FR3038400A1 - SENSOR DEVICE PROVIDED FOR ONBOARD ON A ROBOTIC VECTOR, DRONE EQUIPPED WITH SUCH A DEVICE. - Google Patents

Abstract

The invention relates to a sensor device (100) intended to be embedded by a robotic vector, in particular a robotic remote-controlled vector of the drone type, comprising at least one data processing module (124), characterized in that it comprises at least two modules (1061-1064), called sensor modules, removable or removable, each comprising a physical interface (1081-1084), said module interface, comprising: an identical connector (1122, 1124), said module connector, for connecting said sensor module (1061-1064) to said processing module (124); and at least one connector (1101-1104), called sensor connector, specific to a sensor of a physical quantity and designed to connect said sensor to said sensor module (1061-1064). It also relates to a drone equipped with such a sensor device and a system comprising such sensor devices (100).

Description

"Sensor device intended to be embedded on a robotic vector, drone equipped with such a device"

The present invention relates to a sensor device intended to be embedded on a robotic vector such as a flying, rolling or floating drone, for measuring and / or monitoring a physical quantity. It also relates to a drone equipped with such a sensor device.

The field of the invention is the field of sensor devices of dimensions and weight such that they can be embedded on very small drones, in particular remote-controlled drones, in particular drones whose largest dimension is less than or equal to 5 meters in diameter and weight less than or equal to 200kg.

STATE OF THE ART The use of robotic vectors, of the drone type, is in full growth. UAVs can be used in a multitude of areas, such as measuring and / or monitoring air or water quality, monitoring the condition of a crop, mapping a building or area, etc. To perform such a measurement / monitoring, the drones are equipped with various sensors each intended to detect or measure a physical quantity, such as the amount of CO2, the power of a radiation of a given wavelength, or simply a sensor images.

However, in most areas of application, drones are equipped with sensors, each dedicated to a specific measurement, and which are integrated into the drone. When it is necessary to measure a new physical quantity, for which no sensor is provided in the drone, it is then essential to modify the drone itself to incorporate a specific sensor dedicated to the measurement of the new physical quantity. .

Such an operation can not be carried out by the user and it is necessary to call on an operator experienced in the design of drones. In addition, it is not always possible to add a posteriori sensor an existing drone without profound modification of the architecture of the drone.

There is also a solution for adding one or more external sensors to the drone, such as a camera attached to a chassis of the drone. Although this solution avoids a profound modification of the drone itself, it remains time-consuming and complex. In addition, the number of sensors that can be attached to an outer frame of a drone remains low.

An object of the present invention is to overcome these disadvantages.

Another object of the invention is to provide a sensor device, intended to be embedded on a robotic vector, allowing a greater modularity of sensors that can be used.

Yet another object of the invention is to provide a sensor device, intended to be embedded on a robotic vector, allowing a simpler and less time-consuming change of sensors.

Yet another object of the invention is to provide a sensor device, intended to be embedded on a robotic vector, allowing on-the-fly personalization of the sensors used.

Finally, another object of the invention is to provide a sensor device, intended to be embedded on a robotic vector, allowing a sensor change without modification of the robotic vector.

DISCLOSURE OF THE INVENTION The invention makes it possible to achieve at least one of these aims by a sensor device intended to be embedded on a robotic vector, in particular a robotic remote-controlled vector of the drone type, comprising at least one processing module. of data, characterized in that it comprises at least two modules, called sensor modules, removable or removable, each comprising a physical interface, said module interface, comprising: - an identical connector, said module connector, for connecting said module sensor to said processing module; and at least one connector, referred to as a sensor connector, specific to a sensor of a physical quantity and designed to connect said sensor to said sensor module.

Thus, the invention provides a sensor device to which it is possible to connect one or more sensors using an identical module connector, regardless of the sensors in question. According to the invention, the sensor device is attached to the robotic vector, of the drone type, and the various sensors desired by the user can be connected to the sensor device removably or removably using sensor modules.

Thus, the device according to the invention makes it possible to add or remove an on-board sensor by a drone, without having to modify the drone, or intervene on said drone, or even manage the type of connection. Therefore, the device according to the invention offers a greater modularity in the choice of the use of sensors with a robotic drone and a possibility of customization on the fly of the combination of sensors used.

