Method for managing remotely controllable devices on one or more mobile objects - Patent Application 20070122997

Abstract

The present invention relates to a method for managing remotely controllable devices, the method comprising the steps of transmitting a data signal between a mobile body and a fixed point, the data signal being transmitted by a source of electromagnetic radiation to a receiver of electromagnetic radiation by modulating electromagnetic radiation, the source and receiver being coupled to the fixed point and the mobile body or to the mobile body and the fixed point, respectively; providing a masking device configured to limit the transmission and / or reception area of ​​the data signal to a transmission area including the fixed point and defined by the masking device; defining by a processing unit a command executable by the remotely controllable device depending on the extracted data, the position of the transmission area and / or the orientation of the mobile body; and transmitting by the processing unit the command to the remotely controllable device for execution.

Description

[Technical Field]

[0001] The present invention relates to the individual or simultaneous localization of one or more mobile objects followed by the management and / or activation of actions by one or more remotely controllable devices integrated or not in the mobile objects, for example of the badge, bicycle, kick scooter, scooter, robot or drone type, with or without attached drive, for example an electric drive. [Background technology]

[0002] Nowadays, many cities have installed automated rental systems that provide the public with a fleet of vehicles that can be used for limited periods, for example, less than a day, to travel. This solution aims, in particular, to reduce congestion on public transport and to reduce car traffic within the city. The fleet can be arranged with or without parking stations installed at various points within the area in which the vehicles of the fleet are used. Each of these stations allows the vehicle to be locked between two rental periods and is equipped with a station for charging the vehicle's batteries, for example, if the vehicle is electric.

[0003] In the case of a fleet of vehicles deployed without stations, the vehicles communicate with a central system to transmit their respective geographical locations. The vehicles also include their own locking means controlled by the central system. The central system transmits the locations of available vehicles to users wishing to rent a vehicle. The start and end of a vehicle rental are determined and stored by the central system when a user requests it from the central system, and the central system controls the unlocking and locking of the vehicles.

[0004] However, the deployment of this type of service is endangered by a small number of users who do not respect other users of public spaces and traffic rules. Indeed, vehicles, especially scooter-type vehicles, are often used inappropriately, for example in pedestrian areas or on sidewalks, or even without respecting traffic signals and instructions. In the case of fleets of vehicles arranged without stations, vehicles are often abandoned in the middle of sidewalks or at the exits of buildings. The geographical location measurement means installed in the vehicles are not accurate enough to allow a central system to determine whether a vehicle is parked in an inconvenient spot. In the case of bicycles or scooters, it is also impossible for a central system to determine whether the vehicle is standing or lying down. Furthermore, public authorities have proven to be only able to counter such misconduct to a very limited extent and tend to ban this type of service, which puts the service administrators and well-behaved users at a disadvantage.

[0005] Therefore, it is desirable to be able to remotely manage the movement of mobile objects. In the context of self-service vehicle rental services, it may also be desirable to be able to ensure that the vehicle is returned to a specific location at the end of the rental and, if possible, that the vehicle is correctly parked in the case of vehicle sharing systems without reserved parking spots. It may also be desirable to manage robots or drones in a delimited space, such as a cargo storage warehouse, to control access to rooms or departments by authorized personnel, or even to send voice or video messages to people in a delimited space. Summary of the Invention

[0006] An embodiment relates to a method for controlling a remotely controllable apparatus, the method comprising the steps of: transmitting a data signal between a mobile object and a fixed point, the data signal being transmitted by a source of electromagnetic radiation to a receiver of the electromagnetic radiation by modulating the electromagnetic radiation, the source and the receiver being coupled to the fixed point and the mobile object or to the mobile object and the fixed point, respectively; providing a masking device comprising one or more components for masking the electromagnetic radiation, the masking device being configured to limit a transmission area and / or a reception area of ​​the data signal to a transmission area defined by the masking device and including the fixed point; extracting data from the data signal by a processing unit connected to the receiver; defining by the processing unit a command executable by the remotely controllable apparatus depending on the extracted data, the position of the transmission area, and / or the orientation of the mobile object; transmitting the command by the processing unit to the remotely controllable apparatus; and executing the command by the remotely controllable apparatus.

[0007] It is thus possible to remotely manage one or more mobile objects according to their position and orientation in space, or to initiate commands when a mobile object is in a certain position defined according to a masking device.

[0008] According to one embodiment, the method comprises the steps of receiving, by at least two receivers of a receiver set attached to the mobile body, two data signals transmitted by electromagnetic radiation emitted by two fixed electromagnetic radiation sources, respectively, wherein the emission area and / or the reception area of ​​the data signals emitted by each of the two emission sources are limited to respective transmission areas defined by a masking device; extracting, by the processing unit of the mobile body connected to the receiver set, an identifier of the electromagnetic radiation source from each received data signal; determining, by the processing unit of the mobile body connected to the receiver set, the location area and preferred axis direction of movement of the mobile body in the plane of movement of the mobile body according to the identifiers of the two electromagnetic radiation sources and the receivers that received the data signals; and executing, by the processing unit, a command for an electromechanical device of the mobile body according to the location area and preferred axis direction of movement of the mobile body.

[0009] In this way it is possible to determine whether the mobile object is in a position and orientation defined by the masking device and to activate a command only if this condition is met.

[0010] According to one embodiment, the command belongs to a command set that includes a command to limit the speed of the mobile unit, a command to stop the mobile unit from moving, and a command to lock the mobile unit.

