automated system control method

Abstract

Control method (100, 100') of a system (1) comprising a first sensor (21), a second sensor (22), a central control unit (11), a first actuator (33), the control method (100, 100') comprising: - A step (Emd21) of sending, by the first sensor (21) to the central control unit (11), a first sensor data message (MD21) comprising first sensor data (D21); - A step (Rmd21) of receiving, by the central control unit (11), the first sensor data message (MD21); - A step (Dmd21) of detecting, implemented by the second sensor (22), the sending by the first sensor (21) of the first sensor data message (MD21); - Following the detection step (Dmd21), a second sensor (22) sends a second sensor data message (MD22) to the central control unit (11), containing second sensor data (D22); Figure 4

Description

Title of the invention: Method for controlling an automated system technical field

[0001] The present invention, which belongs to the field of electronics and telecommunications, relates to a method for controlling an automated system. The present invention also relates to an automated system configured to implement said control method. Preamble

[0002] An automated system, such as a robotic system or a home automation installation, generally includes a control entity capable of retrieving information extracted from the automated system and of developing one or more commands on the basis of the information retrieved in order to modify said system.

[0003] Specifically, the control entity generally comprises at least one controller responsible for implementing a control algorithm for the automated system; that is, an algorithm which, based on extracted information, generates one or more commands. The extracted information comes primarily from sensors capable of performing at least one measurement and transmitting information about that measurement to the control entity. The commands generated by the control entity are intended for actuators capable of performing actions or operations based on those commands.

[0004] In addition to the control entity, an automated system therefore includes, on the one hand, sensors capable of collecting data of interest on the system itself or its environment and providing them to the control entity, and on the other hand, actuators capable, for example, of modifying certain parameters or a state of an element of the automated system on the basis of commands from the control entity.

[0005] Thus, the control entity must be able to communicate, i.e. exchange messages including information, with the sensors on the one hand and with the actuators on the other hand in order to control the latter on the basis of the data provided by the former.

[0006] Typically, the following operations are performed in a loop within an automated system, generally at a regular rate: the control entity requests data from the sensors, the sensors collect data, the data is transmitted to the control entity, the control entity calculates new commands based on the received data, the new commands are transmitted to the actuators, the actuators apply the commands to modify the system, the control entity requests new data from the sensors, and so on...

[0007] In order to function correctly, most automated systems require rapid execution of this operational loop, based on successive operating cycles occurring at a high frequency. Indeed, an execution that is too slow would not allow, for example, a robotic arm belonging to a robotic system to be sufficiently reactive and therefore to react quickly enough to rapid changes in its environment, which would have detrimental consequences for the robot's efficiency.

[0008] In modern automated systems, the control unit generally communicates wirelessly with the sensors on the one hand, and with the actuators on the other. In other words, the various communication nodes of such an automated system are not connected by cables and communicate with each other exclusively wirelessly. This notably eliminates the physical constraints associated with wiring the various components of the automated system.

[0009] Such an automated system therefore forms a true wireless network in which a single wireless communication channel is generally shared between all the communication nodes of the network, i.e. between the central entity, the sensors and the actuators.

[0010] To ensure proper information transmission and avoid disruptions, interference, and message collisions on the shared communication channel, theoretically only one message at a time can pass through it. This means that messages sent and received by the central entity pass through the shared communication channel one by one and in turn.

[0011] Since messages cannot be transmitted simultaneously, the duration of the operational loop implemented in such a system therefore depends directly on the time required to transmit each of the different messages exchanged between the control entity and the sensors on the one hand, and between the control entity and the actuators on the other hand, as well as obviously on the total number of messages exchanged.

[0012] An automated system composed of a large number of sensors and / or actuators may therefore, given the large number of messages to be sent, received and possibly analyzed by the control entity, lead to the implementation of iterative loops with too low a rate, which will generate problems with the efficiency and operation of such a system.

[0013] There is therefore a need to increase the rate at which such an automated system can operate. Summary of the invention

[0014] The invention aims to remedy all or part of the aforementioned drawbacks.

[0015] In particular, the invention relates, according to a first aspect, to a method for controlling a system comprising a first sensor, a second sensor, a central control unit, a first actuator, the control method comprising:

[0016] - A sending step, by the first sensor to the central unit of command, of a first sensor data message including a first sensor data point;

[0017] - A step of receiving the data message by the central control unit of the first sensor;

[0018] - A detection step, implemented by the second sensor, of the sending by the first sensor of the first sensor data message;

[0019] - Following the detection step, a sending step, by the second sensor to destination of the central control unit, of a second sensor data message including second sensor data;

[0020] - A step of receiving the data message by the central control unit second sensor;

[0021] -A development step, implemented by the central control unit, of a command to the first actuator based on at least one of the first sensor data or the second sensor data.

[0022] According to the invention, the transmission of the second sensor's data message by the second sensor is implemented upon detection by the second sensor of the transmission of the first sensor's data message by the first sensor. Similarly, the second sensor's data is collected following the second sensor's detection of the first sensor's transmission of the first sensor's data message.

[0023] In particular, it is the detection by the second sensor of the sending of the data message from the first sensor that triggers the emission, by the second sensor, of the data message from the second sensor including the data from the second sensor.

[0024] Thus, according to the invention, it is not necessary for the central control unit to directly solicit the second sensor to obtain the second sensor data, and we therefore do away with a second sensor solicitation message which, in the prior art, is necessarily sent to the second sensor to cause the second sensor to send to the central control unit the second sensor data message including said second sensor data.

[0025] Consequently, the control method of the invention is less time-consuming than existing control methods.

[0026] According to one possibility, the system comprises an automated system controlled by the central control unit, the latter being capable of developing at least one command of first actuator intended for the first actuator based on the data of first sensor and / or data of second sensor.

[0027] According to one possibility, the automated system includes a robotic system, and for example a robotic system comprising at least one robotic arm.

[0028] According to another possibility, the automated system includes a home automation installation.

[0029] According to yet another possibility, the automated system includes an industrial system.

[0030] A sensor is defined as an electronic device capable of collecting at least one piece of data, for example, environmental data. Thus, the data from the first sensor corresponds to data collected by the first sensor, while the data from the second sensor corresponds to data collected by the second sensor.

[0031] A sensor is a data collection device which can, for example, be one of (non-exhaustive list) a temperature sensor or thermometer, a light sensor, a presence detector, a smoke detector, a humidity sensor, a speed sensor, an accelerometer, a pressure sensor, a geometric measurement sensor (a distance, an angle...).

[0032] According to one possibility, the sensors used in the invention are intelligent sensors comprising at least one processing unit and one communication unit. In particular, the sensors of the invention may notably incorporate programmable logic.

[0033] According to one possibility, the first sensor and the second sensor are of the same type.

[0034] According to another possibility, the first sensor and the second sensor are of different types, for example the first sensor is a thermometer and the second sensor is a humidity sensor.

[0035] According to one possibility, the control method further includes a step of collecting, implemented by the first sensor, the data from the first sensor, and a step of collecting, implemented by the second sensor, the data from the second sensor.