In addition, each sensor module can be fixed or removed removably, and preferably removable, the addition or removal of a sensor can be achieved in a simple, fast, ergonomic and without operator intervention.

More particularly, when a sensor module is provided to receive at least two identical or different sensors, the module connector is common to the sensors, at least for one direction of communication, that is to say for communications to and / or from the processing module.

The module connector may be arranged to provide communication with a plurality of sensors inserted in / on said sensor module in series or in parallel.

When the communication between the sensors and the processing module is bidirectional, each sensor module may comprise a first module connector for communication in one direction, for example from the sensors to the processing module, and a second module connector, identical or different from the first module connector, for the communication in the opposite direction, that is to say from the processing module to the sensors.

Alternatively, even when the communication between the sensors and the processing module is bidirectional, each sensor module may comprise a single module connector providing said bidirectional communication.

According to a preferred embodiment, the device according to the invention may further comprise a physical interface, called gateway interface, arranged between said at least one processing module and each sensor module, comprising: a plurality of identical connectors, called gateway connectors , each complementary to the module connector and provided for connecting a sensor module to said gateway interface, and - at least one common connection means at least two sensor modules, for connecting said sensor modules to said processing module.

Thus, the gateway interface makes it possible to carry out a communication between the processing module and the sensors, with a common means of communication, namely either a wired connector or a wireless connection means such as WIFI, BLUETOOTH, NFC, etc. . The communication between the processing module and each sensor can be performed in series or in parallel, wired or wireless, depending on the communication protocol and the nature of the connection means used.

When the communication between the sensors and the communication module is bidirectional, the gateway interface may comprise a first means of communication, wired or wireless, common for communication in one direction, for example from the sensors to the processing module, and a second connection means, identical or not to the first connector, wired or wireless, for communication in the opposite direction, that is to say from the processing module to the sensors.

Such an interface thus makes it possible to avoid providing a communication means for each sensor module, and thus allows space savings, a simpler architecture and a reduction in the cost for the device according to the invention.

According to a particular exemplary embodiment, the gateway interface may comprise a first wired connector, such as a common pin connector 25 for communication from the sensors to the processing module, and a second wired connector, such as a 25-pin ribbon connector, common for communication from the processing module to the sensors.

According to another exemplary embodiment, the gateway interface may comprise a single 75-pin ribbon connector performing both the communication from the sensors to the processing module and the communication from the processing module to the sensors.

The device according to the invention may further comprise at least one energy source, the module connector of at least one, in particular of each sensor module comprising at least one power supply port intended to supply at least one sensor measuring device disposed in said module from said source of energy.

Thus, it is not necessary to provide in each sensor or in each sensor module a power source, which further increases the flexibility and modularity of the device according to the invention in terms of sensors.

Such an energy source may be a battery or a means of producing energy of the solar or wind type.

Preferably, at least one, in particular each, gateway connector comprises at least one power port provided for supplying at least one, in particular each, sensor module from said power source.

In addition, when the common connection means of the gateway interface comprises, at least in the processing module direction to the sensor modules, a common wire connector, said common wire connector may also include a power port provided to receive from the power source the electrical supply signal and transmit it wired to each gateway connector.

Alternatively, the electrical supply signal can be transmitted to each gateway connector by a port independent of the common connection means, particularly when the common connection means of the gateway interface is wireless in nature.

Advantageously, the device according to the invention may further comprise, for at least one, in particular each sensor module, a receiving housing, into which at least a portion of said sensor module is inserted.

Such a housing may include one or more forms of guidance for insertion and / or positioning and / or proper maintenance (e) of the sensor module.

Alternatively, or in addition, at least one sensor module may comprise a receiving housing, designed to receive at least in part a male positioning and / or holding member, provided on the rest of the device according to the invention.

According to the invention, at least one sensor module may comprise at least one sensor, in particular several sensors, chosen from the following list: at least one environmental or abiotic sensor of the pressure sensor type, temperature, humidity, hygrometry, illumination such as a luxmeter, geolocation such as a GPS and / or direction such as a magnetic compass; at least one optical sensor for measuring infrared, near-infrared and / or visible radiation; and at least one gas sensor for measuring an amount of NOx, VOC, CO, CO2, sulfuric derivatives, hydrocarbons, NH3, HCI, SO2, N2O, CH4, HC, HF, H2S, TRS, O2, H2O, dust, dioxin and / or mercury.