[0011] According to one embodiment, the method includes a step of determining by the processing unit whether the location area of ​​the mobile body is located in an authorized parking area of ​​the mobile body according to the identifier of the transmitter, and a step of executing an end-of-use command by the processing unit when the location area is located within the authorized parking area, the end-of-use command including a command to lock the mobile body and sending an end-of-use notification message to a remote server including the location data and identifier of the mobile body, and the end-of-use command is not executed by the processing unit unless the location area is located within the authorized parking area.

[0012] In one embodiment, the mobile body is located in an area having a plurality of transmitters of data signals, and the method further comprises a step of determining the geographical position of the mobile body according to an identifier of the transmitter extracted from the signal received from one of the transmitters.

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

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

[0015] An embodiment may also relate to an apparatus mounted on a mobile body, said apparatus comprising: a receiver set comprising at least one receiver for electromagnetic radiation, each receiver of said receiver set being associated with a respective masking device limiting the angle of incidence at which said receiver can receive said electromagnetic radiation, each masking device having a respective pointing direction; and a processing unit connected to said receiver set and to an interface to be connected to a control device of said mobile body, said apparatus being configured to perform the method defined above.

[0016] According to one embodiment, the receiver set comprises a front receiver block mounted at a position in front of the mobile body and a rear receiver block mounted at a position in rear of the mobile body, each of the front receiver block and the rear receiver block being connected to the processing unit to combine several receivers, and each of the receivers in the front receiver block and the rear receiver block being associated with a respective masking device having a separate pointing direction to acquire electromagnetic radiation in a separate pointing direction.

[0017] According to one embodiment, the receiver set comprises an image sensor and the processing unit is configured to analyze images provided by the image sensor to determine the presence of image areas having a predetermined color. [Brief explanation of the drawings]

[0018] The present invention will be better understood from the following description of exemplary embodiments, with reference to the accompanying drawings, in which identical reference numbers correspond to structurally and / or functionally identical or similar elements. [Figure 1] FIG. 1 is a schematic representation of an object emitting an electromagnetic field that transmits a data signal to a receiving object, according to one embodiment. [Figure 2] FIG. 2 is a schematic representation of a set of circuits attached to a receiving object according to one embodiment. [Figure 3] FIG. 3 shows a schematic diagram of a receiving object located within the electromagnetic fields emitted by a transmitter and other transmitters, according to one embodiment. [Figure 4] FIG. 4 illustrates, in accordance with one embodiment, a receiving object having two receivers positioned in the electromagnetic field emitted by a transmitting object. [Figure 5] FIG. 5 schematically represents an object emitting an electromagnetic field that transmits a data signal to a receiving object according to another embodiment. [Figure 6] FIG. 6 is a schematic representation of a set of circuits attached to a transmitting object and a receiving object, according to one embodiment. [Figure 7] FIG. 7 schematically represents an object emitting an electromagnetic field that transmits a data signal to a receiving object according to another embodiment. [Figure 8] FIG. 8 schematically illustrates two objects emitting electromagnetic fields that transmit data signals to a receiving object having two receivers, according to one embodiment. [Figure 9] FIG. 9 shows a schematic representation of an object emitting an electromagnetic field transmitting a data signal and three receiving objects according to another embodiment. [Figure 10] FIG. 10 is a schematic representation of a vehicle in an electromagnetic field transmitting a data signal, according to one embodiment. [Figure 11] FIG. 11 is a schematic representation of a vehicle equipped with a data signal sensor, according to one embodiment. [Figure 12] FIG. 12 is a schematic perspective view of a front sensor block mounted on a vehicle, according to one embodiment. [Figure 13] FIG. 13 is a schematic perspective view of a rear sensor block mounted on a vehicle, according to one embodiment. [Figure 14] FIG. 14 is a schematic representation of a set of circuits installed in a vehicle, according to one embodiment. [Figure 15] FIG. 15 is a schematic representation of a parking area equipped with devices that emit electromagnetic fields, according to one embodiment. [Figure 16] FIG. 16 shows a schematic representation of various areas that may be equipped with devices that emit electromagnetic fields, according to one embodiment. [Figure 17] FIG. 17 shows a time series of signals illustrating how data is transmitted by modulation of electromagnetic radiation, according to one embodiment. [Figure 18] FIG. 18 is a schematic representation of a set of circuits mounted on a vehicle and communicating with a remote processing unit, according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0019] According to one embodiment, Fig. 1 shows a transmitter of electromagnetic radiation TX1 in a region TF1, transmitting a data signal to a receiving object MO1. The receiving object MO1 may be mobile, whereas the transmitting object TX1 may be fixed. The transmission of the data signal may be performed by amplitude modulation of the electromagnetic radiation. The transmitted data may include an identifier of the transmitting object TX1. The transmitting object TX1 may be associated with a masking device OT1 comprising one or more components for masking the electromagnetic radiation, the masking device being configured to limit the sending (transmitting) region TF1 to a transmission area whose shape is defined by the structure of the masking device.

[0020] The receiving object MO1 comprises a receiver RX1 which may also be associated with a masking device OR1 which defines the shape of the receiving area RF1. When the transmitting object TX1 and the receiver RX1 are simultaneously located in the sending area TF1 and the receiving area RF1, the data signal emitted by the transmitting object TX1 can be received by the receiver RX1.

[0021] According to one embodiment, the exposed surfaces of the masking devices OT1 and / or OR1 are treated to reduce or prevent reflection of electromagnetic radiation.

