EP1882244B1 - Mobile engine remote control, in particular for working, agriculture and load-handling machines - Google Patents

Abstract

The invention relates to a remote control of mobile engines, in particular working, agriculture and load-handling machines used for generating control signals to a client's device by means of communications means and comprising at least one sensor indicating the position of a control handle, a unit for processing signals transmitted by at least one sensor and an actuator for transmitting control signals processed by the processing unit to the client's device. The remote control comprises test means for introducing a signal derived from a test signal transmitted by the client's device into the processing unit input and is used for transmitting an information set to the client's device in response to the test signal, wherein said information set comprises at least one response signal corresponding to the processing of the signal derived from the test signal by the processing unit.

Description

The present invention relates to a remote control, especially for mobile machinery, especially public works machinery, agricultural machinery or handling.

A mobile device remote control comprises, in known manner, a handle movable in at least one degree of freedom with respect to a support, the movement of this handle allowing an operator to control at least one receiving device outside the remote control, called also client device.

Such a remote control includes a sensor of the position of the handle, and a sensor signal processing unit, for generating a control signal to the client device.

Such types of devices are satisfactory for the control of receiving organs under normal conditions of use.

It is however desirable to provide means for securing the remote control, ensuring the redundancy of information. In particular, this redundancy makes it possible to identify erroneous information in the event of a malfunction of a sensor and / or of the processing unit.

Consequently, it is known from the document WO 2005/015031 A to provide at least two sensors for the position of the handle, which makes it possible to secure the information coming from the sensors. Thus, when the information given by the two sensors are not consistent, a malfunction is detected.

It is also known to provide two processing units, in order to secure the control signals from these units. Thus, when the information given by the two processing units are not consistent, a malfunction is detected.

It should be noted that the components of the remote control must respect constraints of minimal size and simplicity of mounting on the remote control.

Although the sensors may be small in size, since the redundancy of these sensors does not significantly complicate the structure of the remote control, it appears that the installation of two processing in the remote control significantly complicates the realization of the remote control, and also increases its cost significantly.

Consequently; the present invention aims to provide a remote control in which the malfunctions due to the processing unit can be detected without requiring the establishment of two processing units within the remote control.

• une poignée de commande mobile selon au moins un degré de liberté par rapport au corps de la télécommande,
• au moins un capteur de la position de la poignée de commande,
• une unité de traitement des signaux émis par l'au moins un capteur,
• un actionneur, destiné à transmettre des signaux de commande, traités par l'unité de traitement au dispositif client,

caractérisée en ce qu'elle comprend des moyens de test destinés à introduire un signal dérivé d'un signal de test émis par le dispositif client en entrée de l'unité de traitement, et en ce qu'elle est agencée pour émettre, vers le dispositif client, un ensemble d'informations, en réponse au signal de test, comprenant au moins un signal de réponse, correspondant au traitement du signal dérivé du signal de test par l'unité de traitement.For this purpose, the present invention relates to a mobile equipment remote control, in particular a public works machine, agricultural or handling machine, intended to generate control signals to a client device, by means of communication means, the remote control including:

• a mobile control handle according to at least one degree of freedom with respect to the body of the remote control,
• at least one sensor of the position of the control handle,
• a signal processing unit emitted by the at least one sensor,
• an actuator for transmitting control signals processed by the processing unit to the client device,

characterized in that it comprises test means for introducing a signal derived from a test signal transmitted by the client device at the input of the processing unit, and in that it is arranged to transmit, to the client device, a set of information, in response to the test signal, comprising at least one response signal, corresponding to the processing of the signal derived from the test signal by the processing unit.

These arrangements make it possible to verify the operation of the processing unit, at the level of the client device, by comparing the test signal transmitted and the signal corresponding to the processing of the test signal by the processing unit, without requiring the presence of two processing units, but simple test means constituting a loop at the input of the processing means.

These provisions make it possible to secure the information coming from the remote control while maintaining a simple structure thereof. They allow to take advantage of the presence of supervision means at the client device, this device is not subject to the same constraints on its size.

These provisions make it possible to comply with IEC61508N-type standards concerning the remote control, in particular its SIL2 flap.

Advantageously, the set of information, transmitted in response to the test signal, further comprises at least one control signal corresponding to the signal processing of the sensors by the processing unit.

Advantageously, the test signal is a digital signal.

• des moyens d'émission d'un signal analogique à partir du signal de test
• des moyens de filtrage du signal analogique émis.

According to one embodiment, the test means comprise:

• means for transmitting an analog signal from the test signal
• means for filtering the transmitted analog signal.

Advantageously, the processing unit comprises at least one analog / digital converter.

According to one embodiment, the means for transmitting a signal to the filtering means from the test signal comprise means for generating a pulse width modulation type signal.

