Manual device employing direct vision to track elements in a region of interest

Abstract

The invention relates to a device (100) for tracking elements that is configured to be manipulated by an operator and that comprises a foot (30), a body (20) and a head (10), the tracking device (100) comprising at least a first sensor and second sensor configured to measure the rotation of the body (20), the head (10) comprising a sighting device (11) and optionally a rangefinder (13), the tracking device (100) further comprising a processing unit (31) able to process the data generated by the first sensor and second sensor in order to calculate the three-dimensional coordinates of the sighted element of interest, the tracking device (100) further comprising a transmitting unit configured to transmit the three-dimensional coordinates calculated by the processing unit (31) to a control console.

Description

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 a zone of interest is a major challenge in the performing arts and entertainment industry. Indeed, it is desirable to be able to track the position of people and / or objects on stage, for example, in order to continuously adjust their lighting.

[0003] For this purpose, it is common to use follow spots. Such spotlights are aimed and operated directly by a technician to track the movements of an artist. However, this tracking method is unsuitable when the spotlight is placed in confined spaces that do not allow for an operator. 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 via a display screen. The cameras can be mounted on the projectors to follow their movements, or positioned to provide a static image of the scene. However, such systems require the installation of cameras and are complex to integrate into the existing environment. Furthermore, such systems do not allow the operator to directly view the scene. Consequently, difficulties can arise if people or objects being tracked leave the camera's field of view, for example, if they leave the stage to enter the audience, or if there is interference on the screen. Video link. Moreover, since the operator does not have a direct view of the stage, or is even positioned backstage, they are less immersed in the performance. Human perception plays a significant role in relevant artist / object tracking, and the quality of the tracking may be diminished.

[0005] Generally, animation systems include a control panel, a remote tracking device comprising a camera, and multiple light sources. The tracking device modifies the commands sent by the control panel to the light sources on the fly. Typically, the control panel transmits pan and tilt rotation values ​​to the light sources, and the tracking device 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 device be perfectly synchronized with both the control panel and the light sources. Consequently, the tracking device must have the necessary libraries and patches to adapt to the control panel and the various light sources. 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 elements within an area of ​​interest, configured to be manipulated by an operator, comprising a foot, a body, and a head. The head is fixed to the body, and the body is rotatable about a first direction and a second direction relative to the foot. The tracking device includes at least one first sensor configured to measure the rotation of the body about the first direction and at least one second sensor configured to measure the rotation of the body about the second direction. The tracking device further includes an actuation means configured to allow the operator to rotate the body. The tracking device is characterized in that the head includes a sighting device for an element of interest along a sighting direction. The tracking device further includes a processing block configured to receive and process the data from the first sensor and the second sensor, the processing block being able to obtain the height of the target element of interest, the processing block being able to calculate the three-dimensional coordinates of the target element of interest in a frame of reference of the area of ​​interest from the data from the first sensor and the second sensor, 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 frame of reference 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] Because the tracking device of the invention is remote, it can be safely operated by a human operator. The aiming device allows the operator a direct view of the scene, without the need for a camera, thus improving their immersion in the environment and the quality of the tracking. Furthermore, the operator can easily track people or objects leaving the scene.

[0009] The tracking device of the invention is not tied to any particular animation device; that is, it is not connected to any specific projector, video system, or pyrotechnic device. Therefore, 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 that can be used by a wide variety of animation devices. Thus, the tracking performed by the device of the invention can be used by light projectors as well as for sound, video, image projection, pyrotechnics, or stage design.

[0010] The invention's tracking device is compact and easy to install. In particular, it integrates easily into the existing ecosystem of the area of ​​interest. Indeed, the invention's tracking device is not connected to a video feed and communicates only with the control panel. Because the invention's tracking device does not communicate with the animation devices in the area of ​​interest, there is no need to install libraries and patches specific to the type and brand of each animation device, and there are no synchronization issues. complex to implement. 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 feature of interest can be obtained in several different ways. It can be obtained using a rangefinder located on the head of the tracking device, as described later. The operator can also input the height of the target feature of interest to the tracking device. Finally, the height of the target feature of interest can also be input to the tracking device automatically or via an external means, such as 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 improves the aiming accuracy of the tracking device, particularly during calibration.

[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 lightweight 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 accuracy.