[0022] In the example of Fig. 1, the masking device OT1 has a cone shape, and the transmitting object TX1 is located inside this cone at its apex. The masking device OR1 has the shape of a well formed inside the receiving object MO1, and the receiver RX1 is located at the bottom of the well. The transmitting area TF1 is therefore larger than the receiving area RF1. Thanks to the masking devices OT1 and OR1, it is possible to adjust the precision of both the transmitting and receiving levels, and also to perfectly align the two objects on the same straight line XT.

[0023] According to one embodiment, Figure 2 shows an electrical circuit attached to the receiving object MO1. According to one embodiment, the receiving object MO1 comprises a control unit CU connected to the receiver RX1. The control unit CU is configured to extract data from a data signal received by the receiver. The control unit CU may be configured to determine the position of the receiving object MO1 based on an identifier of the transmitter TX1 and a reception area defined by a masking device associated with the receiver, and based on the position and width of a transmission area generated by the transmitter TX1. The position and width of the transmission area generated by the transmitter TX1 may be determined from the data transmitted by the data signal.

[0024] According to one embodiment, the receiving object MO1 is fitted with a communication circuit COM connected to the control unit CU for communicating with a remote server CSV, in particular for transmitting an identifier of the receiving object, an identifier of the transmitter TX1, for example in real time to the remote server CSV. The server CSV is thus able to locate the receiving object MO1 in real time. The communication between the communication circuit COM and the server CSV can be established via a telephone, for example a "smartphone" type telephone, which may be the telephone of the user of the receiving object. The link between the circuit COM and the telephone SM may be of the BLE (Bluetooth Low Energy) type.

[0025] The control unit CU may be configured to control a control circuit CC of the receiving object MO1 depending on the position of the receiving object MO1 determined in the coordinate system of the transmitter TX1 and on the data received from the transmitter TX1.

[0026] It should be noted that although the receiver may receive signals from various objects emitting electromagnetic radiation, due to the positioning of the masking devices OT1 and / or OR1 and the transmitting object TX1, the receiver RX1 receives at most one data signal from a single transmitting object at any one time. Thus, Figure 3 shows the case where the receiving object MO1 is located within the electromagnetic fields TF1, TF4 emitted by the transmitter TF1 and another transmitter TX4, respectively. Since the receiving range RF1 of the receiver RX1 does not include the transmitter TX4, the data signal emitted by the transmitter TX4 cannot be received by the receiver RX1.

[0027] FIG. 4 illustrates a case in which a receiving object MO5 includes two receivers RX4 and RX5, each of which has a receiving area RF4 and RF5 defined by a respective masking device OR4 or OR5. The receiving object MO5 is located in the transmission area TF1 of the transmitter TX1. Because only the receiving area TF4 encompasses the transmitter TX1, only the corresponding receiver RX4 receives the data signal transmitted by the transmitter TX1. Thus, the orientation of the receiving object MO1 in the coordinate system associated with the transmitter TX1 can be determined with increasing accuracy as the masking device OR1 or OT1 narrows. In the example of FIG. 4, the presence of the receivers RX4 and RX5 enables the processing unit CU connected to the receiver RX5 to determine, based on the identifier of the receiver RX4 or RX5 that received the data signal, which side of the receiving object MO5 associated with the masking device OR4 or OR5 faces the receiver TX1.

[0028] Figure 5 shows an object MO2 emitting an electromagnetic field TX2 that transmits a data signal to a receiving object RO2 according to another embodiment. Figure 5 differs from Figure 1 in that the transmitter is mobile and the receiver is fixed, and object MO2 differs from object MO1 in that it includes a transmitter TX2 instead of a receiver RX1.

[0029] The receiver RX2 of the receiving object RO2 may be associated with a masking device OR2 comprising one or more components for masking electromagnetic radiation, the masking device being configured to limit the receiving region RF2 to a transmitting area whose shape is defined by the configuration of the masking device. The transmitter TX2 may also be associated with a masking device OT2 that defines the shape of the transmitting region TF2. When the transmitter TX2 and the receiver RX2 are simultaneously located in the transmitting region TF2 and the receiving region RF2, the data signal transmitted by the transmitter TX2 may be received by the receiver RX2.

[0030] FIG. 6 illustrates a transmitting object MO2 and a receiving object RO2. The data signals received by the receiver RX2 are transmitted to a processing unit CU1, which processes these signals to extract data including the identifier of the transmitting object TX2. The processing unit CU1 can be configured to determine the instructions to be transmitted to the transmitting object TX2, taking into account the position of the receiving object RO2 known to the processing unit CU1 and the identifier of the transmitting object transmitted by the data signals received by the receiver RX2. The instructions thus determined by the processing unit CU1 can be transmitted to the processing unit CU of the object MO2 via other transmission channels, for example, a Wi-Fi-type network, a mobile network, or even a Bluetooth-type link automatically established due to the proximity between a fixed point and a mobile object. The control unit CU1 can also control other devices, such as a device DV located near the receiver RX2 and connected to the processing unit CU1. The device DV can be, for example, a door-opening latch, a fixed anti-theft device, or a device that emits sound, light, or video signals or messages. Thus, the mobile object may simply be a badge worn by a user and having a device for emitting data signals in the form of electromagnetic radiation. The command to be executed may be the triggering of opening a door or the spreading of a sound, light or video message with respect to an object in the vicinity of a fixed point, for example an artwork or a machine. The masking devices OR2 and / or OT2 may make it possible to limit the area in which the transmitting object MO2 must be located in order to trigger the sending of a command by the control unit CU1 to the controlled devices CC and / or DV. The controlled devices may, for example, provide access to a room or a service.

