FR3133667A1 - advanced cable encoder - Google Patents

Abstract

The invention relates to a sensor (31) of the cable encoder type comprising: - a stator (310) intended to be fixed on a fixed part (10), and comprising an encoder wheel; and- a cable (311) comprising a first end connected to the encoder wheel, and a second end intended to be fixed on a movable element (20), the unwinding or winding of the cable (311) providing position information of the movable element (20) relative to the fixed part (10). According to the invention, the sensor comprises means of wireless connection with a controller configured to use the position information. Figure for abstract: Fig. 1

Description

advanced cable encoder

The invention relates to the technical field of sensors for detecting the relative position of two parts.

Prior art

Cable encoders are known from the prior art, which are sensors comprising a stator and a cable. The stator is attached to a first part, and the end of the cable is mounted on the second part.

When the second part moves relative to the first, the cable unwinds or coils, and drives an encoder wheel located in the stator, so that the encoder is able to detect the movement of the second part.

A particular use of such cable encoders can be in the technical field of material transport vehicles, which include movable elements which can be in a first position during the vehicle's rolling phases, and in other positions during the stages loading or unloading the material transported by the vehicle.

For example, truck bodies have drop sides that can be lowered for unloading or side dumping. Another example is the anti-underrun bar present at the rear of trucks, which can be raised when rear dumping. It can also be a tarpaulin which must be folded during loading operations, and unfolded during traffic.

However, these mobile elements must be put back in place and maintained in the correct positions for the driving phases, in order to fulfill their safety role or prevent accidents. To avoid forgetting, some trucks are equipped with sensors placed on their bed, and capable of detecting that the drop sides are closed. A box present in the passenger compartment of the vehicle connected to these sensors as well as to a detection of the truck's driving speed, emits an alarm when the speed of the vehicle is too high and the moving elements have not been reset. place.

However, these devices are not entirely satisfactory. Indeed, the connection between the sensors and the box is fragile, while this type of vehicle is subject to numerous mechanical constraints during loading and unloading (vibrations, tearing of material, etc.). As a result, connectivity is regularly degraded, rendering the system inoperable.

Some sensors used are of the inductive type. They have the advantage of being simple to implement and are inexpensive. However, it is possible to inhibit an inductive sensor by placing a magnet or a metal part nearby: the sensor detects an object, so the system is deceived and no longer returns the real position of the moving element, which can then remain non-compliant while driving without the user being notified.

Furthermore, when the mobile element is between two positions, the inductive sensor does not send back information and we do not know where the mobile element is located.

One of the aims of the invention is to overcome the disadvantages of the prior art by proposing a sensor configured for securing the moving elements of a vehicle.

In particular, such a sensor must make it possible to easily add mobile element monitoring functions to pre-existing vehicles.

Another aim of the invention is to propose a vehicle, such as the utility or heavy goods vehicle type, whose moving elements are secure in a certain and reliable manner.

For this purpose, a cable encoder type sensor has been developed comprising:
- a stator intended to be fixed on a fixed part, and comprising an encoder wheel; And
- a cable comprising a first end connected to the encoder wheel, and a second end intended to be fixed on a movable element, the unwinding or winding of the cable providing information on the position of the movable element relative to the part fixed.

According to the invention, it comprises wireless connection means, or wireless communication means, with a controller configured to use the position information.

In this way :
- the use of a cable encoder makes it possible to obtain information on the position of the mobile element over the entire amplitude of its movement, instead of a single position as allowed by inductive sensors of the art anterior;
- the sensor being connected by wireless link to the controller, its integration on a vehicle is simpler. In particular, in the case of equipping a pre-existing vehicle with a view to improving its security, such a sensor communicating wirelessly with the controller makes it possible to considerably reduce the duration of installation of the sensor on the vehicle.

Without departing from the scope of the invention, the mounting of the sensor can of course be reversed: the stator can be fixed on the mobile part, and the second end of the cable be secured to the fixed part.

In order to reduce the energy consumption of the encoder, the first end of the cable is connected to the encoder wheel via gears, and a maximum amplitude of the unwinding of the cable between a fully unwound position and a fully wound position induces a maximum amplitude of rotation of the encoder wheel which is less than one revolution. The resolution of the sensor is thus reduced, and its power consumption is lower. This makes it possible to increase the lifespan, or autonomy, of the energy supply means of such a wireless sensor.

In particular, in order to obtain a good compromise between the necessary resolution and the desired lifespan, the maximum amplitude of the rotation is less than, or equal to, half a turn, or 180°.

