Device and method for autonomous control of a boat

Abstract

The invention relates to a control device for a boat (10) which comprises members (100, 200, 300) providing steering, propulsion and safety functions for the boat. According to the invention, the control device comprises: - sensors, - a central unit (20), - at least two peripheral modules (110, 210, 310) associated with the members and which each comprise an interface for receiving data from the sensors, ¤ a control interface for the member associated with it, ¤ a processing unit, and ¤ a communication interface with the central unit, the processing unit and the central unit being programmed to generate instructions for piloting the member. Figure for the abstract: Fig.1

Description

Title of the invention: Device and method for autonomous control of a boat Technical field of the invention

[0001] The present invention relates generally to the field of boats.

[0002] It relates more particularly to a control device to be installed in a boat which comprises members providing steering, propulsion and safety functions.

[0003] The invention finds a particularly advantageous application in the installation of autonomous piloting means in existing ships although it also applies to the manufacture of new ships.

[0004] The invention also relates to a boat equipped with such a control device, as well as a method for controlling such a boat. State of the art

[0005] In a fairly traditional way, a boat includes different propulsion, steering and safety components, such as engines, pumps, fans, etc.

[0006] Beyond a certain size, a boat also has a cockpit from which it is possible to control these components and on which operating and warning lights are provided in the event of a malfunction of the components. Thanks to these lights, it is possible to determine the location of any malfunction, which allows rapid intervention to remedy the problem.

[0007] There is currently a desire to market boats with semi-autonomous or fully autonomous piloting functions.

[0008] It is thus known to manufacture autonomous boats, also called drone ships.

[0009] It is also known to equip boats that have already sailed and which were initially devoid of autonomous functions with means enabling them to be made autonomous.

[0010] If these means prove to be expensive to manufacture, they are also very expensive to put in place since these boats have not been designed to allow the integration of these means and their connection to existing systems.

[0011] This complexity is all the more important as the number of elements to be installed in a boat to make it autonomous is very high.

[0012] To fully understand the complexity of automating a boat, we can consider any of the boat's components, for example its bilge pump.

[0013] On a non-autonomous boat, a simple power indicator light is provided to detect any malfunction. Another indicator can be provided to detect an abnormal level of liquid in the hold.

[0014] On the contrary, on an autonomous boat, these indicators alone are no longer sufficient. It is understood that in the event of a malfunction, it is at least necessary to determine the origin of the malfunction and the impact on the safety of the boat. Thus, many sensors must be installed in areas that were not designed for this purpose, then connected through the walls of the boat.

[0015] This problem of installing and connecting sensors also arises, to a lesser extent however, in the context of the manufacture of new drone boats. Presentation of the invention

[0016] In order to overcome the aforementioned drawbacks of the state of the art, the present invention proposes a device for controlling boat components, comprising: - sensors adapted to measure parameters relating to the operation of at least two of said organs, - a central unit, - at least two peripheral modules each associated with one of said at least two organs.

[0017] According to the invention, each peripheral module comprises: - a measurement interface adapted to receive data from at least some of the sensors, - a control interface adapted to issue instructions for controlling the component associated with it, - a unit for processing the received data, and - a communication interface suitable for communicating with the central unit.

[0018] Also according to the invention, the processing unit is programmed to generate first instructions for controlling the component associated with it and to develop processed information to be transmitted to the central unit, as a function of the data received, while the central unit is programmed to generate second instructions for controlling the component as a function of the processed information developed by the processing units of said at least two peripheral modules.

[0019] Thus, the invention proposes an assembly that is easily connectable and directly usable (in English “plug and play”) in an old boat as well as in a new boat, in order to offer it autonomous or semi-autonomous development capabilities.

[0020] The use of a central unit and semi-autonomous peripheral modules makes it possible to ensure that control tasks are shared between two distinct levels (high level and low level).

[0021] This allows the sensor data processing function to be placed as close as possible of the organ concerned (low level) and to provide the central unit with information already processed and centralized (high level). The work of the central unit is then made easier.

[0022] Since the measured data are thus processed at the relevant organ, the quantity of data transmitted to the central unit and the quantity of cables required for this transmission are limited. This results in easier installation of the control device in a boat, particularly when it is a question of passing the cables through watertight bulkheads.