[0031] In the example of Fig. 6, the masking device OT2 has the same shape as the masking device OR1, and the receiver RX2 is located at the apex inside the cone. The masking device OT2 has the same shape as the masking device OR1, and the transmitter TX2 is located at the bottom of the well. Thus, the receiving area RF2 is larger than the transmitting area TF2. Thanks to the masking devices OT2 and OR2, it is possible to adjust the precision of both the transmitting and receiving levels, and it is also possible to perfectly align two objects on the same straight line XT.

[0032] By placing the transmitter and receiver at the bottom of a well of a depth and diameter suited to the accuracy requirements, it is possible to achieve an extremely high level of accuracy, depending on the requirement for precise on-axis alignment. Thus, FIG. 7 shows a transmitting object MOT3 with a transmitter TX3 and a receiving object MOR3 with a receiver RX3. The transmitter TX3 is associated with a well-shaped masking device OT3, at the bottom of which the transmitter TX3 is located. Similarly, the receiver RX3 is associated with a well-shaped masking device OR3, at the bottom of which the receiver RX3 is located. In this way, the transmitting area TF3 can have a very narrow width and can only be received by the receiver RX3 at the bottom of the well OR3, provided that the transmitting and receiving areas are perfectly aligned along the same axis XT. The configuration of the masking devices OT3 and OR3 makes it possible to achieve on-axis alignment.

[0033] FIG. 8 shows a receiving object MOR4, which differs from the receiving object MOR3, in that it includes a second receiver RX4 that may be associated with the masking device OR4. FIG. 8 also shows a transmitting device MOT3, in addition to a transmitting device MOT4 that includes a transmitter TX4 that may be associated with the masking device OT4. Under these conditions, when the receivers RX3 and RX4 of the receiving device MOR4 simultaneously receive data signals from the transmitters TX3 and TX4, the receiving device MOR4 can be located in space relative to the transmitters TX3 and TX4. The accuracy of the position depends on the respective shapes of the masking devices OT3, OR3, OT4, and OR4. If the masking devices OT3, OT4, OR3, and OR4 are wells, the receiving device MOR4 can be accurately located in space when the receiver RX3 is on the axis XT of the transmission area TF3 of the transmitter TX3 and the receiver RX4 is on the axis XT4 of the transmission area TF4 of the transmitter TX4. When the receiving device MOR4 is in this position, a command can be sent by the processing unit CU of the receiving device MOR4. Such position accuracy can also be achieved by swapping the positions of the transmitter and receiver.

[0034] FIG. 9 shows another embodiment in which two transmitters must be simultaneously visible to the receiver. This embodiment allows for the management of a user's use of a device, such as a personal computer, or access to services provided via the personal computer. This embodiment includes a transmitter, such as a transmitter RO2 with a transmitter RX2 and a masking device OR2, connected to a control unit CU. Authorized users U1 and U2 carry respective transmitters TX6 and TX7, such as badges equipped with infrared transmitters. Devices, such as device PC1, are associated with their respective transmitters TX5 in a tamper-resistant manner. The control unit CU is configured to authorize the user of device PC1 as long as the receiver receives valid data signals from both the transmitter TX5 associated with device PC1 and one of the transmitters TX6 and TX7 of one of authorized users U1 and U2. As long as this condition is met, the control unit UC sends an enable signal to device PC1, enabling it to be used. If this condition is not or is no longer met, the control unit CU stops sending the enable signal or sends a prohibition signal (e.g. periodically). The device PC1 is configured to be usable or to make the service available only when it receives the enable signal or only if it receives the enable signal but does not receive the prohibition signal after receiving the enable signal. The use of the computer PC1 or the opportunity to use the service may be further conditional on the execution of a user authentication procedure in combination with the enable signal and / or the prohibition signal.

[0035] 10 illustrates a vehicle V1 positioned in an electromagnetic field, e.g., an illumination area LB, emitted by a signal transmission device LS, according to one embodiment. The electromagnetic field emitted by the transmission source covers an area LA on the ground. According to one embodiment, the intensity of the electromagnetic field LB is modulated to transmit a data signal that may include identification data. The data signal may, for example, include an identifier of the transmission device LS. The data signal may also include other data, e.g., data related to the illumination area LA. The modulation is performed, for example, on the amplitude. The vehicle V1 includes one or more sensors configured to receive the electromagnetic field LB and a demodulation circuit that extracts the identification signal from the electromagnetic field LB.

[0036] The transmitter LS emits electromagnetic radiation in a wavelength band that includes visible light, which propagates through air but not through most solid materials, such as materials that are not transparent to visible light.

[0037] The signal transmitting device LS may be, for example, a street lamp post or a particular street fixture equipped with a source of electromagnetic radiation, and the illumination area LB may be emitted by one or more light bulbs mounted on the lamp post, utility pole, or other structure.

[0038] The shape of the transmitted electromagnetic field LB may be defined by one or more shutters and / or by optical lenses.