Of course, this list is by no means exhaustive or limiting.

Furthermore, the device according to the invention may further comprise a wireless communication module, mono- or multi-protocol, with a remote device through a wireless communication network, or with the robotic vector carrying said device sensor.

Such a communication module can be arranged and configured to perform WIFI, BLUETOOTH, NFC, etc. wireless near-field communication, and / or a longer-range wireless radio communication type GPRS, 3G, 4G, 5G, etc.

Such a communication module can be used to communicate to said external device or to said robotic vector the data / signals provided by the sensors.

Alternatively, or in addition, the sensor device according to the invention may comprise a wired communication port, in series or in parallel, for example of the RJ45 or RS232 type, with an external device. Such a communication port may be used to transmit, to said external apparatus, the data / signals supplied by the sensors and / or to transmit signals to the sensor device, for example for parameterizing a component of said device and / or at least one sensor.

The transmission of the data / signals supplied by the sensors to an external device or to a remote server can be carried out continuously.

Alternatively, the data / signals provided by the sensors can be transmitted to an external device or to a remote server at a predetermined frequency, or at the end of a measurement / monitoring campaign. In this case, the device according to the invention may comprise a storage means, in which these data / signals are memorized, at least until their transmission.

Such a storage means may be integrated in the device according to the invention or removable.

In addition, the device according to the invention may comprise a storage means, storing a plurality of computer programs, each of which makes it possible to interact with a sensor.

Thus, it is possible to store at the device level a multitude of computer programs allowing the use of a multitude of sensors. Such a feature allows "plug and play" or "PnP" use of a multitude of sensors, which further increases the flexibility and modularity of the device according to the invention.

The device according to the invention may comprise a power supply management module, designed to supply, individually, each of the sensors from the same energy source, with a view for example to: - adapting the power for each sensor, and / or - turn on or off a sensor, according to a parameterization previously entered or a control signal.

Of course, the device according to the invention further comprises a fixing means, removable or removable, said device on the robotic vector, for example on a flying, rolling or floating drone.

According to a particular example of embodiment, but in no way limiting, the device according to the invention can comprise: a part, called body, comprising the processing module, and if necessary, a source of energy, a management module of power supply, a communication module, a wired communication port, and a securing means; and a part, called said head, connected to said body, in particular integrally, and comprising the sensor modules, and optionally the gateway interface.

Advantageously, the head can be removable, or even removable from the body, thus allowing a second degree of modularity, in addition to detachable or removable sensor modules. Indeed, a user can provide two different heads, each equipped with a different combination of sensors for a specific application. In this case, the user can switch from one application to another, by directly replacing the head of the sensor device, without having to change each sensor individually.

In addition, the head of the device according to the invention may advantageously be movable relative to the body in at least one, in particular in each direction of space, which allows an adjustable positioning of the sensors.

The device according to the invention can be used for measurement or monitoring in a multitude of fields, namely for example the measurement and / or monitoring of agricultural crops, the quality of the air, the quality of the water, road traffic, the field of cartography, the weather, the energy performance study of a building, the surveillance of photovoltaic panels, etc.

According to another aspect of the invention there is provided a drone, in particular a remotely controlled drone, comprising a sensor device according to the invention.

Such a drone can be a rolling drone, a fixed-wing drone or a rotary-wing drone or a floating drone.

According to yet another aspect of the invention there is provided a system for measuring and / or monitoring at least one physical parameter comprising: at least one, in particular a plurality of sensor device (s) according to the invention, or at least one, in particular a plurality of drone (s) according to the invention; and a server, called central, connected to each sensor device through a wireless communication network, such as for example a GRPS mobile network, 3g, 4G, 5G, to: receive from of each sensor device at least one piece of data relating to a measurement made by at least one sensor, and possibly transmitting a control signal from said device or from at least one sensor of said sensor device.

The central server may further comprise a processor for processing the data / signals received from at least one sensor device, applying at least one predetermined process.

The system may further comprise a human-machine interface, enabling a user to: - enter data relating to at least one desired treatment to be applied to the data / signals received from at least one sensor device; and / or - consult the data / signals received from at least one sensor device, or the result relating to at least one processing applied to the data / signals received from at least one sensor device.

Such an HMI may be accessible through an Internet browser and / or a client application installed on a user's device such as a computer or a smartphone.