[0036] According to one possibility, the step of collecting the data from the second sensor is implemented following the step of detecting by the second sensor the sending by the first sensor of the data message from the first sensor.

[0037] According to another possibility, the second sensor data collection step is implemented before said detection step.

[0038] The central control unit is understood to be an electronic device comprising a calculation module and a communication module and integrating programmable logic.

[0039] According to one possibility, the central control unit includes a controller or a microcontroller.

[0040] An actuator is understood to be an electronic device capable of performing an action in accordance with a first actuator command contained in a first actuator command message that it receives from the central control unit of the system.

[0041] According to the invention, the system control method is a cyclic method, which includes a certain number of iterations of the same iterative loop.

[0042] According to one embodiment, the control method further includes a step of sending, by the central control unit to the first actuator, a first actuator control message including the first actuator command.

[0043] According to one possibility, the development of the first actuator command by the central control unit is done on the basis of the first sensor data and on the basis of the second sensor data.

[0044] According to one possibility, the step of sending the command message from the first actuator is implemented by the central control unit immediately after the central control unit receives the data message from the second sensor.

[0045] According to one embodiment, the control method further includes a step of receiving, by the first actuator, the first actuator control message and a step of executing, by the first actuator, at least one first actuator action in accordance with the first actuator control.

[0046] According to one possibility, the action of the first actuator includes the movement of a robotic arm of the automated system.

[0047] According to another possibility, the action of the first actuator includes the modification of a value of an operating parameter of the first sensor and / or the second sensor of the automated system.

[0048] According to one possibility, the control method includes a step of sending, by the first actuator to the central control unit, a first actuator acknowledgment message confirming that the first actuator has taken into account the first actuator command message and that the first actuator has executed the action in accordance with the first actuator command.

[0049] According to this possibility, the control method includes a step of receiving, by the central control unit, the acknowledgment message from the first actuator.

[0050] According to one possibility, the iterative loop of the control process ends with the step of receiving, by the central control unit, the acknowledgment message from the first actuator.

[0051] According to another preferred possibility, the control method does not include a step of sending, by the first actuator to the central control unit, a first actuator acknowledgment message.

[0052] According to one possibility, the iterative loop of the control process ends with the step of execution, by the first actuator, of at least one first actuator action in accordance with the first actuator command.

[0053] According to one embodiment, the control method further comprises a step of sending, by the central control unit to the first sensor, a first sensor solicitation message, and a step of receiving, by the first sensor, the first sensor solicitation message solicitation message, the first sensor sending the first sensor data message step being implemented by the first sensor following the first sensor solicitation message reception step.

[0054] According to this embodiment, it is following the reception, from the central control unit, of the first sensor solicitation message that the first sensor implements the step of sending the first sensor data message.

[0055] According to one possibility, the first sensor implements the collection of the first sensor data following the receipt of the first sensor solicitation message.

[0056] According to another possibility, the first sensor implements the collection of the first sensor data before receiving the first sensor solicitation message.

[0057] According to one possibility, the iterative loop of the control process begins with the step of sending, by the central control unit to the first sensor, the message to solicit the first sensor.

[0058] According to one embodiment, the control method further includes a detection step, implemented by the first sensor, of the sending by the central control unit of the first actuator control message to the first actuator, the first sensor data message sending step being implemented by the first sensor following said detection step.

[0059] According to this embodiment, the step of sending the first sensor data message is implemented by the first sensor upon detection by the first sensor of the sending, by the central control unit, of the first actuator control message.

[0060] Thus, this embodiment is particularly advantageous in that it also makes it possible to do without the sending, by the central control unit, of the first sensor solicitation message, which makes the system control process even less time-consuming.

[0061] According to one possibility, the first sensor implements the collection of first sensor data following its detection of the sending of the first actuator control message.

[0062] According to another possibility, the first sensor implements the collection of first sensor data before said detection step.

[0063] According to one possibility, the iterative loop of the control process begins with the detection step, implemented by the first sensor, of the sending by the central control unit of the first actuator control message.

[0064] According to a second aspect, the invention relates to a system capable of implementing the above control method, the system comprising:

[0065] - A first sensor;

[0066] - A second sensor capable of detecting the sending of a message by the first sensor first sensor data and configured to, following this detection, send a second sensor data message to the central control unit, including second sensor data;

[0067] - A central control unit capable of receiving the first data message sensor sent by the first sensor and to receive the data message from the second sensor sent by the second sensor;

[0068] - A first actuator capable of receiving a first command message actuator sent by the central control unit.

[0069] According to one possibility, the central control unit is configured to send a first sensor solicitation message to the first sensor, which is configured to send, upon receipt of the first sensor solicitation message, a first sensor data message including the first sensor data to the central control unit.

[0070] In addition, the second sensor is configured to, following its detection of the sending of the data message from the first sensor, send, to the central control unit, the data message from the second sensor including said data from the second sensor.

[0071] The central control unit is configured to develop, on the basis of the first sensor data and / or the second sensor data, a first actuator command, and to send, to the first actuator, a first actuator command message including said first actuator command.

[0072] The first actuator is configured to execute, upon receipt of the first actuator command message, at least one first actuator action conforming to the first actuator command.

[0073] According to one embodiment, the first sensor is configured to detect the sending, by the central control unit, of the first actuator control message, and following said detection, to send, to the central control unit, the first sensor data message including said first sensor data.

[0074] According to one possibility, the first sensor is also configured to, following said detection, implement a collection of first sensor data.

[0075] According to one possibility, the system includes at least one second actuator capable of receiving a second actuator command message sent by the central control unit, and configured to execute, upon receipt of the second actuator command message, at least one second actuator action conforming to the second actuator command contained in said second actuator command message.

[0076] According to this possibility, the central control unit is further configured to develop, on the basis of the first sensor data and / or the second sensor data, the second actuator command and to send, to the second actuator, the second actuator command message including said second actuator command.

[0077] According to one possibility, the system includes at least one third sensor capable of detecting the sending by the second sensor of the second sensor data message, and configured to, following this detection, send, to the central control unit, a third sensor data message including said third sensor data.

[0078] According to this possibility, the central control unit is able to receive the data message from the third sensor, and configured to develop the command for the first actuator, and possibly the command for the second actuator, based on at least one of the data from the first sensor, the data from the second sensor and the data from the third sensor.

[0079] In order for the system to be able to implement the control process described above, it is necessary to configure the various electronic devices constituting the system so that they can implement the steps of the control process.

[0080] Also, according to a third aspect, the invention relates to a method for configuring a system comprising a first sensor, a second sensor, a central control unit and a first actuator, the configuration method being implemented by the central control unit and comprising the following steps:

[0081] -A step of sending, to the first sensor, the second sensor and the first actuator, a message to switch to discovery mode;

[0082] -A step of receiving, from the first sensor, a first sensor identification message;

[0083] -A step of receiving, from the second sensor, a second sensor identification message;

[0084] -A receiving step, from the first actuator, of a first actuator identification message;

[0085] -A step in developing the iterative loop of a system control method based on the identification message of the first sensor, the identification message of the second sensor and the identification message of the first actuator;

[0086] A step of sending, to the second sensor, a message indicating to the second sensor that the first sensor precedes it in the iterative loop of the control process.