[0039] According to one embodiment, the data transmitted by the electromagnetic field LB are in particular the following data: an identifier of the area LA illuminated by the electromagnetic field LB or of the transmitting device LS, The type of area illuminated by the electromagnetic field LB, a list of identifiers of the signal transmitter, the illumination areas adjacent to the area LA (each adjacent area can be associated with a type of area); It contains data that can belong to a set that compiles

[0040] The types of areas are: pedestrian areas or sidewalks, pedestrian crossings, Areas adjacent to pedestrian crossings, Areas adjacent to or including traffic lights, The area adjacent to or including the stop, One-way areas, Areas located on the periphery of areas of permitted traffic; No vehicle entry areas, Reserved parking areas for fleets of vehicles It can be one of the following:

[0041] In addition, the data transmitted by the electromagnetic field LB may vary over time or may only be sent during certain time slots.

[0042] FIG. 11 illustrates a vehicle V1, according to one embodiment. Vehicle V1 is fitted with sensor assemblies SM1 and SM2 configured to receive electromagnetic signals of the type emitted by transmitter LS. Sensor assemblies SM1 and SM2 include a front sensor assembly SM1 configured to be mounted to the front of vehicle V1 and a rear sensor assembly SM2 configured to be mounted to the rear of vehicle V1. In the example of FIGS. 11 and 12, vehicle V1 is a scooter. According to one embodiment, front sensor assembly SM1 is mounted to the handlebar 11 of scooter V1 or to the upper end of a front post 12 supporting the handlebar, and rear sensor assembly SM2 is mounted to or within a mudguard on the rear wheel of the scooter.

[0043] According to one embodiment, each of the vehicle's sensors SM1, SM2 is associated with a masking device comprising one or more components for masking electromagnetic radiation. Each masking device is configured to limit the reception area of ​​the data signal to a transmission area defined by the masking device, including the transmitter LS. The masking device is further configured to prevent transmissions to the sensor that would cause it to be associated with other data signals emitted by other radiation sources by modulation of the magnetic radiation when the vehicle is within the transmission area.

[0044] FIG. 12 illustrates a front sensor assembly SM1 according to one embodiment. The front sensor assembly SM1 includes a front sensor S1, two side sensors S2 and S3 (right and left), and a zenith sensor S4. According to one embodiment, the front sensor S1 and the side sensors S2 and S3 are each associated with a masking device OS11, OS12, OS21, OS22, OS31, and OS32 positioned to limit the width of the area observed by the sensors. Similarly, the zenith sensor S4 is associated with a masking device OS41 that forms a well at the bottom of which the sensor S4 is positioned. The zenith sensor S4 at the bottom of the well OS41 allows for highly accurate positioning of the vehicle in a horizontal plane.

[0045] 13 illustrates a rear sensor assembly SM2 according to one embodiment. The rear sensor assembly SM2 includes a rear sensor S11 and two side sensors S12 and S13 (right and left). Each of the rear sensor S11 and the side sensors S12 and S13 is associated with a masking device OS51, OS52, OS53, which, for example, forms a recess in the bottom of which the sensor is placed to limit the width of the area observed by the sensor or the angle of incidence at which the sensor may be illuminated. Lenses may also be placed in front of the sensors S1-S4, S11-S13 to acquire or identify a certain direction of electromagnetic radiation, making it possible to easily detect, for example, whether the vehicle V1 is standing or lying down.

[0046] In general, the placement of sensors S1-S4, S11-S13 at the bottom of the well allows vehicle V1 to be accurately positioned in a plane perpendicular to the axis of the well. By appropriately distributing sensors and electromagnetic radiation sources, the vehicle's position and orientation can be accurately determined. More generally, the number and placement of sensors shown by way of example in Figures 13 and 14, as well as the number and placement of transmitters, can vary and are more generally adapted to the vehicle configuration and intended application.

[0047] 14 shows an electrical circuit mounted on a vehicle V1 when the vehicle V1 is driven by an electric motor ENG, according to one embodiment. The motor ENG of the vehicle V1 is connected to a battery BT via a control circuit CC that ensures starting of the motor and managing the motor's speed depending on the position of the manual acceleration control. According to one embodiment, the electrical circuit of the vehicle V1 comprises a control unit CU connected to the sensors S1-S4, S11-S13 of the sensor assemblies SM1, SM2. The control unit CU is configured to demodulate the signals received by each of the sensors S1-S4, S11-S13 to determine data transmitted by a nearby transmitter LS that transmits a transmission area that covers one of the sensors despite a masking device associated with it. The control unit CU is also configured to determine the position V of the vehicle V1 in a fixed coordinate system OXYZ associated with the device emitting the signal LS received by one of the sensors S1-S4, S11-S13 based on the reception area defined by the identifier of the sensor receiving the signal LS and the masking device associated with the sensor, as well as the position and width of the transmission area generated by the emission of the signal LS. The position and width of the transmission area generated by the signal LS may be determined from the data transmitted by this signal.

[0048] In the kick scooter example, when the data signal LS is received by the sensor S4 at the bottom of the well S41, the control unit CU may also determine that the vehicle is substantially upright.

[0049] It should be noted that although sensors S1-S4, S11-S13 may receive signals from various data signal transmitting devices, due to the masking devices and the position of the transmitting devices, each of the sensors receives at most one data signal from a single signal transmitting device LS at any time.

[0050] According to one embodiment, the vehicle V1 comprises a communication circuit connected to the control unit CU for communicating with the remote server CSV and in particular for transmitting to the remote server CSV, for example in real time, the vehicle's identifier and the identifier of the transmitting device LS, for example the last received identifier. The server CSV can thus determine the location of all vehicles in the fleet in real time. The communication between the communication circuit COM and the server CSV can be established via a phone SM, for example of the "smartphone" type, which phone can belong to the user. The link between the circuit COM and the phone SM can be of the BLE (Bluetooth Low Energy) type.