DESCRIPTION OF THE FIGURES AND EMBODIMENTS Other advantages and characteristics will appear on examining the detailed description of a non-limiting embodiment, and the appended drawings in which FIG. 1 is a non-limiting schematic representation of a sensor device according to the invention; FIGS. 2 and 3 are diagrammatic representations of an exemplary embodiment of a sensor device according to the invention; FIG. 4 is a non-limiting schematic representation of an example of a drone equipped with a sensor device according to the invention; and FIG. 5 is a non-limiting schematic representation of a system example according to the invention;

It is understood that the embodiments which will be described in the following are in no way limiting. It will be possible to imagine variants of the invention comprising only a selection of characteristics described below, isolated from the other characteristics described, if this selection of characteristics is sufficient to confer a technical advantage or to differentiate the invention from of the prior art. This selection comprises at least one preferably functional characteristic without structural details, or with only a part of the structural details if this part is only sufficient to confer a technical advantage or to differentiate the invention from the state of the prior art.

In the figures, the elements common to several figures retain the same reference.

FIGURE 1 is a schematic non-limiting representation of a sensor device according to the invention.

The sensor device 100 is shown in FIGURE 1 in an exploded representation.

The device 100 comprises a head 102 and a body 104, four sensor modules IO61-IO64, each designed to receive one or more sensors (not shown in FIG. 1) of a physical quantity.

Each IO61-IO64 sensor module comprises a physical module interface, respectively IO81-IO84, disposed at the bottom of each IO61-IO64 sensor module. In FIGURE 1, the IO81-IO84 module interfaces are shown separately from the IO61-IO64 sensor modules for clarity.

Each IO81-IO84 module interface comprises on the sensor side, one or more specific connectors IIO1-IIO4 for modularly and flexibly connecting one or more sensors to said IO81-IO84 module interface. Of course the number of specific connectors on each module interface 108 may be the same or different. In addition, at least two module interfaces 108 may comprise at least two identical or different specific connectors.

Each interface module IO81-IO84 comprises on the opposite side to the sensors a single connector 112, said module connector, identical for all IO81-IO84 module interfaces. In FIGURE 1, only the module connectors 1122 and 1124 of the IO82 and IO84 module interfaces are visible.

In the example shown, the connectors 112 are 75-pin ribbon connectors that are anti-tear and shielded.

In addition, the head forms a housing in which the sensor modules IO61-IO64 are inserted at least in part.

The device 100 further comprises a physical interface 114, said gateway interface disposed between the sensor modules IO61-IO64, therefore IO81-IO84 module interfaces, and the body 104 of said device 100. This gateway interface 114 is arranged in the bottom of the head 102 on the body side 104. The gateway interface 114 comprises, on the side of the IO61-IO64 sensor modules, a physical connector II61-IO64, called the gateway connector, for each complementary IO61-IO64 sensor module. to the module connector 112. In other words, all II61-IO64 gateway connectors are identical to each other. The gateway interface 114 comprises, on the side of the body 104, that is to say on the opposite side to the sensor modules IO61-IO64, two physical connectors, 118i and II82, common to all the sensor modules IO61-IO64 that is, all the II61-IO64 gateway connectors. These two connectors II81 and II82 ensure the communication of all the sensors arranged in all the sensor modules IO61-IO64 with the body 104 of the device, via two respective connectors 120i and 1202, complementary to the connectors II81 and II82, disposed on a physical interface 122, said body, arranged on the body 104 of the device 100.

In the example shown, each connector 118 is a 25 pins connector. Alternatively the connectors II81 and II82 can be replaced by a single connector type connector 75-pin tablecloth.

Each connector, 110, 112, 116, 118 and 120 also has one or two power ports, to power each sensor independently. In other words, in addition to transmitting the mono- or bidirectional communication signals, each connector 110, 112, 116, 118 and 120 also carries the power signal supplied by a power source of said device. Alternatively, the supply of each sensor may be performed by independent connectors of at least a portion of the connectors 110, 112, 116, 118 and 120.

Each interface 108, 114 and 122 may be in the form of an electronic card comprising the connectors, and possibly other components necessary for the operation of each connector. In addition, the interfaces 108 and 114 may further comprise means for mechanical fixing of the sensor modules 106 in the head 114.