Advantageously, the filtering means comprise a low-pass filter.

• un composant de vérification de la tension d'alimentation de l'unité, et/ou
• un composant de vérification de la fréquence de cadencement des opérations dans l'unité de traitement.

According to one embodiment, the remote control comprises additional control means of the processing unit, comprising:

• a component for checking the supply voltage of the unit, and / or
• a component for checking the frequency of timing of operations in the processing unit.

Advantageously, the remote control comprises at least two sensors for each degree of freedom of the handle.

• une poignée de commande mobile selon au moins un degré de liberté par rapport au corps de la télécommande,
• au moins un capteur de la position de la poignée de commande,
• une unité de traitement des signaux émis par l'au moins un capteur,
• un actionneur, destiné à transmettre des signaux de commande, traités par l'unité de traitement au dispositif client,

procédé comprenant les étapes consistant à,
au niveau d'un dispositif client :

• émettre un signal de test à destination de l'unité de traitement, au niveau de la télécommande :
• produire un signal dérivé du signal de test émis par le dispositif client
• introduire le signal dérivé en entrée de l'unité de traitement,
• traiter le signal dérivé du signal de test comme un signal de capteur au niveau de l'unité de traitement,
• émettre un ensemble d'informations, comprenant au moins un signal correspondant au traitement par l'unité de traitement, du signal dérivé du signal de test, vers le dispositif client, et au niveau du dispositif client :
• comparer le signal de test et le signal de réponse. Avantageusement, le signal de test est un signal numérique.

The present invention also relates to a method for verifying the operation of a processing unit of a mobile equipment remote control, in particular a public works machine, agricultural or handling machine, intended to generate control signals to a client device via communication means, the remote control comprising:

• a mobile control handle according to at least one degree of freedom with respect to the body of the remote control,
• at least one sensor of the position of the control handle,
• a signal processing unit emitted by the at least one sensor,
• an actuator for transmitting control signals processed by the processing unit to the client device,

method comprising the steps of
at a client device level:

• transmit a test signal to the processing unit, at the remote control:
• produce a signal derived from the test signal transmitted by the client device
• introduce the derived signal at the input of the processing unit,
• process the signal derived from the test signal as a sensor signal at the processing unit,
• transmitting a set of information, comprising at least one signal corresponding to processing by the processing unit, the signal derived from the test signal, to the client device, and at the client device:
• compare the test signal and the response signal. Advantageously, the test signal is a digital signal.

• dérivant un signal analogique à partir du signal de test
• filtrant le signal analogique ainsi émis.

According to one embodiment, the production of a signal derived from the test signal is carried out in:

• deriving an analog signal from the test signal
• filtering the analog signal thus emitted.

According to one embodiment, the set of information further comprises at least one signal corresponding to the signal processing of the sensors by the processing unit.

Advantageously, at the level of the client device, the set of information transmitted by the remote control is expected within a specified time interval after transmission of the test signal.

Advantageously, the method comprises a step, at the level of the processing unit, of multiplexing the sensor signals and signals derived from the test signal, and processing the multiplexed signal with processing means, in particular to carry out a conversion. analog / digital.

According to one embodiment, the detection of the position of the handle is performed by two separate sensors.

Advantageously, at least part of the treatment is performed, within the processing unit, redundantly by at least two routines whose instructions and / or data are recorded in two memory areas separate from the processing unit.

According to one embodiment, a first routine processes the signals of a first sensor and the signal derived from the test signal, and a second routine processes the signals of a second sensor and the signal derived from the test signal.

• La figure 1 est une vue en coupe partielle d'une télécommande selon un mode de réalisation.
• La figure 2 est une représentation schématique d'un système formé d'une télécommande et d'un dispositif client reliés par des moyens de communication.
• La figure 3 est une représentation de la caractéristique du signal de sortie des capteurs de la télécommande de figure 1, en fonction de la position de la poignée.
• La figure 4 est un schéma bloc des composants de traitement de la télécommande de figure 1.
• La figure 5 est un organigramme des traitements effectués par l'unité de traitement de la télécommande de figure 1.
• La figure 6 est un schéma de l'ordonnancement temporel de la communication entre la télécommande de figure 1 et un dispositif client.
• La figure 7 est un tableau décrivant une trame de donnée envoyée par un dispositif client à la télécommande de figure 1.
• La figure 8 est un tableau décrivant une trame de donnée envoyée par la télécommande de figure 1 à un dispositif client.

In any case, the invention will be better understood with the aid of the description which follows, with reference to the appended schematic drawing, representing by way of nonlimiting example, an embodiment of a remote control according to the invention.