[0051] The vehicle V1 may also be equipped with a satellite positioning device SPC, for example of the GPS (Global Positioning System) or Galileo type. Such a device may be useful when the vehicle is unable to determine its position because it is not in the transmission area LB of the transmitting device LS and when the vehicle is not supported by the user or for any other reason.

[0052] The control unit CU is arranged to control the control circuit CC of the motor ENG depending on the position of the vehicle V1 determined in the coordinate system OXYZ and on data received from transmitters located in the vicinity.

[0053] The command applied by the control unit CU to the control circuit CC may depend on the type of area that may appear in the received data and may be a command to stop the motor ENG, in particular if the type of area received is a pedestrian area or a one-way area where the direction of movement of the vehicle is opposite to the permitted direction of movement, or if the area is closed to vehicles. The command applied by the control unit CU to the control circuit CC may be a deceleration or speed limit command associated with a maximum speed if the type of area received is an area adjacent to a stop sign, traffic light, or pedestrian crossing and the direction of movement of the vehicle is in a direction that will bring the vehicle closer to the stop sign, traffic light, or pedestrian crossing. The command applied by the control unit CU to the control circuit CC may be a vehicle lock command associated with the end of the vehicle rental, in particular if the vehicle V1 does not have a motor but is equipped with a remotely controllable locking device.

[0054] FIG. 15 illustrates a parking area Z1 where vehicles V1, V2, V3, and V4 of a fleet of vehicles can be dropped off at the end of their rental period. Parking area Z1 is illuminated by an electromagnetic radiation source LS having a transmission area covering a strip-shaped ground area Z2, and the handlebars of vehicles V1-V4 must be located within ground area Z2. In the example of FIG. 15, vehicles V1, V2, and V4 have their handlebars positioned above strip Z2, while vehicle V3's handlebar is not positioned above strip Z2 but is located within parking area Z1. Vehicle V4 is not located in parking area Z1. The front sensor S2 on the right side of vehicles V1 and V2 receives the radiation transmitted by radiation source LS, but the other sensors on vehicles V1 and V2 do not receive this radiation because they are located outside the transmission area of ​​radiation source LS. Only the rear sensor S13 on the left side of vehicle V3 is located within the transmission area of ​​radiation source LS. The left front sensor S3 of vehicle V4 receives the radiation emitted by radiation source LS, but the other sensors of vehicle V4 do not receive this radiation as they are located outside the emission area of ​​radiation source LS.

[0055] According to one embodiment, the control unit CU is configured to determine whether the vehicles V1-V4 are correctly positioned in the parking area Z1 based on the identifiers transmitted by the data signals received by the various sensors. In the case of vehicles V1 and V2, the control unit CU determines that the data signals received by the right front sensors S2 and S3 are correct (the identifier of the radiation source LS is received only by the right front sensor S2) and that other sensors, in particular the vehicle's sensor S4, do not receive these data signals, indicating that the vehicle is substantially upright. The control unit CU then deduces that the vehicles V1 and V2 are correctly positioned in the parking area Z1. In the case of vehicle V3, the control unit CU determines that the data signal emitted by the radiation source LS is not received by the right front sensor S2 and therefore that the vehicle V3 is not correctly positioned in the parking area Z1. In the case of vehicle V4, the control unit CU determines that the data signals emitted by the radiation source LS are not received by the front sensor S2 but are received by the left front sensor S3, and that vehicle V3 is therefore placed upside down with respect to the required orientation in the parking area Z1. Under these conditions, the control unit CU can determine that the end of the rental is only allowed for vehicles V1 and V2. Thus, it is possible to determine the orientation of the vehicles using at least one electromagnetic radiation source LS.

[0056] The control unit CU may thus determine the position in the coordinate system V,x,y associated with the vehicle in the coordinate system OXY of one of the transmitting devices LS, LS1 that sent an identifier to the control unit CU. The control unit CU may also send the position in the coordinate system V,x,y to the server CSV.

[0057] With more electromagnetic radiation sources covering the same area, the positions and orientations of the vehicles V1-V4 can be determined more accurately.

[0058] It should be noted that the sensor mounted on the vehicle may be replaced by an electromagnetic radiation source, and the radiation source LS may be replaced by an electromagnetic radiation sensor, in which case a control unit connected to the sensor may determine the position of the vehicle.

[0059] According to one embodiment, the sensors S1-S4, S11-S13 are simple solar cells. More generally, a sensor is an element sensitive to a wavelength band of electromagnetic radiation and provides an electrical signal representative of changes in the intensity or wavelength of the received radiation. Thus, one or more of the sensors S1-S4, S11-S13 may be an image sensor, for example a camera. Using an image sensor, the command to be executed by the vehicle may be determined depending on the colors appearing in the image provided by the image sensor. According to one example, the image provided by the camera may be analyzed to determine whether a traffic light is visible in the image, red, or green, and the command to be provided to the vehicle V1 may be determined accordingly.

[0060] In particular, if it is only necessary to measure the position and orientation Vx of vehicle V1 in the plane of movement OXY associated with signal transmitting device LS, vehicle V1 may only be equipped with two sensors, for example, a sensor at the front of the vehicle and a sensor at the rear of the vehicle. Furthermore, if it is only intended to have the user return the vehicle to a specific parking area (e.g., Z1) at the end of the rental, then a single sensor attached to the vehicle is sufficient to detect that the vehicle is in one of these areas.