[0023] The use of peripheral modules also makes it possible to standardize the processing of information for each organ, which makes it possible to reduce the manufacturing costs of the components necessary for making boats autonomous.

[0024] It also allows for the standardization of control laws. In this context, the use of artificial intelligence will in particular allow a natural adaptation of this control law to the specificities of each organ.

[0025] Finally, this architecture makes it easier to qualify a function from a regulatory perspective.

[0026] It should also be noted that the sharing of tasks between two high and low levels offers good safety to the boat, since it allows continuity of service even if one of the components presents a malfunction.

[0027] Other advantageous and non-limiting characteristics of the device according to the invention, taken individually or in all technically possible combinations, are the following: - said at least two organs perform different functions; - the processing units of the peripheral modules are materially identical; - the peripheral modules are materially identical; - the communication interface of each peripheral module includes a terminal block for connection to an electrical or optical conductor, which allows signals to be received from the central unit; - the communication interface of each peripheral module includes a radio chip, allowing radio signals to be transmitted to the central unit; - at least one of the peripheral modules comprises a cut-off means which makes it possible to interrupt the electrical current supply to the component with which it is associated and which is controlled by the processing unit according to the first control instructions; - at least a first part of the sensors is located outside the peripheral modules; - said first part of the sensors comprises at least one of the following components: a flow meter, a pressure sensor, a tachometer, a detector hydrocarbon, an accelerometer, a temperature sensor, a dry contact, a liquid level detector; - at least part of the sensors is located inside the peripheral modules; - said part of the sensors comprises at least one of the following components: a current sensor and / or a voltage sensor, an accelerometer, a temperature sensor; - at least one of the two components of the boat is included in the following list: a bilge pump, a fan, a fire circuit pump, a fuel supply circuit component or a fuel supply circuit, a cooling circuit component or a cooling circuit, a hydraulic circuit component or a hydraulic circuit, a seawater filter; - the central unit is connected to a display screen and is programmed to transmit data to the display screen based on the processed information; - the processing unit of at least one of the peripheral modules stores a control law for the organ with which it is associated and a self-learning algorithm by artificial intelligence, making it possible to modify said control law according to the data received.

[0028] The invention also relates to a boat comprising a hull which houses members providing steering, propulsion and safety functions for the boat, said boat comprising a control device as mentioned above.

[0029] The invention also relates to a method for controlling a boat comprising steps of: - measurement of parameters relating to the operation of at least two organs using sensors, - reception of data from the sensors by the measurement interfaces of the peripheral modules associated with said at least two organs, - processing of data received by the processing unit of each peripheral module to generate an initial control instruction and to produce processed information, - transmission of the first control instruction to the organ with which each peripheral module is associated, - transmission of information processed by the processing units of the peripheral modules to the central unit, - reprocessing of information processed by the central unit to generate second control instructions, - transmission of second control instructions to peripheral modules, and - transmission of the second control instructions by said peripheral modules to the organs with which they are associated.

[0030] Of course, the various features, variants and embodiments of the invention may be combined with each other in various combinations to the extent that they are not incompatible or mutually exclusive. Detailed description of the invention

[0031] The description which follows with reference to the appended drawings, given as non-limiting examples, will make it clear what the invention consists of and how it can be implemented.

[0032] In the attached drawings:

[0033] [Fig-1] is a schematic view of a ship equipped with a control device according to the invention comprising a central unit and peripheral modules;

[0034] [Fig.2] is a schematic view of a ship's organ and a peripheral module of [Fig.l] associated with this organ;

[0035] [Fig.3] is a diagram illustrating the steps implemented by the peripheral module of [Fig.2] to control the organ associated with it.

[0036] In [Fig.l], a side view of a boat is shown, and more precisely a ship 10 adapted to navigate on open seas.

[0037] This ship 10 classically comprises a hull 11 surmounted by a superstructure within which there is a gangway 12 (or wheelhouse).

[0038] The ship 10 comprises various electrically controlled components making it possible to provide various functions such as its propulsion, the control of its direction, its safety as well as possibly other functions such as pleasure or work functions.

[0039] Such a member may comprise or be formed by an electromechanical or electropneumatic or even electrohydraulic device.