The invention also relates to a vehicle comprising at least one movable element between a position to be detected and another position, such as a drop side, a tarpaulin or a lifting underrun bar, at least one sensor capable of detecting that the element mobile is in the position to be detected, the sensor is connected to an interface box intended to be connected to means for measuring a physical parameter of the vehicle among the speed of the vehicle or the state of a power take-off of the vehicle, and to receive information about the physical parameter,

According to the invention, the sensor is a cable encoder with the aforementioned characteristics, and is connected to the interface box, and the interface box is configured to emit an alert signal when, cumulatively:
- the cable encoder detects that the mobile element is in a position other than that to be detected; And
- the information on the physical parameter of the vehicle is different from expected information, the expected information being a speed of the vehicle lower than a speed threshold, or the activated state of a power take-off of the vehicle.

In this way the connection between the sensor and the interface box is wireless, which eliminates any possibility of deterioration of the connections when using the vehicle. This makes it easier to integrate the sensor into the vehicle since it is no longer necessary to electrically connect the sensor and the interface box.

The use of a cable encoder makes it possible to obtain continuous information on the position of the moving element, so that its exact position is known at all times. It is no longer possible to deceive the system by simply inhibiting a presence sensor as in the prior art, which guarantees the proper functioning of the system in all circumstances. The security obtained from the vehicle is therefore reliable.

Furthermore, a single cable encoder type sensor makes it possible to replace two discrete type sensors, such as presence sensors, to detect two extreme positions of the mobile element (for example the position to be detected and the fully deployed position of the mobile element).

According to a preferred embodiment, the wireless transmission is a radio frequency transmission, preferably over a long-range wide area network, more preferably over the 433 MHz frequency band, and even more preferably uses LoRa frequency modulation. It is thus possible to obtain inexpensive, low-energy, low-volume transmission devices that are entirely suitable for communicating object solutions.

For the purposes of security and increasing reliability, the vehicle also includes at least one additional sensor of the presence sensor or position sensor type, and the interface box executes a program and compares the information from these several sensors. In this way, the sensor information received by the box is checked and a failure or misuse of a sensor is detected.

In order to design a device that is simple to install and maintain on a vehicle, the cable encoder is integrated into an autonomous detection device fixed to a fixed part of the vehicle. In particular, the detection device can be placed in a location on the vehicle protected from damage. The detection device comprises power supply means, an electronic card comprising wireless transmission means with the interface box, and executes a transmission program with the interface box.

In order to have additional and/or different information to reinforce security and reliability, the additional sensor is integrated into an additional autonomous detection device fixed on the mobile element. The additional detection device comprises power supply means, an electronic card comprising wireless transmission means with the interface box, and executing a transmission program with the interface box.

Advantageously, the detection device or the additional detection device or the interface box is able to communicate, by wireless transmission, with an external computer, for example for maintenance or update operations. In this way it is possible to increase the lifespan or functionality of the installed devices or boxes. It is also possible to recover data possibly stored by devices or boxes, with a view to improvements or optimizations.

Preferably, the interface box is configured to emit an information signal of the speed of the vehicle in relation to the speed threshold. Thus, the driver is better aware and can adapt his travel speed during loading and unloading operations. During these phases, the vehicle can move at low speed while the moving elements are not in a safe position, and the risk of accidents is greater.

To protect it from mechanical attack, the detection device is fixed to the vehicle by means of a support comprising means of protection from mechanical attack, such as a protective cover. In particular, the attachment obtained on the vehicle is durable, and the detection device is configured to withstand the environment of heavy-duty dump trucks, operating in humid or dusty environments, capable of receiving mechanical shocks, accelerations and high pressure water splashes.

Advantageously, the interface box is connected to a plurality of detection devices, or is connected to a plurality of additional detection devices each mounted on a mobile element. Thus, each moving element of a vehicle can be secured, and the information is recorded by a single interface box.

is a perspective view, seen from above, of a vehicle according to the invention.

is a block diagram of a mobile element of the invention in a position to be detected.

is a block diagram of a movable element of the invention in another position.

is another schematic diagram of a movable element of the invention in another position.

Detailed description of the invention

The invention relates to a cable encoder type sensor (31) configured to communicate via wireless link with a PLC. This particular configuration makes it possible to easily integrate such a sensor (31), in particular on vehicles (1) for professional use.