[0087] According to one possibility, the configuration process is carried out automatically and only a simple action by a user, such as for example pressing a dedicated button on the central control unit, is necessary to implement the configuration process described above.

[0088] According to one possibility, the message for switching to discovery mode includes an identification request, intended for each of said first sensor, second sensor and first actuator.

[0089] According to one embodiment, the configuration process further includes a step of sending, to the first sensor, a message indicating to the first sensor that the first actuator precedes it in the iterative loop of the control process. Brief description of the figures

[0090] The invention will be better understood, and its principles and advantages better grasped and highlighted, upon reading the detailed description below, made with reference to the figures, among which:

[0091] [Fig-1] schematically represents a system within which can be put in implements a control method conforming to the invention.

[0092] [Fig.2] schematically represents the system of [Fig.1] within which is put in implements a control process that conforms to the state of the art.

[0093] [Fig.3] schematically represents the system of [Fig.1] within which is put in works a variant of the implementation of the control process of the [Fig.2].

[0094] [Fig.4] schematically represents the system of [Fig.1] within which is put implement a control method conforming to a first embodiment of the invention.

[0095] [Fig.5] schematically represents the system of [Fig.1] within which is put implements a control method conforming to a second embodiment of the invention. Detailed description

[0096] System 1 includes in particular a set of electronic devices within which at least one automated control method for said system 1 can be implemented.

[0097] More specifically, system 1 is a robotic system comprising, as electronic devices, a central control unit 11, a first sensor 21, a second sensor 22, a third sensor 23, a fourth sensor 24 and a fifth sensor 25, each of said sensors 21, 22, 23, 24, 25 being capable of collecting environmental data and / or data relating to states occupied by elements of the robotic system, and a first actuator 33, a second actuator 32 and a third actuator 31, each of said actuators 31, 32, 33 being capable of performing at least one action in order to modify a state of the robotic system and / or a state of an element of the robotic system such as, for example, a robotic arm of system 1.

[0098] In Figures 2 to 5, an arrow linking a first electronic device to a second electronic device indicates that a message transmission takes place from the first electronic device to the second electronic device, in accordance with the direction of the arrow.

[0099] It is evident that system 1 is only one example among other automated systems in which the control method of the invention can be implemented. It is understood that the control method of the invention can be implemented in other systems having a distinct configuration, and comprising, for example, several central control units, a larger number of sensors and / or actuators, or other types of electronic devices.

[0100] For example, system 1 could be a home automation installation whose electronic elements and devices are located in different rooms of the same building, the control method then making it possible to automate certain actions or scenarios in order to modify the state of some of the electronic elements or devices of the home automation installation on the basis of environmental data collected by at least one sensor belonging to the home automation installation.

[0101] Said sensors 21, 22, 23, 24, 25 of system 1 are connected in wireless communication with the central control unit 11, i.e. that the latter can send and receive messages to and from each of these sensors 21, 22, 23, 24, 25 respectively, which can obviously also send and receive messages to and from the central control unit 11.

[0102] Similarly, said actuators 31, 32, 33 of system 1 are connected wirelessly to the central control unit, i.e., the latter can send and receive messages to and from each of them respectively of these actuators 31, 32, 33, which can obviously also send and receive messages to and from the central control unit 11.

[0103] Thus, the system 1 forms a wireless communication network, and both the central control unit 11 and said sensors 21, 22, 23, 24, 25 and said actuators 31, 32, 33 constitute communicating nodes of this wireless communication network which can operate in message transmission mode or in message reception mode.

[0104] This means that a turnaround time is necessary to allow each of these electronic devices to switch from transmission mode to reception mode and vice versa, the turnaround times of two communicating electronic devices may also overlap: for example when the central control unit 11 sends a solicitation message to a sensor and switches from transmission mode (necessary to send the solicitation message) to reception mode (necessary to receive the data message sent by said sensor in response to the solicitation message) in the time required for the sensor to receive the solicitation message, switch from reception mode to transmission mode, and send its data message.

[0105] On the wireless communication network constituted by system 1, the communicating nodes therefore communicate with each other exclusively by non-wired means, and more precisely on one and the same wireless communication channel or radio channel, and this in both directions.

[0106] Since such a two-way channel is shared among all the communicating nodes of the system, this implies in principle that only one message at a time passes through said shared two-way channel, in order to avoid any risk of interference or collisions and thus ensure good quality communication. Therefore, each transmitting electronic device must wait, before transmitting a message on said channel, until the previous message passing through it has been transmitted in its entirety.

[0107] Furthermore, radio communications on said bilateral channel are implemented by means of omnidirectional antennas, so that even if a radio message carries information specifically intended for a target node, this message will also be received by other nodes which are not theoretically intended recipients, provided that said other nodes are located within the range of the transmitting node.

[0108] The system 1 is ideally arranged so that the central control unit 11, the sensors 21, 22, 23, 24, 25 and the actuators 31, 32, 33 are geographically arranged so that the central control unit 11 can communicate with each of the sensors 21, 22, 23, 24, 25 and with each of the actuators 31, 32, 33.

[0109] The shared wireless communication channel used by the communicating nodes of system 1 corresponds here to the ISM 2.4 GHz frequency band (ISM for "industrial, scientific and medical"). This frequency band is free to use and corresponds to a frequency range between 2.4 GHz and 2.5 GHz, and therefore has a bandwidth of 100 MHz.

[0110] Obviously, other wireless communication channels operating on other frequency ranges could obviously be used to implement the invention.

[0111] The control method 10, shown in [Fig. 2] and known from the prior art, allows the system 1 to be controlled cyclically and automatically. More specifically, the control method 10 operates according to an iterative loop that can occur successively a large number of times.

[0112] The control method 10 is centralized mainly on the central control unit 11, which is capable, as seen previously, of sending and receiving messages respectively to and from each of the sensors 21, 22, 23, 24, 25 and the actuators 31, 32, 33.

[0113] The iterative loop of the control method 10 is described in detail below.

[0114] Thus, the central control unit 11 sends to the first sensor 21, during a step Ems2b, a first sensor solicitation message MS2b aimed at having the first sensor 21 transmit to the central control unit 11 a first sensor data D2[ corresponding to a data collected by the first sensor 21.

[0115] In an Rms2i step, the first sensor 21 receives, from the central control unit 11, the solicitation message from the first sensor MS2b and following this Rms2i step of receiving the solicitation message from the first sensor MS2b the first sensor 21 implements (in a step not shown) a collection of the data from the first sensor D2i.

[0116] Then in an Emd2i step, the first sensor 21 sends, to the central control unit 11, a first sensor data message MD2i including the first sensor data D2i.

