordinate system of the area of ​​interest (ZI) by the processing block (31) from the data from the first sensor (21a) and the second sensor (22a), the reference values ​​(CR, 0R) and the height of the element of interest obtained, - the transmission of the three-dimensional coordinates (Cv) of the element of interest by the transmission block (33) of the tracking device (100) to the control panel (800) of the animation system (1), then - the control of one or more animation devices (210, 220, 310, 320, 410, 420) by the control panel (800) from the coordinates (Cv) transmitted by the tracking device (100).

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