Alternatively to what is described above, connectors II81 and II82 can be replaced by a single connector. According to yet another alternative, one or both connectors II81 and II82 may be replaced by a wireless communication means. In this case, the connectors 120i and / or 1202 will be modified accordingly.

The body 104 of the device 100 comprises a processing module 124, such as a processor, arranged and configured to process the data / signals received from the sensors, and possibly send control signals to each of the sensors.

The body 104 also comprises: a battery 126 for supplying the components of the device 100 and possibly the sensors; a power supply card 128 for managing the power supply of the various components of the device 100, and possibly sensors; a memory 130 for storing drivers for communicating with the sensors, and possibly the data sent by the sensors before they are transmitted, or else data for parameterizing at least one component of the device 100 or at least one sensor; a communication card 132, associated with an antenna 134, for communicating wirelessly with a drone equipped by the device 100, or a remote device through a wireless communication network; and a connection port 136, of the RJ45 type, making it possible to communicate in a wired manner with said device.

FIGURE 2 is a schematic representation, in a side view, of an exemplary embodiment of a sensor device.

FIGURE 3 is a schematic representation, in a front view, of the sensor device 200 of FIGURE 2.

The sensor device 200 shown in FIGS. 2 and 3 comprises all the elements of the sensor device 100 of FIGURE 1, except for the sensor module 1064.

The sensor device 200 further comprises a slide fastener 202 allowing both to carry it manually and to fix it on a robotic vector of the drone type.

The device 200 further comprises feet 204 allowing one hand to place it on the ground, and secondly, a flying drone equipped with the device 200 to land on the ground when the device 200 is positioned under the drone.

In the device 200, the head 102 is arranged rotatably relative to the body 104 about a substantially horizontal axis of rotation 206 when the drone is placed on a horizontal surface on its feet 204.

FIGURE 4 is a schematic representation of a non-limiting example of a drone equipped with a sensor device according to the invention. The assembly 400 shown in FIGURE 4 comprises a flying drone 402 comprising four relative propellers, 404i-4044, arranged in pairs, on two opposite sides of the drone. The assembly also comprises a sensor device according to the invention, for example the sensor device 200 of FIGURES 2 and 3, fixed on a lower face of the chassis of the drone 402 via the slide 202.

Of course, the invention is not limited to flying drones. The sensor device according to the invention can be attached to a floating drone, or to a rolling drone.

FIGURE 5 is a schematic representation of a non-limiting example of a system according to the invention.

The system 500 shown in FIG. 5 comprises a plurality of 400i-400n drones, each equipped with a sensor device according to the invention. Each sensor device may comprise the same sensors or different sensors. In the example of FIGURE 5, the 400i drone is equipped with mapping sensors of a structure, the 400i drone is equipped with air quality monitoring sensors and the 400n drone is equipped with sensors for characterization of the aircraft. agricultural crops.

Each equipped UAV 400 is connected to a remote site 502 through a wireless communication network 504, for example the network used for mobile telephony, to: transmit to the remote site the data measured by the sensors of the sensor device equipping said drone, and possibly receiving control or configuration data.

The remote site 502 comprises a server 506 equipped or coupled to wireless communication means for communicating with each drone or each sensor device, and comprising hardware and software means for: processing the data received from each sensor device, possibly in function of at least one pre-filled processing algorithm, and provide the results of the processing, and possibly generate at least one control data for controlling a drone 400 or a sensor device equipping a drone 400;

The remote site 502 further comprises a user interface 508 that can be accessed by one or more users, or operators, 510i-510m through a wired or non-wired communication network to: - consult the data received from each sensor device, possibly after processing thereof by the server 506, - and possibly provide at least one algorithm for processing the received data or indicate a command to a sensor device. The user interface 508 may be accessible from a web browser or from a client application installed on a user device of the computer or smartphone type.

The remote site 502 may further comprise a database 512 for storing the data received from each sensor device and / or the results of the processing of said data and / or the data relating to each drone or device, etc.

Of course, the invention is not limited to the examples detailed above.