[0040] In the remainder of the description, for the sake of clarity, we will consider members which are each adapted to perform a clearly identified function in the ship 10. Among these, only some will be referenced in the figures, for the sake of clarity.

[0041] The number of organs and functions may vary from one ship to another. Here, it will be considered that the ship 10 comprises the following organs: - a power unit capable of providing a propulsion function for the vessel 10, - a bilge pump circuit 200 providing a water ingress detection and drainage function, - a ventilation system to ensure air renewal in the boat, - a fire pump capable of providing a fire-fighting function fires, - a fuel circuit 300 providing a fuel supply function to the powertrain, - an opening detection circuit to ensure the detection of any opening of a watertight door in the ship, - a cooling circuit to ensure cooling of the powertrain, - a tachometer system for measuring the rotation speed of the powertrain output shafts, - a filtering system to ensure a seawater filtering function, and - a hydraulic circuit 100 enabling in particular the pivoting of the steering system and therefore of the ship's rudder(s).

[0042] Each of these organs and each of these functions are intended, within the framework of the present description, to be automated. The ship 10 shown in [Fig.l] is in fact autonomous in the sense that it is designed to move along a predefined path without human intervention. Alternatively, it could be semi-autonomous in the sense that only part of the aforementioned functions would be automated.

[0043] Of course, as a further variant, any other organ making it possible to ensure any useful function in the ship could also be automated in the same way.

[0044] With a view to its automation, the ship 10 has a control system which is therefore provided here to control all of its components.

[0045] The control system which is the subject of the present invention comprises two control levels, a high level with a central unit 20, and a low level with semi-autonomous peripheral modules 110, 210, 310 each associated with one of the separate members 100, 200, 300 of the ship 10.

[0046] The central unit 20 comprises one or more processors, one or more memories, and one or more communication interfaces.

[0047] In the remainder of the description, it will be considered that it comprises only one processor, one memory and one communication interface and that it is adapted to process the information coming from all the peripheral modules 110, 210, 310 of the ship 10. In other words, it will be considered that this single central unit 20 makes it possible to control all of the aforementioned components 100, 200, 300 of the ship.

[0048] Alternatively, it could be provided that the central unit comprises different independent or connected entities, each adapted to process the information coming from a part of the peripheral modules of the ship.

[0049] Thanks to its communication interface, the central unit 20 is adapted to receive data from the peripheral modules as input and to transmit data as output. instructions to these same modules. It is further adapted to control the display of information on display screens located in the bridge 12 of the ship 10, so that the persons present can take note of it. Alternatively, these screens could be located in a control center on land, in particular if no one is on board the ship 10.

[0050] Thanks to its memory, the central unit 20 stores a computer application, consisting of computer programs comprising instructions whose execution by the processor allows the central unit 20 to implement the method described below.

[0051] The peripheral modules 110, 210, 310 equipping the different members 100, 200, 300 are preferably all materially identical.

[0052] In other words, they all have the same components, although these may be programmed differently.

[0053] In the remainder of the description, only one of these peripheral modules 210 will therefore be described, shown in detail in [Fig.2].

[0054] As shown, this peripheral module 210 is associated with one of the bilge pumps 200 of the bilge pump circuit (this circuit is here considered as comprising several pumps located in different compartments).

[0055] As shown in [Fig.2], the bilge pump 200 comprises a pumping module 203 operated by an electric motor 204, via a transmission shaft 205. It has an inlet port connected to an inlet pipe 201 for sucking up the water present in the bilge of the ship 10, and an outlet port connected to an outlet pipe 202 which allows the sucked water to be discharged outside the ship 10.

[0056] The peripheral module 210 associated with this bilge pump 200 comprises for its part a housing 211A equipped with fixing means (not shown) allowing the housing to be fixed to the structure of the ship 10. These fixing means may, for example, be in the form of orifices allowing the housing to be screwed onto a wall of the ship 10.

[0057] The 21 IA housing is waterproof (with a waterproofing level greater than or equal to the IP23 standard).

[0058] Here, the housing 21 IA firstly houses a relay 215 which is connected to the electrical power supply wire 206 of the electric motor 204 of the bilge pump 200 and which allows, if necessary, the electrical power supply circuit of this electric motor 204 to be opened.