In the case of a pre-existing vehicle (1) whose mobile elements (20) are not secured, the installation of security involves the following steps:
- place the sensors (31) on the mobile element (20) to be secured;
- install an interface box (40) running a PLC;
- individually connect each sensor (31) to the box (40) so that the controller processes the data from the sensors (31).

Where the solutions of the prior art require networks to be individually routed to connect each wired sensor to the housing, on a vehicle (1) which has not been provided for this purpose, and which therefore does not have any arrangements for this purpose, the invention makes it possible to simply eliminate the step of wiring the sensors (31).

The wireless connection of the sensor (31) according to the invention therefore makes it possible to significantly reduce the time required for immobilization of the vehicle (1) for the implementation of security.

However, state-of-the-art cable encoders are generally configured to measure displacements with high resolution, of the order of 1 to 2 tenths of a millimeter. But the high precision obtained is not useful for measuring a simple displacement of a mobile element (20) of a vehicle (1), the displacements of which need to be measured with a precision of the order of a millimeter, see centimeter. It is in fact neither a position control nor a movement control in which the cable encoders of the prior art are used.

The cable encoders of the prior art are therefore disproportionate to the need considered, and it follows that their size and their cost are too great. Furthermore, the precise measurement of the position involves excessive electrical consumption, which harms the autonomy of the power supply means, such as a battery, of the wireless sensor (31) according to the invention.

It is therefore advantageous to propose a sensor (31) of cable encoder type communicating wirelessly, with improved autonomy and reduced cost. For this, the cable encoder (31) integrates a gear train making it possible to maintain a significant measuring length, of the order of 2 to 5m, for example 3m, while the encoder wheel does not travel more than one round. The resolution obtained is of the order of a millimeter, that is to say between 1mm and 1cm inclusive, or of a centimeter, that is to say between 1cm and 10cm inclusive, which is sufficient for the application considered.

Such a cable encoder (31) is an economical alternative to the solutions of the prior art, for example to a cylinder equipped with means for the integral measurement of its stroke.

In particular, in order to obtain a good compromise between the necessary resolution and the desired lifespan, the maximum amplitude of the rotation of the encoder wheel is less than half a turn, or equal to half a turn.

In order to further increase the lifespan of the power supply means, it is possible not to communicate the position at each instant, or at each step of the encoder wheel, but at regular intervals (the interval may be a predetermined duration or a predetermined number of steps).

In reference to the , the invention also relates to a vehicle (1), preferably for professional use, and in particular intended for the transport and handling of loads such as materials, possibly in bulk, or construction equipment. These vehicles are generally classified as utility vehicles or heavy goods vehicles.

This type of vehicle, such as a dump truck, includes one or more mobile elements (20). These mobile elements (20) can be, but are not limited to, drop sides, hatches, rear doors, or even underrun bars. These elements can be moved manually, or preferably hydraulically.

Generally speaking, these mobile elements (20) have a first position called the “position to be detected” (21), which corresponds to the secure position that the mobile element (20) must occupy during the vehicle's on-road driving phases ( 1). During these phases, the speed of the vehicle (1) can be high and no element must exceed the size of the vehicle (1) otherwise it could cause an accident. In particular, heavy goods vehicles are commonly required to respect a maximum overall width of 2.55m.

In reference to the , one of the mobile elements (20) is in a position (22) other than that said to be secure and to be detected, and protrudes from the template of the vehicle (1). In the event of crossing with another vehicle coming in the opposite direction, the open element (20) being barely visible, the risk of accident is high.

According to a preferred embodiment of the invention, a detection device (30) cooperates with each mobile element (20), and is capable of detecting whether the mobile element (20) is in the position to be detected (21) or in another position (22).

For this purpose, each detection device (30) comprises a cable encoder (31), comprising a stator (310) and a cable (311). The stator (310) is integral with a casing of the detection device (30), and is preferably mounted on a fixed part (10) of the vehicle, while the end of the cable (311) is mounted on the element mobile (20) monitored.

It is obvious that the movements being relative, "fixed part" refers to an element antagonistic to the movable element (20): in the case of monitoring the position of a sideboard, the fixed part (10) is the bucket . In the case of monitoring the position of the tipper, the fixed part (10) is the vehicle chassis (1).

When the movable member (20) moves, the cable (311) unwinds or winds, and drives an encoder wheel located in the stator (310), so that the encoder (31) is capable of detecting the movement of the mobile element (20).

Depending on the direction of mounting of the cable encoder (31), the position to be detected (21) may correspond to the unwound or wound state of the cable (311). To facilitate the description, reference will only be made to the mounting direction illustrated in Figures 2 to 4, where the position to be detected (21) corresponds to the unwound state of the cable (311).