[0117] In an Rmd2i step, the central control unit 11 receives, from the first sensor 21, the first sensor data message MD2b

[0118] The central control unit 11 then sends to the second sensor 22, during a step Ems22, a second sensor solicitation message MS22 aimed at having the second sensor 22 transmit to the central control unit 11 a second sensor data D22 corresponding to a data collected by the second sensor 22.

[0119] In a step Rms22, the second sensor 22 receives, from the central control unit 11, the second sensor solicitation message MS22, and following this step Rms22 of receiving the second sensor solicitation message MS22, the second sensor 22 implements (in a step not shown) a collection of the second sensor data D22.

[0120] Then in a step Emd22, the second sensor 22 sends, to the central control unit 11, a second sensor data message MD22 including the second sensor data D22.

[0121] In a step Rmd22, the central control unit 11 receives, from the second sensor 22, the data message from the second sensor MD22.

[0122] The central control unit 11 then sends to the third sensor 23, during a step Ems23, a third sensor solicitation message MS23, aiming to have the third sensor 23 transmit to the central control unit 11 a third sensor data D23 corresponding to a data collected by the third sensor 23.

[0123] In a step Rms23, the third sensor 23 receives, from the central control unit 11, the third sensor solicitation message MS23, and following this step Rms23 of receiving the third sensor solicitation message MS23, the third sensor 23 implements (in a step not shown) a collection of the third sensor data D23.

[0124] Then in a step Emd23, the third sensor 23 sends, to the central control unit 11, a third sensor data message MD23 including the third sensor data D23.

[0125] In a step Rmd23, the central control unit 11 receives, from the third sensor 23, the data message from the third sensor MD23.

[0126] The central control unit 11 then sends to the fourth sensor 24, during a sending step Ems24, a fourth sensor solicitation message MS 24 aimed at having the fourth sensor 24 transmit to the central control unit 11 a fourth sensor data D24 corresponding to a data collected by the fourth sensor 24.

[0127] In a step Rms24, the fourth sensor 24 receives, from the central control unit 11, the fourth sensor solicitation message MS24, and following this step Rms24 of receiving the fourth sensor solicitation message MS24, the fourth sensor 24 implements (in a step not shown) a collection of the fourth sensor data D24.

[0128] Then in a step Emd24, the fourth sensor 24 sends, to the central control unit 11, a fourth sensor data message MD24 including the fourth sensor data D24.

[0129] In a step Rmd24, the central control unit 11 receives, from the fourth sensor 24, the data message from the fourth sensor MD24.

[0130] The central control unit 11 then sends to the fifth sensor 25, during a step Ems25, a fifth sensor solicitation message MS25 aimed at having the fifth sensor 25 transmit to the central control unit 11 a fifth sensor data D25 corresponding to a data collected by the fifth sensor 25.

[0131] In a step Rms25, the fifth sensor 25 receives, from the central control unit 11, the solicitation message from the fifth sensor MS25, and following this step Rms25 of receiving the solicitation message from the fifth sensor MS25, the fifth sensor 25 implements (in a step not shown) a collection of the data from the fifth sensor D25.

[0132] Then in a step Emd25, the fifth sensor 25 sends, to the central control unit 11, a fifth sensor data message MD25, including the fifth sensor data D25.

[0133] In a step Rmd25, the central control unit 11 receives, from the fifth sensor 25, the data message from the fifth sensor MD25.

[0134] In an unrepresented step of command development, the central control unit 11 develops a third actuator command C3i for the third actuator 31, a second actuator command C32 for the second actuator 32 and a first actuator command C33 for the first actuator 33.

[0135] During the command development step, the central control unit 11 develops said commands C3b C32 and C33 on the basis of the first sensor data D2i contained in the first sensor data message MD2h, the second sensor data D22 contained in the second sensor data message MD22, the third sensor data D23 contained in the third sensor data message MD23, ​​the fourth sensor data D24 contained in the fourth sensor data message MD24 and the fifth sensor data D25 contained in the fifth sensor data message MD25.

[0136] In an Emc3i step, the central control unit 11 sends a third actuator command message MC3i to the third actuator 31, including the third actuator command C3p

[0137] The third actuator 31, in a step Rmc3i, receives, from the central control unit 11, the third actuator command message MC3), then the third actuator 31 executes a third actuator action in accordance with the third actuator command C3[.

[0138] In a step Ema3i, the third actuator 31 sends, to the central control unit 11, a third actuator acknowledgment message MA3, confirming that the third actuator 31 has taken into account the third actuator command message MC3[ and therefore the execution by the third actuator 31 of the third actuator action in accordance with the third actuator command C3i.

[0139] In an Rma3i step, the central control unit 11 receives the acknowledgment message from the third actuator MA3).

[0140] In a step Emc32, the central control unit 11 sends, to the second actuator 32, a second actuator command message MC32 including the second actuator command C32.

[0141] The second actuator 32, in a step Rmc32, receives, from the central control unit 11, the second actuator command message MC32, then the second actuator 32 executes a second actuator action in accordance with the second actuator command C32.

[0142] Then, in a step Ema32, the second actuator 32 sends, to the central control unit 11, a second actuator acknowledgment message MA32 confirming that the second actuator 32 has taken into account the second actuator command message MC32 and that the second actuator action has been executed in accordance with the second actuator command.

[0143] In an Rma32 step, the central control unit 11 receives the acknowledgment message from the second actuator MA32.

[0144] In a step Emc33, the central control unit 11 sends, to the first actuator 33, a first actuator command message MC33 including the first actuator command C33.

[0145] The first actuator 33, in a step Rmc33, receives, from the central control unit 11, the first actuator command message MC33, then the first actuator 33 executes a first actuator action in accordance with the first actuator command C33.

[0146] Then, in a step Ema33, the first actuator 33 sends, to the central control unit 11, an acknowledgment message from the first actuator MA33 confirming that the first actuator 33 has taken into account the command message from the first actuator MC33 and that the action of the first actuator has been carried out in accordance with the command from the first actuator.

[0147] In a final step Rma33 of the iterative loop of the control process 10, the central control unit 11 receives the acknowledgment message from the first actuator MA33.

[0148] A new iterative loop, identical to the one just described, then begins with a new sending step in which the central control unit 11 sends to the first sensor 21 a new first sensor solicitation message aimed at having the first sensor 21 transmit to the central control unit 11 a new first sensor data corresponding to a new data collected by the first sensor 21.

[0149] The control method 10 therefore consists of such successive iterative loops, each comprising identical steps.

[0150] The control method 10 is effectively centralized on the central control unit 11, which, acting as the master device, calls in turn each of the sensors 21, 22, 23, 24, 25 and then controls each of the actuators 31, 32, 33, which, just like the sensors 21, 22, 23, 24, 25, act as slave devices.

[0151] Insofar as, to ensure the quality of communication, only one message at a time can pass through the shared wireless communication channel, it is evident that the greater the number of messages required to complete the iterative loop of the control process, the greater the duration of said iterative loop, since each message corresponds to a transmission time which is added to the transmission time of the previous message.