[0018] According to another particular embodiment of the invention, the body includes a first pivot joint enabling the rotation of the body around the first direction and a second pivot joint enabling the rotation of the body 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 actuation means. Thus, when the operator is no longer manipulating the actuation means, there are no unwanted rotations of the body. Furthermore, this configuration facilitates the adjustment and control of the tracking device as described previously. Indeed, the sensitivity of the first rotation can be adjusted independently of the sensitivity of the second rotation. This is especially advantageous since pan rotation typically requires a greater amplitude and less sensitivity than tilt rotation. Therefore, the tracking device allows for smoother and more controlled tracking.Operator comfort is also improved, as the tracking device offers better ergonomics. Finally, this 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 object without requiring any additional action from the operator. Indeed, without a rangefinder, the height of the target object must be provided to the tracking device via the network or by the operator. Furthermore, the presence of a rangefinder simplifies the calibration of the tracking device. In fact, the rangefinder eliminates the need to manually measure the coordinates of multiple points within 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, this 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 region of interest for a point A in the region of interest within the processing block,

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

[0028] - the successive targeting of at least two other points B and C in the area of ​​interest with the tracking device, points A, B and C belonging to the same plane, and the recording of the 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 three-dimensional coordinates and the three-dimensional orientation of the head of the tracking device in the frame of reference 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 allows the tracking device to be calibrated using the coordinates of a single point instead of three. 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 for a point A in the area of ​​interest within the processing block of the tracking device,

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

[0034] - the successive targeting of at least two other points B and C in the area of ​​interest with the tracking device, points A, B and C belonging to the same plane, and the recording of the 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 three-dimensional coordinates and the three-dimensional orientation of the head of the tracking device in the frame of reference 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. Typically, this involves selecting three points within the area of ​​interest and manually measuring the distance between them, for example, using a tape measure, to determine their coordinates. This method is time-consuming and prone to error. The present method proposes using the tracking device described earlier to easily and quickly determine the coordinates of these points, with minimal operator intervention.

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

[0040] - targeting the element of interest with the tracking device as described above,

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

[0042] - obtaining the height of the element of interest using 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(s) 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 using the animation system's monitoring device,

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

[0049] - obtaining the height of the element of interest using 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, based on 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 tracking device's transmission block to the animation system's control panel, then

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

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

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

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

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

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

[0058] [Fig. 6] Figure 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] Figure 7 is a diagram illustrating the operation of the tracking device's processing block during the calibration phase.

[0060] [Fig. 8] Figure 8 is a diagram illustrating the operation of the tracking device's processing block during the usage 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 here people, objects or locations.

[0063] The area of ​​interest can be a stage. The area of ​​interest can include multiple stages. The area of ​​interest can be a performance venue. If the area of ​​interest is a performance venue, it can include at least one stage and at least one audience reception area. The area of ​​interest can also be an outdoor area. If the area of ​​interest is an outdoor area, it can include at least one stage and at least one audience reception area. at least one stage and at least one public reception area such as stands 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 Di. 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 aim at a point Pv within an area of ​​interest. The sighting device 11 is configured to allow the operator to aim at 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 aims at 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 aiming point Pv in the area of ​​interest.

[0068] The sighting device 11 has no screen. 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 transparent plate 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 sighting device 11 may be without 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 target point Pv. The rangefinder 13 may be a laser rangefinder, preferably a laser rangefinder emitting in the non-visible spectrum. The rangefinder may optionally be an ultrasonic rangefinder.

[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 possible laser pointer 12 do not obstruct vision through the sighting device 11 and around the sighting device 11. The operator can thus 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 has no screen. The tracking device 100 lacks a video stream. Thus, the tracking device 100 lacks 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 Ai. The first axis of rotation Ai extends along the first direction Di. The rotation about the first axis of rotation Ai defines a first rotation. The rotation around the first axis of rotation Ai defines a first angle of rotation 0i. 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 Ai. Rotation about the second axis of rotation A2 defines a second rotation angle 02. The second axis of rotation A2 can allow for 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 includes an adjustment means for said first pivot joint 21. The second pivot joint 22 includes an adjustment means for said second pivot joint 22. The adjustment means for the first and / or the 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 can be adjusted independently of the second pivot joint 22. In particular, the first pivot joint 21 may have a different adjustment than the adjustment of the second pivot joint 22.The adjustment means allow modification of the friction parameter of the pivot joints 21 and 22, and thus modification of the sensitivity of the pivot joints 21 and 22. Preferably, the "pan" type rotation exhibits less friction than the "tilt" type rotation. Indeed, one typically desires a wide and fairly rapid "pan" type rotation and a precise "tilt" type rotation.