• The figure 1 is a partial sectional view of a remote control according to one embodiment.
• The figure 2 is a schematic representation of a system consisting of a remote control and a client device connected by means of communication.
• The figure 3 is a representation of the characteristic of the output signal of the sensors of the remote control of figure 1 , depending on the position of the handle.
• The figure 4 is a block diagram of the processing components of the remote control of figure 1 .
• The figure 5 is a flowchart of the treatments performed by the remote control unit of the figure 1 .
• The figure 6 is a diagram of the temporal scheduling of communication between the remote control of figure 1 and a client device.
• The figure 7 is a table describing a data frame sent by a client device to the remote control of figure 1 .
• The figure 8 is a table describing a data frame sent by the remote control of figure 1 to a client device.

• une poignée de commande 3 mobile selon au moins un degré de liberté par rapport au corps 4 de la télécommande,
• deux capteurs de position 5, 5R de la position de la poignée de commande 3.
• une unité de traitement 6 des signaux émis par les capteurs 5, 5R,
• une partie d'actionnement ou actionneur 7, destinée à transmettre des signaux de commande au système client.

According to an embodiment shown on the Figures 1 to 8 , a remote control 2 of mobile machine according to the invention comprises:

• a control handle 3 movable according to at least one degree of freedom with respect to the body 4 of the remote control,
• two position sensors 5, 5R of the position of the control handle 3.
• a processing unit 6 of the signals emitted by the sensors 5, 5R,
• an actuating part or actuator 7 for transmitting control signals to the client system.

The control signals are transported via communication means 9, consisting for example of a CAN bus-type fieldbus to a client device 10 comprising at least supervision means 12.

For the mechanical part, represented on the figure 1 , the remote control 1 for mobile gear comprises, as described in the document FR 2,857,489 , for each degree of freedom of the handle 3, two pushers 13, 13R slidably mounted in the body 4,

The handle 3 is pivotally mounted relative to the body 4, and controls, via a transverse skirt 14 in simple support on the upper end of the pushers 13, 13R, the back and forth movements of these two pushers 13, 13R located on either side of the handle 3.

First elastic return means 15 urge each pusher 13, 13R towards its extended position so that they have a proper upward movement, and follow the movements of the handle in all its tilting positions, between a depressed position and an output position of the pusher 13, 13R.

These provisions make it possible to convert the tilting movement of the handle 3 into a linear movement of each pusher 13, 13R.

The sensors 5, 5R detect the position of each of the pushers 13, 13R, which allows to know the position of the handle.

Preferably, the sensors 5, 5R are sensors without mechanical contact of the Hall effect sensor type, mounted in the body 4 of the remote control. Each pusher comprises a foot comprising a magnet 16, moving opposite the sensor between the depressed and output positions of each pusher 13, 13R.

It should be noted that only one pusher and a single sensor is needed to know the position of the handle in all its tilting positions.

The presence of two pushers and two sensors thus makes it possible to obtain redundant information for a given axis or degree of freedom.

Each sensor 5, 5R provides, as a function of the position of the handle 3 and therefore the pusher with which it is associated, a signal S1, S1R.

This signal S1, S1R can for example be given in the form of a voltage signal whose value is between two extreme terminals of 0.5 and 5 V, a median value of 2.5 V corresponding to the neutral position of the handle.

This signal S1, S1R, indicating precisely the position of the handle 3, is sent to the processing unit 6.

It is of course possible to apply these provisions to a remote control 2 comprising more than one degree of freedom. In particular, for a remote control having a two-axis handle, four pushers and four sensors are used, thus providing four signals S1, S1R, S2, S2R.

We will then illustrate the behavior of the system for a single degree of freedom, but it is obvious that it can be used for any number of degrees of freedom.

Given the arrangement of the pushers on either side of the handle for a given axis, two crossed signals are obtained, as shown in FIG. figure 3 for a first axis corresponding to signals S1 and S1R.

For example, it can be seen that for a position of the handle oriented 100% in a first direction, the signal S1 is 4.5 V while the signal S1R is 0.5 V.

When the handle is in its neutral position, the two sensors 5, 5R deliver the same value of the signals S1, S1R, equal to 2.5 V.

It should be noted that ranges of values above 4.5 V and below 0.5 V, can detect causes of malfunction such as wear, circuit breakage or short circuit.

As shown on the figure 4 , the processing unit 6 is constituted by a part of an electronic card 17, in particular by a microcontroller 6.

• un convertisseur analogique/numérique ADC, destiné à recevoir les signaux en provenance des capteurs par un premier groupe d'entrées, représenté en 18.
• un microprocesseur CPU, représenté en 19, destiné au traitement et au routage des informations sur le microcontrôleur,
• un contrôleur d'interface IC, représenté en 20, destiné à la communication avec l'actionneur 7.