[0152] A first way of reducing the duration of the iterative loop is, as is the case for the control method 20 shown in [Fig.3], to do away with the acknowledgment message of the third actuator MA!L, the acknowledgment message of the second actuator MA32, and the acknowledgment message of the first actuator MA33 respectively sent by the actuators 31, 32, 33.

[0153] Thus, the control method 20 corresponds to the control method 10, with the difference that the actuators 31, 32, 33 do not send, in the control method 20, an acknowledgment message to the central control unit 11.

[0154] Compared to control method 10, control method 20 therefore has the advantage of including three fewer acknowledgment messages, which constitutes a time saving, especially since the associated turnaround times are saved:

[0155] - at the transition of each of said actuators 31, 32, 33 from reception mode to mode transmission between the receptive receptions of the MC3b MC32, MC33 command messages and the respective sending of the MA3i MA32MA33 acknowledgment messages;

[0156] - when the central control unit 11 switches from reception mode to mode transmission time between receiving the acknowledgment message from the third actuator MA3, and sending the command message from the second actuator MC32;

[0157] - when the central control unit 11 switches from reception mode to mode transmission time between receiving the acknowledgment message from the second actuator MA32 and sending the command message from the first actuator MC33;

[0158] - and the transition of the central control unit 11 from reception mode to mode resignation between the receipt of the acknowledgment message from the first actuator MA33 and the sending of the solicitation message from the first sensor MS2p

[0159] Thus, the control method 20 makes it possible to achieve, in a significantly shorter time, the same result as the control method 10, that is to say, the development and sending of commands intended for the actuators 31, 32, 33 on the basis of data collected by the sensors 21, 22, 23, 24, 25.

[0160] Driven by the desire to further reduce the duration of the iterative loop of such a control method for system 1, the inventors have developed the control method 100 shown in [Fig.4], which has the particularity of no longer being entirely centralized on the central control unit 11.

[0161] The iterative loop of the control method 100 is described in detail below, assuming that the sensors 21, 22, 23, 24, 25 are geographically arranged such that:

[0162] - the second sensor 22 can receive, and therefore detect, the messages sent by the first sensor 21;

[0163] - the third sensor 23 can receive, and therefore detect, the messages sent by the second sensor 22;

[0164] - the fourth sensor 24 can receive, and therefore detect, the messages sent by the third sensor 23 and

[0165] - the fifth sensor 25 can receive, and therefore detect, the messages sent by the fourth sensor 24.

[0166] The control method 100 of the system 1 begins like the control methods 10 and 20 previously described, namely that the central control unit 11 sends to the first sensor 21, during a step Ems2i, a first sensor solicitation message MS2[ aimed at the first sensor 21 transmitting to the central control unit 11 a first sensor data D2[ corresponding to a data collected by the first sensor 21.

[0167] In an Rms2i step, the first sensor 21 receives, from the central control unit 11, the first sensor activation message MS2i, and following this Rms2i step of receiving the first sensor activation message MS2i, the first sensor 21 implements (in a step not shown) a collection of data from first sensor D2i.

[0168] Then in an Emd2i step, the first sensor 21 sends, to the central control unit 11, a first sensor data message MD2i including the first sensor data D2i.

[0169] In an Rmd2i step, the central control unit 11 receives, from the first sensor 21, the first sensor data message MD2b, while in a Dmd2i step, the second sensor 22 detects the sending, by the first sensor 21, of the first sensor data message MD2b

[0170] In other words, the second sensor 22 detects the data message from the first sensor MD2[, and identifies the origin of said message, i.e. the first sensor 21.

[0171] More generally in what follows, whenever it is mentioned that a given sensor detects the sending, by another sensor, of a data message from that other sensor, it must be understood that this given sensor detects said data message and identifies its origin.

[0172] Following this detection step Dmd2i, implemented by the second sensor 22, of the sending of the data message from first sensor MD2b, the second sensor 22 implements (in a step not shown) a collection of data from second sensor D22, then in a step Emd22, the second sensor 22 sends, to the central control unit 11, a data message from second sensor MD22 including the data from second sensor D22.

[0173] Specifically, it is the detection by the second sensor 22 of the sending of the data message from the first sensor MD2, which triggers the emission, by the second sensor 22, of the data message from the second sensor MD22 including the data from the second sensor D22.

[0174] The central control unit 11 receives, in a step Rmd22, the data message from the second sensor MD22.

[0175] At the same time, the third sensor 23 detects, in a step Dmd22, the sending, by the second sensor 22, of the second sensor data message MD22, and following this detection Dmd22, the third sensor 23 implements (in a step not shown) a collection of a third sensor data D23, and in a step Emd23, the third sensor 23 sends, to the central control unit 11, a third sensor data message MD23 including the third sensor data D23.

[0176] Specifically, it is the detection by the third sensor 23 of the sending of the data message from the second sensor MD22 that triggers the transmission, by the third sensor 23, from the third sensor data message MD23 including the third sensor data D23.

[0177] In a step Rmd23, the central control unit 11 receives, from the third sensor 23, the third sensor data message MD23, ​​and the fourth sensor 24 detects, in a step Dmd23, the sending, by the third sensor 23, of the third sensor data message MD23.

[0178] Following this detection Dmd23, the fourth sensor 24 implements (in a step not shown) a collection of data from the fourth sensor D24, and in a step Emd24, the fourth sensor 24 sends, to the central control unit 11, a data message from the fourth sensor MD24 including the data from the fourth sensor D24.

[0179] Specifically, it is the detection by the fourth sensor 24 of the sending of the data message from the third sensor MD23 that triggers the emission, by the fourth sensor 24, of the data message from the fourth sensor MD24 including the data from the fourth sensor D24.

[0180] In a step Rmd24, the central control unit 11 receives, from the fourth sensor 24, the data message from the fourth sensor MD24.

[0181] In a step Dmd24, the fifth sensor 25 detects the sending, by the fourth sensor 24, of the fourth sensor data message MD24, and following this detection step Dmd24, the fifth sensor 25 implements (in a step not shown) a collection of a fifth sensor data D25, and in a step Emd25, the fifth sensor 25 sends, to the central control unit 11, a fifth sensor data message MD25 including the fifth sensor data D25.

[0182] Specifically, it is the detection by the fifth sensor 25 of the sending of the data message from the fourth sensor MD24 that triggers the emission, by the fifth sensor 25, of the data message from the fifth sensor MD25 including the data from the fifth sensor D25.

[0183] In a step Rmd25, the central control unit 11 receives, from the fifth sensor 25, the data message from the fifth sensor MD25.

[0184] The central control unit 11 then develops, in a step not shown and on the basis of the data D2[, D22, D23, D24, D25, a third actuator command C3i intended for the third actuator 31, a second actuator command C32 intended for the second actuator 32 and a first actuator command C33 intended for the first actuator 33.