[0080] The body 20 may include 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 around 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 therefore 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 around the first axis of rotation Ai, the head 10 also rotates around the first axis of rotation Ai. Similarly, when the body 20 rotates around the second axis of rotation A2, the head 10 also rotates around 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. Therefore, 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 0i. 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 02. 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 includes 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 includes 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 Ai. 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 Ai, that is, in the first direction Di. Preferably, the handle 24 includes 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 one hand free 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 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 1 (visible in Figure 2). The buttons 26, 27 may be placed in ergonomic positions for the operator.

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

[0088] The foot 30 allows the tracking device 100 to be placed on the ground or on a platform, or to be attached 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 unit 31. The processing unit 31 is preferably located on the foot 30. The processing unit 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, as buttons on said actuation means 24 are more likely to be pressed accidentally. 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 unit 31 may also have one or more ports for connecting external devices with memory. In particular, the processing unit 31 may have one or more USB ports. The processing unit 31 can thus be configured to receive data transmitted by a connected external device and / or to record data to a connected device. Examples of connected external devices with memory include USB flash drives and external hard drives.

[0091] The tracking device is capable of recording a data set in a connected external device with memory. The tracking device is also capable of receiving a data set from a connected external device with memory. The data set could, for example, be a configuration corresponding to a particular area of ​​interest. For instance, the data set could include the coordinates of specific 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 including a basin, the dataset may include the coordinates of the scene boundaries and the basin 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 processing block 31 also receives data from the first and second angular sensors 21a and 22a. In particular, the processing block 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. Specifically, 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 one or more values ​​calculated by the calculation module 31a.

[0095] The tracking device 100 further includes a transmission block 33. Transmission block 33 is configured to transmit the Cv coordinates calculated by the processing block 31. Transmission block 33 is configured to transmit the Cv coordinates over a network. 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. The network protocol used by transmission block 33 is preferably not a DMX protocol.

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

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

[0098] The animation system includes at least one tracking device 100 as described previously, a control panel 800, and a plurality of animation devices 210, 220, 310, 320, 410, 420. The animation devices can be, for example, spotlights, loudspeakers, video screens, image projection devices, and pyrotechnic devices. As illustrated in Figure 5, the animation system can, for example, include a first spotlight 210, a second spotlight 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, and 420 are configured to interact with the area of ​​interest ZI.

[0099] The animation system can 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 animation devices. Typically, the 800 control panel can use the DMX protocol to communicate with animation devices.

[0101] The tracking device 100 can transmit the coordinates of the targeted elements over the 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 100 tracking device can be connected to the 800 control panel by cable, for example, via Ethernet cable. The 100 tracking device can also be connected to the 800 control panel wirelessly, particularly via a 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 procedure 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,03R) 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 for determining the coordinates of the Pv points targeted during the operational 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 unnecessary to know the coordinates of other points in the area of ​​interest. Preferably, point A corresponds to the origin of the coordinate system for the area of ​​interest ZI. Point A can be marked by a marker reflecting the rangefinder beam.

[0108] At least two points, B and C, are also defined within the area of ​​interest. Points A, B, and C lie on 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 as not to be aligned. with points A and B. 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.

[0109] The operator enters the CA coordinates (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 enter the CA coordinates of point A using the human-machine interface 32 of the processing block 31. The CA coordinates of point A are thus stored in the processing block 31. In particular, the CA coordinates of point A can be stored in the memory module 31b.

[0110] The operator successively aims at each of 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 aiming accuracy. [YES] At each sighting, the distance dA, ds, de, do measured by the rangefinder 13 is stored in the processing block 31. In particular, the distance dA, ds, de, do measured by the rangefinder 13 can be stored in the memory module 31b. Similarly, at each sighting, 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, 0IC, 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, ds, de, do measured by the rangefinder 13, the first rotation angles 0IA, 0IB, 0IC, 0ID measured by the first angular sensor 21a and the second rotation angles 02A, 02B, 02C, 02D measured by the second sensor angular 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, ds, de, do measured by the rangefinder 13, the first rotation angles 0IA, 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 to 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 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] Calibration of 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 device. 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. Some animation devices, for example projectors, require calibration in a well-known manner from at least three points A, Points A, B, and C lie on the same plane within the area of ​​interest ZI. Traditionally, points A, B, and C are selected by an operator who manually measures their positions, for example, using a measuring tape. However, such a calibration method is time-consuming and prone 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 marked by markers reflecting the beam of rangefinder 13.

[0118] Preferably, point A corresponds to the origin of the coordinate system for the area of ​​interest (ZI). Thus, its coordinates (CACXA^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 be 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.

[0119] The operator enters the coordinates CACXA^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 enter the coordinates CA of point A using the human-machine interface 32 of the processing block 31. The CA coordinates of point A are thus stored in the processing block 31. In particular, the CA coordinates of point A can be stored in the memory module 31b.