[0059] The housing 21 IA also houses other components, in particular a printed circuit supplied with current via the power supply wire 206.

[0060] This printed circuit comprises different elements, in particular a computer data processing unit 211, a control interface 219 adapted to transmit control instructions to the bilge pump 200, a measurement interface 214 adapted to read the data from sensors and a communication interface 213 adapted to communicate with the central unit 20.

[0061] The processing unit 211 is for example in the form of a processor connected to a memory 212.

[0062] Here, thanks to its memory 212, the processing unit 211 stores a computer application, consisting of computer programs comprising instructions whose execution by the processor allows the implementation of the method described below.

[0063] Alternatively, the processing unit 211 could be formed by a programmable logic circuit, the logic gates of which would be “programmed” to implement this method.

[0064] The control interface 219 is preferably a wired interface, which makes it possible to transmit the control instructions to the bilge pump 200 and to the relay 215 of this pump. In practice, thanks to this interface 219, the peripheral module 210 can transmit start and stop instructions to the electric motor 204 of the bilge pump 200, as well as operating speed instructions.

[0065] The communication interface 213 preferably comprises two parts. Here, it comprises a terminal block 213A through which it is adapted to communicate with the central unit 20, preferably to receive data from the latter. It also comprises a radio chip 213B and an antenna through which it is adapted to communicate with the central unit 20, preferably to transmit data to it.

[0066] In other words, the communication interface 213 is provided to use radio signals to transmit information to the central unit 20, and a wired network to collect instructions from this central unit 20.

[0067] Consequently, the communication interface of the central unit 20 will also be equipped with a radio chip as well as wired connection terminals.

[0068] The radio communication protocol used will preferably be a low-consumption protocol, such as Zigbee®, Z-Wave®, Bluetooth®, LoRa®, etc.

[0069] Preferably, the radio chips 213B of the different peripheral modules 110, 210, 310 will be able to communicate together, so that if one of them fails to transmit or receive data from the central unit 20, another of them can serve as a relay to allow communication.

[0070] Preferably also, the connection terminal 213A of the communication interface 213 will be connected to a data communication network, of the data BUS type, so as to allow communication between the central unit and all of the peripheral modules.

[0071] The measurement interface 214 comprises numerous connection ports through which it is connected to numerous sensors on board the ship 10.

[0072] Among these sensors, sensors external to the housing 21 IA and internal sensors housed inside the housing 21 IA are provided here.

[0073] There are four internal sensors here.

[0074] Thus, the housing 211A houses a current sensor and a voltage sensor 232, making it possible to determine the voltage at the terminals of the electric motor 204 and the intensity of the supply current of this motor.

[0075] It also houses an accelerometer 230 for measuring the intensity and frequency of the vibrations to which the housing 21 IA is subjected. Finally, it houses a temperature sensor 231 for measuring the temperature of the air inside the housing 211 A.

[0076] Alternatively, the housing 21 IA could house a lower or higher number of sensors. For example, it could be devoid of a temperature sensor and an accelerometer.

[0077] If the internal sensors of the different peripheral modules 110, 210, 310 of the ship 10 are all identical, the external sensors used can vary from one module to another.

[0078] In the example illustrated in [Fig.2] where the device is a bilge pump 200, the external sensors used are as follows.

[0079] First of all, a flow meter 224 is provided for determining the flow rate of the fluid sucked by the bilge pump 200.

[0080] Two pressure sensors 222, 223 are also provided, respectively located in the inlet pipe 201 and in the outlet pipe 202 of the bilge pump 200.

[0081] A tachometer 225 is also used to measure the rotational speed of the electric motor 204.

[0082] A hydrocarbon detector 221 placed in one or other of the inlet pipe 201 and the outlet pipe 202 makes it possible to detect a possible presence of hydrocarbon in the fluid sucked by the bilge pump 200.

[0083] An accelerometer 226 makes it possible to measure the intensity and frequency of the vibrations to which the pump is subjected, which makes it possible to detect any abnormal vibration of the latter.

[0084] A temperature sensor 227 makes it possible to determine the temperature of the electric motor 204.

[0085] Two dry contact sensors 228 make it possible to detect the presence of fluid in two distinct zones of the compartment in which the bilge pump is installed.