When installing the encoder (31) and configuring it on the vehicle (1), it is necessary to place the mobile element (20) in its position to be detected (21), and to locate the increment of the encoder ( 31). In use, when the encoder (31) indicates that it is at this increment, this means that the mobile element (20) is in the position to be detected (21).

In practice, we consider a range of increments around the nominal value of the increment considered, in order to compensate for the deviations which may be due to changes in the tension of the cable caused by its aging, to thermal expansion of the parts, or games appearing during the life of the product.

By knowing the kinematic relationship between the position of the mobile element (20) and the encoder wheel of the encoder (31), it is therefore easy to know, from the increment indicated by the encoder (31), the exact position of the mobile element (20). The position to be detected (21) is the most important position to know for securing the vehicle (1), but the other intermediate positions can also be useful for the driver of the vehicle (1).

With reference to Figures 2 to 4, we see that the choice of cable encoder technology (31) makes it possible to arrange the stator (310) at a judiciously chosen location on the vehicle (1), preferably where the stator ( 310) will be protected from damage. This may be the underside of the skip, so that material stored in the skip and poured during dumping operations cannot damage the stator (310). At this location, the stator (310) is also protected from bad weather and rain. The cable (311) from the encoder (31) is then routed to a fixing point on the movable element (20), using pulleys (312) if necessary.

Consequently, it is possible to arrange the stators (310) of several encoders (31) close to each other, and to route their cables (311) to their respective mobile elements (20). The stator island (310) made up facilitates maintenance and monitoring operations, the technician not having to circulate and look for the different detection devices (30) on the vehicle (1).

Still with reference to Figures 2 to 4, we see that the mobile element (20) can have additional positions to detect (23), which can correspond to other positions consistent with driving on the road. For example, a crane can be folded at the rear of the vehicle cabin (1), or placed flat on the vehicle platform (1), these two positions being compliant with traffic. For each of these additional positions to be detected (23), the corresponding encoder increment (31) is identified.

Technically, a single cable encoder (31) is sufficient to secure a moving element (20). However, depending on the necessary security, a second cable encoder (31) can be installed, or additional sensors (32) are chosen and positioned appropriately. For example, to guarantee that the movable element (20) is indeed in the position to be detected (21), an inductive sensor can be placed on the movable element (20) so as to be able to detect an antagonistic part (33) of the vehicle (1) located on one of its fixed parts (10). Another inductive sensor (32) could have been arranged to be activated in an additional position to be detected (23).

The additional sensor (32) can also be a position sensor such as an accelerometer, a gyrometer or an inertial unit, capable of determining a position or an inclination of the mobile element (20). In this way, by comparing the information from the sensors (31, 32), it is possible to verify the correct operation of the cable encoder (31).

Each additional sensor (32) is preferably arranged in an additional detection device (30bis), the operating principle of which is similar to that of the detection device (30), the difference residing in the type of sensor contained. The advantage of choosing sensors (31, 32) of different technologies is to reduce the risk of simultaneous failure of the two sensors (31, 32). In the remainder of the description, reference will only be made to the detection device (30), it being understood that the explanations also cover the additional detection device (30bis).

The comparison may consist, for example, of checking the redundancy or concordance of the sensor information (31, 32), or of resolving any other combinatorial logic of the sensor information (31, 32). The program processing information from the sensors (31, 32) may include a smoothing function, intended to prevent jolts generated by driving the vehicle (1) on uneven terrain from causing false alarms. In the event of discrepancy or inconsistency in the data recorded, the situation is similar to a fault which is then reported to the driver of the vehicle by means of an interface box (40).

This information comparison can be carried out by the interface box (40) executing a program, or by the detection device (30) also executing a program. To do this, the detection device (30) further comprises an electronic card executing said program, an energy supply source, and wireless transmission means with an interface box (40).

The interface box (40) is arranged in the passenger compartment of the vehicle (1), and is connected by wireless transmission to each detection device (30) installed on the vehicle (1). The interface box (40) is preferably attached to the dashboard of the vehicle (1) and powered by the vehicle's battery, so that it turns on and starts automatically when the vehicle is started (1). The interface box also allows interactions with other equipment of the vehicle (1), including for example the electronics of the carrier vehicle (1), by means of digital input/output and/or bus connectivity. CAN.