[0120] The operator successively aims at each of 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 aiming accuracy.

[0121] At each sighting, the distance A, B, de, do measured by the rangefinder 13 is stored in the processing block 31. In particular, the distance dA, ds, de, do measured by the rangefinder 13 can be stored in the memory module 31b. Similarly, at each sighting, the first rotation angle 0IA, 0IB, 0IC, 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, 0IC, 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(XD,YD,ZD) 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, Ce and CD coordinates of points B, C and D can then be transmitted to the control panel 800. The CB, Ce 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, Ce 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 for using the tracking device 100 as described previously in connection with Figure 8. According to a first preferred embodiment, the rangefinder 13 is used to determine the coordinates of the target element of interest. However, in some cases, the rangefinder 13 cannot be used. This is the case, for example, when the target element of interest is not capable of reflecting the beam emitted by the rangefinder. In this case, a second embodiment allows the coordinates of the target element of interest 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 frame (X, Y, Z) 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 scene surface. If the element of interest is a person, the value entered by the operator will correspond to the height of the person's center in the coordinate system of the area of ​​interest. Using a potentiometer knob allows the operator to easily adjust the chosen height in real time. real. 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. Specifically, 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 processing block 31, specifically by calculation module 31a, are then transmitted to control panel 800. The Cv coordinates of point Pv, calculated by processing block 31, are transmitted by 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] Processing block 31 may include a prediction algorithm. Such an algorithm is configured to predict the coordinates of a moving element of interest. Thus, processing block 31 can calculate predictive coordinates of the point from the Cv coordinates of the point Pv calculated by processing block 31. Processing block 31 can transmit the coordinates predictive values ​​to the transmission module 33, rather than the Cv coordinates of the Pv point. 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 activated, the tracking remains relevant thanks to the prediction algorithm.

[0132] The operating procedure 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 operate in a selective mode. According to a first selective 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 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 rotationally movable about a first direction (Di) 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 (0i) of the body (20) about the first direction (Di) and at least one second sensor (22a) configured to measure the rotation (82) 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 actuate the rotating 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 the data from the first sensor (21a) and the second sensor (22a), the processing block (31) being capable of obtaining the height of the targeted element of interest, the processing block (31) being capable of calculating the three-dimensional coordinates (Cv) of the targeted element of interest in a coordinate system (X, Y, Z) of the area of ​​interest (ZI) from the data (0i, 02, d, v ) from the first sensor (21a) and the second sensor (22a), from the height of the targeted 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) to a control console (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). Tl

3. Tracking device (100) according to any one of claims 1 to 2, wherein the body (20) comprises a first pivot joint (21) enabling the rotation of the body (20) around the first direction (Di) and a second pivot joint (22) enabling 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: - the input of three-dimensional coordinates (CA) in the (X, Y, Z) frame of the area of ​​interest (ZI) of a point A of the area of ​​interest (ZI) in the processing block (31), - 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) while aiming at point A, - the successive targeting of at least two other points B and C of the area of ​​interest (AOI) with the tracking device (100), points A, B and C belonging to the same plane, and the recording of the data from the first sensor (21a), the second sensor (22a) and the rangefinder (13) during the targeting of points B and C by the processing unit (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) when aiming at 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: - the input of three-dimensional coordinates (CA) in the (X, Y, Z) coordinate system of the area of ​​interest (ZI) of a point A of the area of ​​interest (ZI) in 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) while aiming at point A, - the successive targeting of at least two other points B and C of the area of ​​interest (AOI) with the tracking device (100), points A, B and C belonging to the same plane, and the recording of the data from the first sensor (21a), the second sensor (22a) and the rangefinder (13) during the targeting of points B and C by the processing unit (31), then - the calculation of the reference values ​​(C, 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) when aiming at points A, B and C, - the calculation by the processing block (31) of the coordinates of points B and C from the reference values ​​(C, 0R) of the monitoring device (100) and data from the first sensor (21a), second sensor (22a) and rangefinder (13) during the sighting of 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. A method for determining the position of an element of interest within an area of ​​interest (AOI) comprising: - the targeting of the element of interest with the tracking device (100) according to any one of claims 1 to 4, - the transmission to the processing block (31) of 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 coordinates (Cv) in three dimensions of the element of interest in the (X, Y, Z) frame 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.

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

11. Method for determining a position according to claim 10, in which 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: - targeting an element of interest with the monitoring device (100) of the animation system (1), - the transmission to the processing block (31) of 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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