[0061] Figure 16 shows various situations that can be handled by the control unit CU. Figure 16 represents an area Z10 that receives an electromagnetic field emitted by a radiation source LS10. The identifier transmitted by the radiation source LS10 corresponds to an area in which movement of the vehicle V1 is prohibited. The control unit CU is configured to stop the motor ENG of the vehicle V1 upon receiving the signal emitted by the radiation source LS10.

[0062] Figure 16 shows an area Z11 located at the entrance to a speed-limited area Z12 and receiving the electromagnetic field emitted by source LS11. The control unit CU of vehicle V1 is configured to control the motor ENG of vehicle V1 upon receiving the signal emitted by source LS11 in order to reduce the speed of the vehicle until it reaches the maximum permissible speed.

[0063] Figure 16 shows the pedestrian crossing areas Z13, Z14 receiving the electromagnetic fields emitted by the radiation sources LS13, LS14 respectively. The control unit CU is configured to control the motor ENG of the vehicle V1 upon receiving the signal emitted by the radiation source LS13 or LS14 in order to reduce the speed of the vehicle to reach a speed set for crossing the pedestrian crossing.

[0064] 16 shows an area Z15 located at the entrance to an area Z16 where vehicles coming from other directions have priority and which receives the electromagnetic field emitted by the source LS15. The control unit CU is configured to control the motor ENG of the vehicle V1, upon receiving the signal emitted by the source LS15, in order to reduce the speed of the vehicle in the presence of other vehicles in the area Z16, so as to reach a speed which will allow the vehicle to stop immediately.

[0065] 16 represents an area Z17 which is located at the entrance of an area Z16 which includes a traffic light or a stop sign and which receives the electromagnetic field emitted by a source LS17. Upon receiving the signal emitted by the source LS17, the control unit CU is configured to control the motor ENG of the vehicle V1 in order to reduce the speed of the vehicle so as to reach a speed which allows the vehicle to be stopped immediately at the stop sign or traffic light.

[0066] According to one embodiment, the signal emitted by the transmitter LS is generated by powering a light source, such as an LED (light-emitting diode), using a signal modulated with SPWM (sinusoidal pulse-width modulation), whose frequency can be set to a value equal to or greater than 1 MHz. The signal has a duty cycle modulated by a sine wave at a frequency of 1-22 kHz. FIG. 17 shows the time evolution of curves C1 and C2, where curve C1 corresponds to the power supply signal of the radiation source LS and curve C2 corresponds to the resulting signal emitted by the radiation source LS, which can be received by one of the sensors S1-S4, S11-S13 of the vehicle V1. When the duty cycle of the power supply signal of the light source is varied in a certain manner, a substantially sinusoidal signal can be obtained by the residual of the light source. Data transmission to the processing unit CU can be performed by varying the frequency of the sinusoidal signal thus generated.

[0067] In the above, the transmitter of electromagnetic radiation is for example a light source (visible light) or a light source of infrared wavelengths (near to far infrared), since it is known that the transmission range is less narrow at longer wavelengths.

[0068] It will be apparent to those skilled in the art that the present invention is susceptible to various modifications and applications. In particular, the present invention is not limited to an arrangement of electromagnetic radiation transmitters at fixed points and receivers on mobile objects. In fact, the receivers may be fixed and the transmitters may be located on the mobile objects without departing from the scope of the present invention. In this case, a control unit is connected to each receiver and can thereby identify the mobile objects and send commands to them, for example, via other transmission channels.

[0069] Thus, FIG. 18 represents a mobile object V10, which differs from vehicle V1 in that the sensor is replaced by one (or several) electromagnetic radiation sources LS21. The radiation source LS21 continuously or periodically emits a data signal containing an identifier of the mobile object V10. Fixed sensors, such as sensor S21, are arranged around the mobile object V10. A masking device is associated with the radiation source LS21 or the sensor S21 to limit the transmission area between the radiation source LS21 and the sensor S21 to an area F21. The data signals received by the sensor S21 are transmitted to a processing unit CU1, e.g., a server CSV, which processes these signals and extracts data therefrom containing the identifier of the mobile object V10. The processing unit CU1 may be configured to determine instructions to be transmitted to the mobile object V10, taking into account the location of the sensor S21, known to the processing unit, and the mobile object identifier transmitted to the sensor by the data signal. The instructions thus determined by the processing unit CU1 may be transmitted by the processing unit to the processing unit CU of the mobile V10 by means of other transmission channels, for example wireless networks such as Wi-Fi type networks, mobile networks or Bluetooth type links which may be automatically established due to the proximity between the fixed point and the mobile. The control unit CU1 may also control devices external to the mobile.

[0070] Thus, the command to be executed sent by the processing unit CU1 may not necessarily be intended for the mobile object V10, but may be executed by a device DV to be controlled that is located near a fixed point and connected to the processing unit CU1. The device DV may, for example, be a latch for opening a door, a fixed anti-theft device, or a device that emits a sound, light, or video message or signal. Thus, the mobile object may simply be a badge worn by a user and equipped with a device that emits a data signal in the form of electromagnetic radiation. The command to be executed may be a trigger to open a door or to spread a sound, light, or video message regarding an object in the vicinity of the fixed point, such as an artwork or a machine. In this case, a masking device may be associated with a receiving device S21 located at the fixed point, limiting the area in which the mobile object must be located, and the control unit CU1 connected to the receiving device S21 activates the command. The masking device may also be associated with a radiation source LS21.