Wireless transmission is preferably carried out on a frequency of 433 MHz, and even preferably uses LoRa frequency modulation, which allows communicating objects to be easily deployed. In particular, these choices make it possible to increase the range and therefore the reliability of transmissions in the unfavorable ferromagnetic environment presented by the vehicle (1) of the invention. In the case of the invention in particular, wireless transmission is interesting since it may be necessary to connect several detection devices (30) to the interface box (40). Securing a pre-existing vehicle (1) with the detection devices (30) and the interface box (40) of the invention is therefore easy, pairing between each detection device (30) and the interface box (40). interface (40) sufficient to connect them together.

To the extent that the transmission between the interface box (40) and the detection devices (30) must be permanent to guarantee the reliability of the invention, these exchange “life frames” at regular intervals allowing the interface box (40) to verify that each detection device (30) is indeed connected and operational.

The interface box (40) is also connected to means for measuring a physical parameter of the vehicle (1), among the speed of the vehicle or the state of a power take-off of the vehicle, so that the program executed by the interface box (40) is able to check whether, cumulatively:
- the cable encoder (31) detects that the mobile element (20) is in a position (22) other than that to be detected (21); And
- the physical parameter is different from an expected value.

In a first example, the physical parameter is the speed, and the expected value is a speed lower than a speed threshold, defined for example at 15 km/h. Conversely, a value different from the expected value would therefore provide vehicle speed information (1) greater than this speed threshold.

In a second example, the physical parameter is the state of a hydraulic power take-off of the vehicle. By power take-off we mean a mechanical system making it possible to transmit the torque of an engine to a hydraulic power supply making it possible to set the moving elements in motion. This power take-off is intended to adopt either an activated or inactivated state. In fact, this power take-off is only activated by the driver during operations of handling the moving elements (20). The activated state of the power take-off is therefore an indication that the driver wishes to move these moving elements (20).

Conversely, the inactivated state of the power take-off indicates that the driver no longer wishes to move the moving elements (20), and is a priori preparing to return to the road. If a movable element (20) is in another position (22) and the power take-off is inactivated, this would be symptomatic of a forgetting on the part of the driver to return the movable element (20) to its position to be detected (21).

When the physical parameter is the state of the PTO, the expected information is therefore the activated state of the PTO, which indicates that the vehicle is in a loading or unloading phase.

These conditions, verified by the program executed by the interface box (40), therefore correspond to a situation where the driver of the vehicle (1) has returned to the road and has forgotten to put the mobile elements (20) back in the position to be detect (21), which is the position suitable for driving.

The interface box (40) then emits an alarm to the driver who is supposed to stop as quickly as possible to return the moving elements (20) to the position to be detected (21).

The alarm emitted can be audible, for example using a buzzer emitting at a noise level between 65 and 84 dB. The alarm can also be visual, for example using a tactile display on the interface box (40) or an additional light warning. It can of course be a combination of audible and visual alarm.

Furthermore, the interface box (40) has the capacity to transmit to the vehicle (1), either via a digital output or via a CAN bus, generic information known as “oversize bodywork”, symptomatic of a fault. position of a moving element (20) or a sensor fault (31, 32) detected by said interface box (40). The purpose of this information is to allow the speed of the vehicle (1) to be limited to a predefined speed, for example 15km/h.

For obvious safety reasons, the restriction is only effective if the speed prior to the fault situation is lower than the speed value defined for the restriction. Indeed, in the case of high-speed traffic, if one of the sensors (31, 32) were to fail, the speed of the vehicle (1) should not be instantly limited, otherwise an accident would almost certainly occur. In particular this function of restraining the vehicle (1) managed by a system of the vehicle (1) at the level of the supporting chassis.

The vehicle (1) sometimes has to move while the moving elements (20) are in another position (22). For example, if a truck has to dump its load into a trench during side dumping, the drop sides are in the open position, the truck bed is tilted towards the side of the trench and the truck moves forward along the trench. In order to raise awareness of the driver of the vehicle (1) and warn him against driving at excessive speed, the interface box (40) is configured to emit visual information as soon as a mobile element (20) is in another position (22), for example even if the vehicle (1) is stationary or its speed remains below the speed threshold.

The interface box (40) can also provide the driver with other information on the state of the system, such as the remaining autonomy of each detection device (30), the effective position of each moving element (20), or even error messages.

The speed threshold or other parameters of the programming of the interface box (40) or the detection devices (30) may need to be modified during the life of the product, a connection is possible between these elements ( 30, 40) and an external device such as a laptop or smartphone, preferably using Wi-Fi connectivity as governed by the IEEE 802.11 group standards.