[0086] Finally, a liquid level detector 229 makes it possible to measure the height of fluid in the compartment.

[0087] It is then understood that the housing 21 IA has openings for the passage of electrical wires that connect the sensors to the various ports of the measurement interface 214.

[0088] Now that the control device is well described, we can describe the manner in which this control device operates to pilot the organs of the ship 10 autonomously.

[0089] To summarize, each peripheral module 110, 210, 310 takes charge of simple piloting operations (without assistance from the central unit), in particular the electrical protection of the component with which it is associated. The central unit takes charge of more complex operations, in particular those which require coordination between the piloting of the different components of the ship 10.

[0090] Each peripheral module processes the data from the internal and external sensors to generate compiled information which is then transmitted to the central unit 20. The latter is then able to communicate this information to the bridge, via the display screens. It is also adapted to send new instructions to the ship's organs, via the peripheral modules.

[0091] This process is implemented here in a loop in the same way by all peripheral modules. This process can then be detailed.

[0092] As shown in [Fig.3], during a first step E1, the processing unit 211 of the peripheral module considered (in our example, the module associated with the bilge pump 200) acquires the values ​​of the parameters measured by the internal and external sensors 221 to 232 (acceleration, temperature, liquid level, etc.).

[0093] All these parameters relate to the operation of the bilge pump 200 in the sense that their values ​​provide information: - on the correct functioning of this pump (is the pressure difference upstream and downstream of the pump normal? is the temperature within a normal range?...), and - on external conditions affecting the operation of the pump (is the level of liquid to be pumped abnormally high? is fuel detected in the liquid being sucked in?...).

[0094] These values, hereinafter called “measurement data DI”, are then received by the processing unit 211 via the measurement interface 214 of the peripheral module 210.

[0095] Then, during a second step E2 then a third step E3, this measurement data DI is processed by the processing unit 211.

[0096] During the second step E2, the processing unit generates simple instructions, called low level, making it possible to have an influence on the operation of the bilge pump. The idea here is to generate control instructions for this pump as close as possible to the latter, so as to avoid the transit of a large number of data to the central unit 20 while this data can be processed quickly by the peripheral module 210.

[0097] For this, the processing unit 211 integrates a control law which receives at least part of the measurement data as input, and which provides a first control instruction CONS1 as output.

[0098] This first control instruction CONSI therefore depends exclusively on the values ​​of the measurement data Dl.

[0099] As an illustrative example, the processing unit 211 receives as input the voltage measured at the terminals of the electric motor 204 of the bilge pump 200. If this voltage is within a nominal range, the processing unit does not generate any particular instruction. Otherwise, the first control instruction CONSI comprises an instruction to open the relay 215.

[0100] It will be noted here that the relay 215 may also be controlled by the central unit 20 or by a manual control means, typically via a manual safety button, if necessary.

[0101] As another example, the starting of the bilge pump 200 in the event of water detection, the triggering of an alarm in the event of pump failure or abnormal rise in the water level may be operated autonomously by the processing unit 211.

[0102] The control law used here is programmed upstream and integrated into the control unit 211. It notably integrates thresholds (voltage, water level, etc.) determined upstream and invariable.

[0103] Alternatively, this control law might not be immutable. Self-learning by artificial intelligence, based on the measurement data and on the responses undertaken at high level (by the central unit and by on-board or non-onboard human operators). In this way, the control unit 211 could in particular adjust the threshold values ​​in order to more precisely control the organ associated with it, without the central unit or the operator having to intervene. In other words, the thresholds could be adjusted so as not to exceed limits beyond which the central unit or an operator would have to intervene.

[0104] Self-learning may for example be carried out using an artificial neural network, the input data D1 and the control instructions CONSI, CONS2 being provided as input to this artificial neural network and the applicable thresholds being obtained as output from this artificial neural network.

[0105] In practice, the learning of this neural network can be done during the design of the ship 10. However, preferably, it will be done during the operation of the ship, which will allow the central unit and the operators to intervene less and less often in the control of the bilge pump 200. One of the advantages of this solution is that the thresholds can be adjusted differently from one ship to another. (even if they are identical ships or "sisterships"), so that they are adapted to the specificities of the ship 10. Another advantage of this solution is that the peripheral modules installed on organs of different types can initially be programmed in the same way, the adaptation of these modules being done over time.