[0185] In an Emc3i step, the central control unit 11 sends, to the third actuator 31, a third actuator command message MC3i including the third actuator command C3p

[0186] The third actuator 31, in a step Rmc3i, receives, from the central control unit 11, the third actuator command message MC3b, and then the third actuator 31 executes a third actuator action in accordance with the third actuator command C3p

[0187] In a step Emc32, the central control unit 11 sends, to the second actuator 32, a second actuator command message MC32 including the second actuator command C32.

[0188] The second actuator 32, in a step Rmc32, receives, from the central control unit 11, the second actuator command message MC32, then the second actuator 32 executes a second actuator action in accordance with the second actuator command C32.

[0189] In a step Emc33, the central control unit 11 sends, to the first actuator 33, a first actuator command message MC33 including the first actuator command C33.

[0190] The first actuator 33, in a step Rmc33, receives, from the central control unit 11, the first actuator command message MC33, then the first actuator 33 executes a first actuator action in accordance with the first actuator command C33.

[0191] A new iterative loop of the control process 100 then begins with a new sending step in which the central control unit 11 sends, to the first sensor 21, a new first sensor solicitation message aimed at having the first sensor 21 transmit to the central control unit 11 a new first sensor data.

[0192] Compared to control methods 10 and 20, control method 100, whose iterative loop has been previously described, has the advantage of eliminating the four solicitation messages MS22, MS23, MS24, MS25, since sensors 22, 23, 24, 25 respectively take advantage of the data messages MD2b MD22, MD23, ​​MD24, whose transmission they detect, to respectively:

[0193] - switch each from reception mode to transmission mode;

[0194] - implement a collection of data D22 D23, D24 D25;

[0195] - and send MD22, MD23, ​​MD24, and MD25 data messages to the central control unit

[0196] Furthermore, the sensors 22, 23, 24, 25 only need to detect the sending of the MD2, MD22, MD23, ​​MD24 messages, and not to decrypt the content in its entirety of these messages. Also, they take advantage of the transmission time of the MD2i, MD22, MD23, ​​MD24 messages, and in particular of the time of decryption of these messages by the central control unit 11, to switch from reception mode to transmission mode, the control process 100 thus also saving the corresponding turnaround times.

[0197] In order to further reduce the duration of the iterative loop of the control method of system 1, the inventors have developed the control method 100' shown in [Fig.5], which saves the sending of the first sensor solicitation message MS2i.

[0198] To do this, it could be envisaged that a user could directly perform an action on the first sensor 21, such as for example pressing a dedicated button on the first sensor 21, in order to cause the latter to emit a first data message from the first sensor MD2i without having been initially solicited by the central control unit 11.

[0199] However, such an eventuality does not seem optimal from a practical point of view, and has the disadvantage of requiring the implementation of a concrete action on the part of a user.

[0200] Thus, advantageously and as shown in [Fig.5], the iterative loop of the control process 100' begins with the detection, by the first sensor 21 in a step Dmc33, of the sending, by the central control unit 11 and to the first actuator 33, of the first actuator control message MC33, which may for example include a message content corresponding to a null command, so that the first actuator 33, upon receiving this first actuator control message MC33, does not carry out a command.

[0201] Having detected the sending of the command message from the first sensor MC33, the first sensor 21 switches from receive mode to transmit mode, implements a collection of data from the first sensor D2i and sends, during the Emd2i step, a sensor data message MD2i including the data from the first sensor D2i to the central control unit 11.

[0202] The continuation of the iterative loop of the control process 100' unfolds like the iterative loop of the control process 100, the former therefore advantageously saves the transmission time of a sensor solicitation message MS2i.

[0203] In order to be able to determine precisely the advantage in terms of iterative loop duration offered by control methods 20, 100 and 100' compared to control method 10, it is now necessary to determine the transmission times of the different messages exchanged on the shared communication channel.

[0204] To communicate in a simplified and robust manner on said shared communication channel, phase-change modulation is used, and in particular QPSK modulation (for “Quadrature Phase-Shift Keying” in English terminology).

[0205] Although other types of modulation can be used, such QPSK modulation, which uses a constellation diagram with four points equidistant around a circle, has the advantage of encoding two bits per QPSK symbol.

[0206] Such QPSK modulation has a spectral efficiency of 2 bits per second per Hertz (2 bit / s / Hz), which means that the bit rate on the 100 MHz (2.4 GHz - 2.5 GHz) frequency band used reaches 200 Megabits per second (200 Mb / s).

[0207] The "duration" of a QPSK symbol (carrying two bits of information) is therefore 10 nanoseconds (10 ns).

[0208] As mentioned previously, different types of messages can be sent on system 1:

[0209] - sensor solicitation messages (corresponding to MS2i, MS22, MS23, MS24, MS25) issued by the central control unit 11 to sensors 21, 22, 23, 24, 25. Each of these solicitation messages includes: • A preamble composed of ten QPSK symbols, and which therefore represents a transmission time of 10*10=100 ns; • A type consisting of a QPSK symbol and representing a transmission time of 10 ns; • A target sensor identifier composed of ten QPSK symbols and which represents a transmission time of 10*10=100 ns.

[0210] Each sensor solicitation message therefore represents a total transmission time of 100+10+100=210 ns.

[0211] - sensor data messages (corresponding to MD2b MD22 messages) , MD23, ​​MD24, MD25) emitted by each of the sensors 21, 22, 23, 24, 25 to the central control unit 11. Each of these sensor data messages includes: • A preamble composed of ten QPSK symbols, and which therefore represents a transmission time of 10*10=100 ns; • A type consisting of a QPSK symbol and representing a transmission time of 10 ns; • A source sensor identifier composed of ten QPSK symbols and which represents a transmission time of 10*10=100 ns; • A content size consisting of five QPSK symbols and representing a transmission time of 10*5=50 ns; • A message content composed of forty QPSK symbols and which represents a transmission time of 10*40=400 ns.

[0212] Each sensor data message therefore represents a total transmission time of 100+10+100+50+400=660 ns. Furthermore, it should be noted that the detection by a third-party sensor of the transmission of such a sensor data message simply implies that the third-party sensor becomes aware of the preamble, the type, and the identifier of the source sensor, without needing to read the rest of the message.

[0213] - actuator command messages (corresponding to MC3 messages), MC32 , MC33) issued by the central control unit 11 to the actuators 31, 32, 33. Each of these actuator control messages includes: • A preamble composed of ten QPSK symbols, and which therefore represents a transmission time of 10*10=100 ns; • A type consisting of a QPSK symbol and representing a transmission time of 10 ns; • A target actuator identifier composed of ten QPSK symbols and which represents a transmission time of 10*10=100 ns; • A content size consisting of five QPSK symbols and representing a transmission time of 10*5=50 ns; • A message content composed of forty QPSK symbols and which represents a transmission time of 10*40=400 ns.

[0214] Each actuator command message therefore represents a total transmission time of 100+10+100+50+400=660 ns. Furthermore, it should be noted that the detection by a sensor of the sending of such an actuator command message simply implies that said sensor becomes aware of the preamble, the type and the identifier of the target actuator, without needing to be aware of the rest of the message.