[0071] The present invention is not limited to managing a fleet of vehicles in urban spaces, but also applies to managing a single vehicle, and more generally to managing one or more mobile objects in open spaces or closed spaces, such as inside a building. The present invention can also be used in any other space, as long as it is equipped with at least one electromagnetic radiation transmitter. The mobile object can be, for example, a drone or a robot.

[0072] The invention is also not limited to mobiles equipped with several sensors: in fact, a single sensor may be sufficient to determine, in particular, whether a mobile is present in an authorized area, and more generally in an area where a command is to be activated. The identification signal transmitted by modulating electromagnetic radiation may simply indicate the type of area, such as a parking lot, a pedestrian area, a one-way or no-entry road, the vicinity of a pedestrian crossing, and so on.

[0073] The data signal is not necessarily transmitted by modulating the intensity of the electromagnetic radiation: in fact, other known types of modulation may be performed, such as frequency modulation or pulse width modulation, in which the radiation is sent out in the form of a train of pulses.

Claims

1. 1. A method for managing a remotely controllable device, comprising: - transmitting a data signal between a mobile body (V1, V10) and a fixed point, said data signal being transmitted by a source (LS, LS1-LS21) of electromagnetic radiation to a receiver (S1, S21) of said electromagnetic radiation by modulating said electromagnetic radiation, said source and said receiver being coupled to said fixed point and said mobile body or to said mobile body and said fixed point, respectively; providing a masking device (OS11-OS53) comprising one or more components for masking the electromagnetic radiation, the masking device being configured to limit the transmission and / or reception area of ​​the data signal to a transmission area defined by the masking device and including the fixed point; extracting data from said data signal by a processing unit (CU, CU1) connected to said receiver; - defining, by the processing unit, commands executable by the remotely controllable device depending on the extracted data, the location of the transmission area and / or the orientation of the mobile object; sending said command by said processing unit to said remotely controllable device (CC, DV); executing said command by said remotely controllable device; A method for providing the above.

2. receiving, by at least two receivers of a set of receivers (S1-S4, S11-S13) attached to the mobile body, two data signals transmitted by electromagnetic radiation emitted by two fixed sources (LS, LS1) of electromagnetic radiation, respectively, wherein the emission area and / or the reception area of ​​the data signals emitted by each of the two radiation sources are limited to respective transmission areas defined by masking devices; extracting, by said processing unit (CU) of said mobile connected to said receiver set, from each received data signal, an identifier of the source of said electromagnetic radiation; determining the location area and preferred axial direction of movement (Vx) of the mobile body in the plane of movement (OXY) of the mobile body by the processing unit (CU) of the mobile body connected to the receiver set according to the identifiers of the sources of the two electromagnetic radiations and the receivers that received the data signals; Execution by said processing unit of a command of an electromechanical device (CC) of said mobile body according to said area of ​​location and said preferred axial direction of movement (Vx) of said mobile body; The method of claim 1 , comprising:

3. The command a command to limit the speed of the moving body (V1); a command to stop the movement of the moving body; a command to lock the moving object; belongs to a command set containing 3. The method according to claim 1 or 2.

4. determining by the processing unit (CU) according to the identifier of the transmitter whether the location area of ​​the mobile object (V1) is located in an authorized parking area of ​​the mobile object; executing an end-of-use command by the processing unit when the location area is within an authorized parking area, the end-of-use command including a command to lock the mobile object and sending an end-of-use notification message to a remote server (CSV) including location data and an identifier of the mobile object; and not executing the end-of-use command by the processing unit unless the location area is within an authorized parking area. The method according to any one of claims 1 to 3.

5. The mobile (V1) is located in an area having a plurality of transmitters (LS) of data signals, The method further comprises determining the geographical location of the mobile unit according to an identifier of one of the transmitters extracted from the signal received from the transmitter. The method according to any one of claims 1 to 4.

6. said data signal being transmitted by modulating the supply current of a source of electromagnetic radiation belonging to a transmitting facility (LS); The method according to any one of claims 1 to 5.

7. said modulation of said supply current is of the SPWM type, The method of claim 6.

8. A device attached to a moving body (V1), said device comprising: a receiver set (S1-S4, S11-S13) comprising at least one receiver for electromagnetic radiation, each receiver of said receiver set being associated with a respective masking device that limits the angle of incidence at which said receiver can receive said electromagnetic radiation, each masking device having a respective pointing direction; a processing unit (CU) connected to said receiver set and to an interface to be connected to a controllable device (CC) of said mobile object, An apparatus, wherein the apparatus is configured to perform the method according to any one of claims 1-7.

9. The receiver sets (S1-S4, S11-S13) a front receiver block (SM1) attached to a position in front of the moving body (V1), and a rear receiver block (SM2) attached to a position in rear of the moving body; Each of the front receiver block and the rear receiver block is connected to the processing unit (CU) to combine several receivers (S1-S4, S11-S13); the receivers of the front receiver block and the rear receiver block are associated with respective masking devices having distinct pointing directions to acquire electromagnetic radiation in distinct pointing directions; 9. The apparatus of claim 8.

10. The receiver sets (S1-S4, S11-S13) are equipped with image sensors; the processing unit (CU) is configured to analyze the image provided by the image sensor to determine the presence of image areas having a predetermined color; 10. Apparatus according to claim 8 or 9.

Images