[0106] During step E3, the processing unit 211 processes the measurement data DI in order to produce “processed information D2” to be sent to the central unit 20.

[0107] For this, the processing unit 211 of the peripheral module 210 integrates a data transformation algorithm, which receives at least part of the measurement data DI as input and which delivers the processed information D2 as output.

[0108] The idea here is to concatenate the measurement data DI which are relevant before sending them to the central unit 20, so as to minimize the bandwidth required for sending these data.

[0109] As an example, this data transformation algorithm can be programmed to concatenate only parameter values ​​that fall outside predefined ranges.

[0110] At the end of this step E3, the processed information D2 is transmitted to the central unit 20.

[0111] This processed information D2 is then read by this central unit 20, which is then programmed to carry out three actions.

[0112] The first action consists of ordering the display of the interesting data on the display screens present in the bridge of the ship 10.

[0113] For example, the screens may be controlled to display a message such as "Pumps OK" if no malfunction is detected, and to display a different message if no malfunction is detected. In this event, the displayed message will preferably allow the operator to clearly identify the type of malfunction that the bilge pump 200 is experiencing.

[0114] The second action consists, if necessary, in transmitting messages to the outside of the ship 10, for example distress messages or information messages to ships present in its area of ​​operation. Such a message can for example be transmitted if the liquid level in one or more compartments exceeds an alert threshold.

[0115] The third action consists of the central unit 20 developing a second control instruction CONS2 to be transmitted to the bilge pump 200, via the peripheral module 210 associated with this pump.

[0116] This second control instruction CONS2 therefore depends on the values ​​of the processed information D2 which have been received from all of the peripheral modules 110, 210, 310.

[0117] For example, taking into account the processed information D2 received from all the peripheral modules 110, 210, 310, the central unit 20 can decide to secure the ship 10 or to stop the mission. For example, in the event of a failure of the engine fuel injection circuit, the central unit 20 can decide to stop all the components of the ship 10 other than the safety components such as the bilge pumps.

[0118] In this case, the central unit 20 is programmed to transmit CONS2 control instructions to all the organs, via their peripheral modules.

[0119] Thus, in step E4, when the peripheral module 210 receives a second control instruction CONS2, it is programmed to apply it even if the latter contradicts the first control instruction CONS1.

[0120] In the above description, the main focus has been on the description of bilge pumps.

[0121] As specified above, all of the other organs of the ship 10 can be controlled in a similar manner.

[0122] As an example, the ventilation system and the method for controlling it can be briefly described.

[0123] This system here comprises a main fan and a backup fan. Sensors can measure the rotation speed of each of these fans, the pressure difference upstream and downstream of the main fan, the temperature of the ventilated air, etc.

[0124] Thanks to this measurement data, the processing unit of the peripheral module associated with this ventilation system can detect an obstruction and locate its position (upstream or downstream of the main fan). It is also able to trigger an appropriate alarm and start the emergency fan. The analysis of its vibration also informs the peripheral module about the state of the fans.

[0125] For this organ, the fan speed can be controlled at a low level, by the processing unit, depending on the temperature of the compartment. It can also be reduced as needed by the central unit, for example in the event of the ship 10 being made safe.

[0126] The present invention is in no way limited to the embodiments described and shown, but those skilled in the art will be able to provide any variant in accordance with the invention.

[0127] For example, several references of peripheral modules could be provided, having a different number of ports. Thus, peripheral modules of different references could be used within the same ship, in order to control different components, the reference used for each component depending on the number of sensors required.

[0128] In this ship, modules of the same references will preferably always be employees. For example, when the vessel has several bilge pumps on board, the peripheral modules associated with these bilge pumps will all be strictly identical.