[0215] - actuator acknowledgment messages (corresponding to MA3 messages, , MA32, MA33) emitted by each of the actuators 31, 32, 33 to the central control unit. Each of these actuator acknowledgment messages includes: • A preamble composed of ten QPSK symbols, and which therefore represents a transmission time of 10*10=100 ns; • A type consisting of a QPSK symbol and representing a transmission time of 10 ns; • A source actuator identifier composed of ten QPSK symbols and which represents a transmission time of 10*10=100 ns.

[0216] Each actuator acknowledgment message therefore represents a total transmission time of 100+10+100=210 ns.

[0217] In addition, and as mentioned above, each of these electronic devices (actuators, sensors, central control unit) needs a turnaround time to switch from message transmission mode to message reception mode and vice versa, and in some cases, the turnaround times of two electronic devices communicating with each other may overlap.

[0218] Specifically, the turnaround time is 100 ns for each of the electronic devices of system 1.

[0219] In addition, the development of the commands C31, C32, C33 by the central control unit takes a calculation time equivalent to 1000 ns.

[0220] Based on the above, the period of the respective iterative loops of the control processes 10, 20, 100 and 100' is determined taking into account each of the different messages exchanged, the time required to develop the commands and the turnaround times required for the devices to switch from receive mode to transmit mode when necessary.

[0221] Period of the iterative loop of the control process 10

[0222] The control method 10 comprises:

[0223] - Five sensor solicitation messages MS2i, MS22, MS23, MS24, MS25, the duration of transmission of each of these messages being 210 ns;

[0224] - Five sensor data messages MD2, MD22, MD23, ​​MD24, MD25, the duration of transmission of each of these messages being 660 ns;

[0225] - Five flip-flops (corresponding to five flip times of 100 ns each) so that each of the five sensors 21, 22, 23, 24 can switch from receive mode (to receive the corresponding solicitation message) to transmit mode (to transmit its own data message). Note that at the same time, the central control unit 11 switches from transmit mode (to transmit the solicitation message to the sensor in question) to receive mode (to receive the sensor data message from that sensor);

[0226] - Five additional flips (corresponding to five flip times of 100 ns each) corresponding to five transitions of the central control unit 11 from the reception mode (to receive the data message from each of the sensors 21, 22, 23, 24, 25) to the transmission mode (to send the solicitation message to the next sensor and in the last case to send the command message to the actuator 31);

[0227] - A computation time of 1000 ns for command generation C31, C32, C33 by the central control unit 11;

[0228] - Three actuator command messages MC3i, MC32, MC33, the duration of transmission of each of these messages being 660 ns.

[0229] - Three actuator acknowledgment messages MA3b MA32, MA33, the duration of transmission of each of these messages being 210 ns.

[0230] - Three flip-flops (corresponding to three flip times of 100 ns each) so that each of the three actuators 31, 32, 33 can switch from receive mode (to receive the command message corresponding to it) to transmit mode (to transmit its own acknowledgment message). Note that at the same time, the central control unit 11 switches from transmit mode (to transmit the command message to the actuator in question) to receive mode (to receive the acknowledgment message from that actuator);

[0231] - Three additional flips (corresponding to three flip times of 100 ns each) corresponding to three transitions of the central control unit 11 from the reception mode (to receive the acknowledgment message from each of the actuators 31, 32, 33) to the transmission mode (to send the command message to the next actuator and in the last case to send the MS2i solicitation message to the sensor 21).

[0232] An iterative loop, or cycle, of the control process 10 therefore lasts:

[0233] 5*(210+100+660+100) + 1000 + 3*(660+100+210+100) = 9560 ns.

[0234] The rate of the control process 10, that is to say the frequency of its cycle, is therefore about 105 kHz.

[0235] Period of the iterative loop of the control process 20

[0236] Compared to control method 10, the iterative loop of control method 20 does not include the three actuator acknowledgment messages MA3[, hdA32, h4A33.

[0237] Consequently, the iterative loop of the control method 20 also includes six fewer flips compared to the control method 10, since each of the actuators 31, 32, 33 no longer has to switch to the transmit mode (no longer transmitting acknowledgment messages), while the central control unit remains in the transmit mode between the instant corresponding to the transmission of the control message MC3[ to the actuator 31, and the instant corresponding to the reception of the sensor data message MD2[ from the sensor 21.

[0238] An iterative loop, or cycle, of the control process 20 therefore lasts:

[0239] 5*(210+100+660+100) + 1000 + 3*660 = 8330 ns, or 1230 ns less than the iterative loop of the control process 10.

[0240] The rate of the control process 20, that is to say the frequency of its cycle, is therefore about 120 kHz.

[0241] Period of the iterative loop of the control process 100

[0242] Compared to control method 20, the iterative loop of control method 100 does not include five but only one sensor solicitation message (the one sent to sensor 21). Furthermore, the iterative loop of control method 100 includes only two flip-flops, notably because sensors 22, 23, 24, 25 use part of the transmission time of messages MD2i, MD22, MD23, ​​MD24 respectively to switch from receive mode (necessary to detect and therefore receive each of these data messages from the sensor preceding them in the loop) to transmit mode (to send their own sensor data message).

[0243] Indeed, to perform the detection steps Dmd2i, Dmd22, Dmd23, Dmd24 respectively, sensors 22, 23, 24, 25 only need to receive the preamble and the type of said messages. Once these elements are received, sensors 22, 23, 24, 25 then know that the sensor preceding them in the loop has sent its sensor data message to the central control unit 11, and use the remaining transmission time of said message (corresponding to the part of the data message corresponding to the size and content) to switch from receive mode to transmit mode.

[0244] Thus, in the iterative loop of the control process 100, only the sensor 21 requires a turnaround time to switch from the reception mode (to receive the solicitation message MS2i) to the transmission mode (to transmit the data message MD2[), this turnaround time being also used by the central control unit 11 to switch from the transmission mode to the reception mode, the central control unit then remaining in the reception mode until the transmission of the control message MC3[ to the actuator 31 (which therefore requires a second turnaround time).

[0245] An iterative loop, or cycle, of the control process 100 therefore lasts:

[0246] 210 + 100 + 5*660 + 1000 + 100 + 3*660 = 6690 ns, or 1640 ns less than the iterative loop of the control process 20.

[0247] The rate of the control process 100, that is to say the frequency of its cycle, is therefore about 150 kHz.

[0248] Period of the iterative loop of the control process 100'

[0249] Compared to control method 100, the iterative loop of control method 100' includes one less solicitation message, since the central control unit 11 no longer sends the solicitation message MS2[ to the sensor 21, the latter being in fact directly activated via the detection of the sending, by the central control unit of the control message MC33 to the sensor 33.

[0250] An iterative loop, or cycle, of the 100' control process therefore lasts:

[0251] 100 + 5*660 + 1000 + 100 + 3*660 = 6480 ns, which is 1850 ns less than the loop iterative of the control process 20.