These update or maintenance operations can make it possible to correct sensor settings, software functions, check the battery levels of the detection devices (30), and so on. In practice, the update operation preferably consists of connecting a third-party device to the interface box (40). The update of the program of the interface box (40) integrates the possible update of the detection devices (30). It is then the interface box (40) which retransmits the updates of the detection devices (30), so that, by backward compatibility, the interface box (40) does not lose the ability to recognize the detection devices (30).

The lifespan of the detection devices (30) must be of the order of several years, so they are preferably fixed to the vehicle (1) by means of a support allowing the adjustment of the position adjustment on 2 axes , and possibly by means of a support comprising means of protection against mechanical attacks, such as a protective cover protecting the detection device (30) from impacts or falling material during loading or unloading operations.

Furthermore, the vehicle (1) can be shaped differently from the figures without departing from the scope of the invention, which is defined by the claims.

In addition, the technical characteristics of the different embodiments and variants mentioned above can be, in whole or for some of them, combined with each other. Thus, the vehicle (1) can be adapted in terms of cost, functionality and performance.

Claims (11)

Sensor (31) of the cable encoder type comprising:
- a stator (310) intended to be fixed on a fixed part (10), and comprising an encoder wheel; And
- a cable (311) comprising a first end connected to the encoder wheel, and a second end intended to be fixed on a movable element (20), the unwinding or winding of the cable (311) providing information on the position of the movable element (20) relative to the fixed part (10);
characterized in that it comprises means of wireless connection with an automaton configured to use the position information. Sensor (31) according to claim 1, characterized in that the first end of the cable (311) is connected to the encoder wheel via gears,
and in that a maximum amplitude of the unwinding of the cable (311) between a fully unwound position and a fully wound position induces a maximum amplitude of the rotation of the encoder wheel which is less than one revolution. Sensor (31) according to one of the preceding claims, characterized in that the maximum amplitude of the rotation is less than half a turn, i.e. 180°. Vehicle (1) comprising at least one movable element (20) between a position to be detected (21) and another position (22), such as a drop side, a tarpaulin or a lifting underrun bar, at least one sensor ( 31) capable of detecting that the movable element (20) is in the position to be detected (21), the sensor (31) is connected to an interface box (40) intended to be connected to measuring means 'a physical parameter of the vehicle (1) among the speed of the vehicle (1) or the state of a power take-off of the vehicle (1), and to receive information about the physical parameter, characterized in that the sensor (31 ) is a cable encoder according to one of claims 1 to 3, and is connected to the interface box (40), and the interface box (40) is configured to emit an alert signal when, cumulatively:
- the cable encoder (31) detects that the mobile element (20) is in a position (22) other than that to be detected (21); And
- the information on the physical parameter of the vehicle (1) is different from expected information, the expected information being a speed of the vehicle (1) lower than a speed threshold, or the activated state of a power take-off of the vehicle (1). Vehicle (1) according to claim 4 characterized in that the sensor (31) is connected to the interface box (40) by wireless transmission. Vehicle (1) according to one of claims 4 or 5, characterized in that it also comprises at least one additional sensor (32) of the presence sensor or position sensor type, and in that the interface box ( 40) executes a program and compares the information from these several sensors (31, 32). Vehicle (1) according to one of Claims 4 to 6, characterized in that the cable encoder (31) is integrated into an autonomous detection device (30) fixed to a fixed part of the vehicle (1), the detection device detection (30) comprises power supply means, an electronic card comprising wireless transmission means with the interface box (40), and executing a transmission program with the interface box (40). Vehicle (1) according to claim 6, characterized in that the additional sensor (32) is integrated into an independent additional detection device (30bis) fixed on the mobile element (20), the additional detection device (30bis) comprises power supply means, an electronic card comprising wireless transmission means with the interface box (40), and executing a transmission program with the interface box (40). Vehicle (1) according to claim 8, characterized in that the detection device (30) or the additional detection device (30bis) or the interface box (40) is capable of communicating, by wireless transmission, with an external computer, for example for maintenance or update operations. Vehicle (1) according to claim 8 or 9, characterized in that the detection device (30) or the additional detection device (30bis) is fixed to the vehicle (1) by means of a support comprising means for protecting the mechanical attacks, such as a protective cover. Vehicle according to one of claims 8 to 10, characterized in that the interface box (40) is connected to a plurality of detection devices (30), or is connected to a plurality of additional detection devices (30bis) each mounted on a movable element (20).