Claims

Claims

1. Control device for a boat (10) which comprises members (100, 200, 300) providing steering, propulsion and safety functions for the boat (10), comprising: - sensors (221 - 232) adapted to measure parameters relating to the operation of at least two of said members (100, 200, 300), - a central unit (20), - at least two peripheral modules (110, 210, 310) each associated with one of said at least two members (100, 200, 300), and which each comprise: H a measurement interface (214) adapted to receive data (Dl) from at least part of the sensors (221 - 219), H a control interface (219) adapted to emit instructions for piloting the member (200) associated with it, H a processing unit (211) received data (Dl), and H a ​​communication interface (213) adapted to communicate with the central unit (20),in which the processing unit (211) is programmed to generate first control instructions (CONSI) for the member (200) associated with it and to develop processed information (D2) to be transmitted to the central unit (20), as a function of the data (D1) received, and in which the central unit (20) is programmed to generate second control instructions (CONS2) for the member (200) as a function of the processed information (D2) developed by the processing units (211) of said at least two peripheral modules (110, 210, 310).,

2. Control device according to claim 1, wherein said at least two members (100, 200, 300) provide different functions.

3. Control device according to one of claims 1 and 2, in which the processing units (211) of the peripheral modules (110, 210, 310) are materially identical.

4. A control device according to claim 3, wherein the peripheral modules (110, 210, 310) are materially identical.

5. Control device according to one of claims 1 to 4, in which the communication interface (213) of each peripheral module (110, 210, 310) comprises a connection terminal (213A) to an electrical or optical conductor, which makes it possible to receive signals coming from the central unit (20).

6. Control device according to one of claims 1 to 5, in which the communication interface (213) of each peripheral module (110, 210, 310) comprises a radio chip (213B), making it possible to transmit radio signals to the central unit (20).

7. Control device according to one of claims 1 to 6, in which at least one of the peripheral modules (110, 210, 310) comprises a cut-off means (215) which makes it possible to interrupt the supply of electrical current to the member (100, 200, 300) with which it is associated and which is controlled by the processing unit (211) according to the first control instructions (CONSI).

8. Control device according to one of claims 1 to 7, wherein at least a first part of the sensors (221 - 229) is located outside the peripheral modules (110, 210, 310).

9. A control device according to claim 8, wherein said first part of the sensors comprises at least one of the following components: - a flow meter (224), - a pressure sensor (222, 223), - a tachometer (225), - a hydrocarbon detector (221), - an accelerometer (226), - a temperature sensor (227), - a dry contact (228), - a liquid level detector (229).

10. Control device according to one of claims 1 to 9, wherein at least part of the sensors (230, 231, 232) is located inside the peripheral modules (110, 210, 310).

11. Control device according to claim 10, wherein said part of the sensors comprises at least one of the following components: - a current sensor and / or a voltage sensor (232), - an accelerometer (230), - a temperature sensor (231).

12. Control device according to one of claims 1 to 11, in which at least one of the two members is included in the following list: - a bilge pump (200), - a fan, - a fire circuit pump, - a fuel circuit component (300) or a fuel circuit, - a cooling circuit component or a cooling circuit, - a hydraulic circuit component (100) or a hydraulic circuit, - a seawater filter.

13. Control device according to one of claims 1 to 12, wherein the central unit (20) is connected to a display screen and is programmed to transmit data to the display screen depending on the processed information (D2).

14. Control device according to one of claims 1 to 13, in which the processing unit (211) of at least one of the peripheral modules (210) stores a control law of the member (200) with which it is associated and a self-learning algorithm by artificial intelligence, making it possible to modify said control law as a function of the data (Dl) received.

15. Boat (10) comprising a hull (11) which houses members (100, 200, 300) providing steering, propulsion and safety functions for the boat (10), characterized in that it comprises a control device according to one of claims 1 to 14.

16. Method for controlling a boat (10) according to claim 15, in which steps are provided for: - measuring parameters relating to the operation of at least two members (200) by means of the sensors (221 - 232), - receiving the data (D1) from the sensors (221 - 219) by the measurement interfaces (214) of the peripheral modules (210) associated with said at least two members (200), - processing the data (D1) received by the processing unit (211) of each peripheral module (210) to generate a first control instruction (CONSI) and to develop processed information (D2), - transmitting the first control instruction (CONSI) to the member (200) with which each peripheral module (210) is associated, - transmitting the processed information (D2) by the processing units (211) of the peripheral modules (210) to the central unit (20),- reprocessing of the processed information (D2) by the central unit (20) to generate second control instructions (CONS2), - transmission of the second control instructions (CONS2) to the peripheral modules (210), and, - transmission of the second control instructions by said peripheral modules (210) to the organs (200) with which they are associated.

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