Claims (15)

A sensor device (100; 200) intended to be embedded on a robotic vector (402), in particular a robotic remote-controlled vector of the drone type, comprising at least one data processing module (124), characterized in that comprises at least two modules (IO61-IO64), called sensor modules, removable or removable, each comprising a physical interface (IO81-IO84), called module interface, comprising: - an identical connector (1122, 1124), said connector of module, for connecting said sensor module (IO61-IO64) to said processing module (124); and at least one connector (IIO1-IIO4), called sensor connector, specific to a sensor of a physical quantity and designed to connect said sensor to said sensor module (IO61-IO64). 2. Device (100; 200) according to claim 1, characterized in that it further comprises a physical interface (114), said gateway interface, disposed between said at least one processing module (124) and each sensor module ( IO61-IO64), comprising: - a plurality of identical connectors (II61-II64), called gateway connectors, each complementary to the module connector (1122, 1124) and intended to connect a sensor module (IO61-IO64) to said gateway interface ( 114), and - at least one common connection means (1181, 1182) at least two sensor modules (IO61-IO64) for connecting said sensor modules (IO61-IO64) to said processing module (124). 3. Device (100; 200) according to any one of the preceding claims, characterized in that it comprises at least one energy source (126), the module connector (1122, 1124) of at least one, in particular each sensor module (IO61-IO64) comprising at least one power port provided for supplying at least one measurement sensor disposed in said sensor module (IO61-IO64) from said power source (126) . 4. Device (100; 200) according to claims 2 and 3, characterized in that at least one, in particular each bridge connector (II61-II64) comprises at least one power port provided for supplying at least one , in particular each sensor module (IO61-IO64) from said power source (126). 5. Device (100; 200) according to any one of the preceding claims, characterized in that it comprises for at least one, in particular each, sensor module (IO61-IO64) a receiving housing, in which is inserted , at least in part said sensor module (IO61-IO64). 6. Device (100; 200) according to any one of the preceding claims, characterized in that at least one sensor module (IO61-IO64) comprises at least one sensor selected from the following list: - at least one environmental sensor or abiotic type sensor pressure, temperature, humidity, humidity, illumination such as a luxmeter, geolocation such as a GPS and / or direction such as a magnetic compass; at least one optical sensor for measuring infrared, near-infrared and / or visible radiation; and at least one gas sensor for measuring an amount of NOx, VOC, CO, CO2, sulfuric derivatives, hydrocarbons, NH3, HCI, SO2, N2O, CH4, HC, HF, H2S, TRS, O2, H2O, dust, dioxin and / or mercury. 7. Device (100; 200) according to any one of the preceding claims, characterized in that it further comprises a wireless communication module (132, 134), mono- or multi-protocol, with a remote device through a wireless communication network, or with the robotic vector embodying said sensor device (100; 200). 8. Device (100; 200) according to any one of the preceding claims, characterized in that it comprises a storage means (130), storing a plurality of computer programs, each for interacting with a sensor. 9. Device (100; 200) according to any one of the preceding claims, characterized in that it comprises a power supply management module (128), designed to supply, individually, each of the sensors of the sensor modules. (IO61-IO64) from the same power source (126). 10. Device (200) according to any one of the preceding claims, characterized in that it further comprises a fixing means (202), removable or removable, said device (200) on the robotic vector. 11. Device (100; 200) according to any one of the preceding claims, characterized in that it comprises: - a part (104), said body, comprising the processing module (124), and if appropriate, a power source (126), a power management module (128), a communication module (132) and a fastening means (202); and a part (102), called a head, connected to said body (104), comprising the sensor modules (IO61-IO64), and if necessary the gateway interface (114). 12. Device (200) according to the preceding claim, characterized in that the head (102) is movable relative to the body (104) in at least one, in particular in each direction of space. 13. Use of the sensor device (100; 200) according to any one of the preceding claims for the measurement or monitoring of agricultural crops, air quality, water quality, road traffic, the field of cartography, the weather, the study of energy performance of a building or photovoltaic panels .... 14. Drone (400), in particular a remotely controlled drone, comprising a sensor device (200) according to any one of claims 1 to 12. 15. System (500) for measuring and / or monitoring at least one physical parameter comprising: at least one, in particular a plurality of sensor device (s) (100; 200) according to one any of claims 1 to 12, or at least one, in particular a plurality of drone (s) (400i-400n) according to the preceding claim; and - a central server (506) connected to each sensor device (100; 200) through a wireless communication network (504) for: - receiving from each sensor device (100; 200) at least one piece of data relating to a measurement made by at least one sensor, and possibly transmitting a control signal from said device (100; 200) or from at least one sensor of said sensor device (100; 200).