[0252] The rate of the control process 100, that is to say the frequency of its cycle, is therefore about 154 kHz.

[0253] Thanks to the provisions of the invention, the system 1 can be automatically controlled more efficiently, with an operating rate higher than those offered by state-of-the-art control methods.

[0254] In order to configure system 1 so as to enable it to implement control method 100 and / or control method 100', a configuration method is implemented, which includes the following steps:

[0255] The central control unit 11 broadcasts a message to switch to discovery mode, which is received by the first sensor 21, the second sensor 22, the third sensor 23, the fourth sensor 24, the fifth sensor 25, the first actuator 33, the second actuator 32, the third actuator 31.

[0256] Upon receiving the message to switch to discovery mode, each of said sensors 21, 22, 23, 24, 25 and actuators 31, 32, 33, immediately or after a waiting period specific to it, emits an identification message containing their respective identifiers as well as information on the visibility they have on neighboring nodes, i.e. on the sensors and / or actuators that are within their range.

[0257] Advantageously, the fact that at least some of said sensors 21, 22, 23, 24, 25 and actuators 31, 32, 33 emit their respective identification messages after a certain waiting time makes it possible to avoid the simultaneous presence on the network of too many identification messages.

[0258] The central control unit receives the respective identification messages from each of the sensors 21, 22, 23, 24, 25 and actuators 31, 32, 33.

[0259] In addition, each of the sensors 21, 22, 23, 24, 25 and actuators 31, 32, 33 receives the respective identification messages from its neighboring nodes, which allows them to update the visibility information they have on the neighboring nodes. Following this update, the sensors 21, 22, 23, 24, 25 and actuators 31, 32, 33 whose visibility information has been updated again transmit an updated identification message, which is received by the central control unit.

[0260] Once the visibility information of each of the sensors 21, 22, 23, 24, 25 and actuators 31, 32, 33 has been adequately updated, the central control unit develops the iterative loop of the control process 100, 100' on the basis of the respective identification messages received from each of the sensors 21, 22, 23, 24, 25 and actuators 31, 32, 33, and in particular the order in which each of the sensors 21, 22, 23, 24, 25 will send its sensor data message.

[0261] Based on the elaborate iterative loop, the central control unit 11 sends, to each sensor 22, 23, 24, 25, a specific message informing it of the sensor that precedes it in the iterative loop.

[0262] Still on the basis of the elaborated iterative loop and in the particular case of a configuration aimed at implementing the control method 100', the central control unit 11 sends, to the first sensor 21, a specific message informing it of the actuator which precedes it in the iterative loop.

[0263] Each of the sensors 21, 22, 23, 24, 25 of system 1 is then properly configured for the implementation of the control process 100, 100' of system 1, which can then leave discovery mode and switch to nominal operating mode in which the control process 100, 100' is implemented.

[0264] The invention is obviously not limited to the embodiment described in detail above, and encompasses all embodiment variants within the grasp of a person skilled in the art. For example, the various messages exchanged between the electronic devices (sensors and actuators) and the control unit may have structures and / or transmission durations distinct from those defined above.

Claims

Demands

1. A control method (100, 100') for a system (1) comprising a first sensor (21), a second sensor (22), a central control unit (11), a first actuator (33), the control method (100, 100') comprising: • A step (Emd2i) of sending, by the first sensor (21) to the central control unit (11), a first sensor data message (MD2i) comprising first sensor data (D2i); • A step (Rmd2i) of receiving, by the central control unit (11), the first sensor data message (MD21); • A step (Dmd2i) of detecting, implemented by the second sensor (22), the sending by the first sensor (21) of the first sensor data message (MD2);• Following the detection step (Dmd2i), a step (Emd22) of sending, by the second sensor (22) to the central control unit (11), a second sensor data message (MD22) including a second sensor data (D22); • A step (Rmd22) of receiving, by the central control unit (11), the second sensor data message (MD22); • A step of processing, implemented by the central control unit (11), a command for the first actuator (C33) based on at least one of the first sensor data (D2) or the second sensor data (D22).

2. Control method (100, 100') according to claim 1, further comprising a step (Emc33) of sending, by the central control unit (11) to the first actuator (33), a first actuator control message (MC33) comprising the first actuator control (C33).

3. Control method (100, 100') according to claim 2, further comprising the following steps: • A step (RmC33) of receiving, by the first actuator (33), the first actuator command message (MC33); • A step of executing, by the first actuator (33), at least one first actuator action conforming to the first actuator command (C33).

4. A control method (100) according to any one of claims 1 to 3, further comprising: • A step (Ems2i) of sending, by the central control unit (11) to the first sensor (21), a first sensor solicitation message (MS21); • A step (Rms2i) of receiving, by the first sensor (21), the first sensor solicitation message (MS21), the step (Emd2i) of sending the first sensor data message (MD2)) being implemented by the first sensor (21) following the step (Rms2i) of receiving the first sensor solicitation message (MS2i).

5. Control method (100') according to claim 2 or claim 3, further comprising a detection step (Dmc33), implemented by the first sensor (21), of the sending by the central control unit of the first actuator control message (MC33) to the first actuator (33), the step (Emd2i) of sending the first sensor data message (MD2i) being implemented by the first sensor following said detection step (Dmc33).

6. System (1) comprising: • A first sensor (21); • A second sensor (22) capable of detecting the transmission by the first sensor (21) of a first sensor data message (MD2i) and configured to, following this detection, send, to the central control unit (11), a second sensor data message including second sensor data; • A central control unit (11) capable of receiving the first sensor data message (MD2i) sent by the first sensor (21) and of receiving a data message of a second sensor (MD22) sent by the second sensor (22); • A first actuator (33) capable of receiving a control message from the first actuator (MC33) sent by the central control unit (11); Said system (1) being capable of implementing the control method (100, 100') of one of claims 1 to 5.

7. System (1) according to claim 6, wherein the first sensor (21) is configured to detect the sending, by the central control unit, of the first actuator control message (MC33) and to, following this detection, send to the central control unit the first sensor data message (MD21).

8. A method for configuring a system (1) according to at least one of claims 6 or 7, said system comprising a first sensor, a second sensor, a central control unit and a first actuator, the configuration method being implemented by the central control unit and comprising the following steps: • A step of sending a discovery mode switch message to the first sensor, the second sensor and the first actuator; • A step of receiving a first sensor identification message from the first sensor; • A step of receiving a second sensor identification message from the second sensor; • A step of receiving a first actuator identification message from the first actuator;• A step of developing the iterative loop of a system control process based on the identification message of the first sensor, the identification message of the second sensor and the identification message of the first actuator; • A step of sending, to the second sensor (22), a message indicating to the second sensor (22) that the;

9. first sensor (21) precedes it in the iterative loop of the control process (100, 100'). Configuration method according to claim 8, further comprising a step of sending, to the first sensor (21), a message indicating to the first sensor (21) that the first actuator (33) precedes it in the iterative loop of the control method (100').

Images