This microcontroller 6 comprises:

• an ADC analog-to-digital converter for receiving the signals from the sensors by a first group of inputs, shown at 18.
• a microprocessor CPU, represented at 19, for the processing and routing of information on the microcontroller,
• an interface controller IC, shown at 20, for communication with the actuator 7.

The microprocessor CPU is connected to the other components by internal communication means of the microcontroller 6, bus type.

The actuator 7 is constituted by an ID interface driver, which notably allows amplification of the signals provided by the interface controller IC. For example, the signal level at the output of the interface controller is of the order of 1 mA, and the interface driver amplifies the level of this signal up to 20 mA, to communicate it over the bus 9.

The actuator 7 is connected to the bus in transmission and in reception by two CANH and CANL links represented at 23 and 24.

Thanks to the elements received above, the signals S1 and S1R are received at the analog / digital converter ADC at 18, by two inputs ADC1 and ADC4, referenced at 25 and 26. The signals S1 and S1R are thus transformed from analog in digital signals S1d and S1Rd.

The microprocessor CPU makes it possible to perform complementary processing on the signals, for example to set up ramps or signal curves.

The output signals S1s and S1Rs thus obtained are then supplied to the interface controller IC, which transmits them to the actuator 7, itself transmitting this signal, constituting a control signal to the client device 10 by the communication means 9. , constituted by the CAN field bus.

The entire card is powered by a power source through an input 27, connected for example to a voltage regulator REG, shown at 28. For example, this regulator 28 makes it possible to verify that the power supply of the microcontroller 6 is carried out in a 5V band of voltage.

On the other hand, the card has a common reference of electric potential 29.

According to one characteristic of the invention, the microcontroller 6 furthermore comprises a set of test means making it possible to deduce a response signal RT from a test setpoint value T.

The digital test setpoint value T is communicated by the supervision means 12 of the client system via the communication bus 9.

This setpoint value T is received by the actuator 7, which transmits it to the interface controller IC, and is then routed by the microprocessor CPU to the test means.

• des moyens de génération d'un signal de type à modulation de largeur d'impulsion PWM, représenté en 30, sur une sortie 32 du microcontrôleur 6, à partir d'une valeur de consigne numérique de test T, et
• un filtre 33, par exemple de type passe bas, permettant de générer un signal continu à partir du signal à modulation de largeur d'impulsion.

The test means comprise in particular:

• means for generating a PWM pulse width modulation type signal, represented at 30, on an output 32 of the microcontroller 6, from a digital test setpoint value T, and
• a filter 33, for example of low pass type, for generating a continuous signal from the PWM signal.

A second input group 34 of the analog / digital converter ADC, of which two inputs ADC2 and ADC3, represented at 35 and 36, take the value of the analog signal at the output of the filter 33.

The filter 33 may for example consist of a resistor 37 in series between the terminals of the filter and a shunt to the common reference comprising a capacitor 38.

The test means thus make it possible to provide an analog signal value coming from the filtering, treated as a signal value coming from a sensor, by the ADC converter, then during the processing carried out by the microprocessor CPU, and during the transfer by the IC interface controller and actuator.

The signal obtained corresponding to a response signal RT is then sent back to the supervisory means 12 of the client device 10 with the control signals of the sensors, S1 and S1R, via the IC interface controller, again. actuator 7, then the communication bus 9, as we will detail below.

• un composant SUP, portant la référence 39 de vérification de la tension d'alimentation du microcontrôleur 6 et
• un composant EWD, portant la référence 40, de vérification de la fréquence de cadencement des opérations dans le microcontrôleur 6.

The electronic card 17 also comprises additional verification means of the operation of the microcontroller 6 forming the processing unit 6, constituted by:

• an SUP component, bearing the reference 39 for checking the supply voltage of the microcontroller 6 and
• an EWD component, bearing the reference 40, for checking the timing frequency of the operations in the microcontroller 6.

These components are likely to stop the operation of the actuator 7 if an anomaly is found concerning the parameters checked.

The figure 4 illustrates the organization of the processing performed on the signals present at the input of the ADC analog / digital converter, up to the formatting of data frames that can be transmitted to the client system by the interface controller IC and the actuator 7.

• ADC1, pour S1,
• ADC2 et ADC3 pour T, et
• ADC4 pour S1R.

The signals S1, S1R, T coming respectively from a first and a second sensor 5, 5R, and the filter 33 are present on the following inputs of the ADC analog / digital converter:

• ADC1, for S1,
• ADC2 and ADC3 for T, and
• ADC4 for S1R.

In a first step E1, all of these signals S1, S1R, T are multiplexed by a multiplexing component 42 to be subject to the same analog / digital conversion processing by the ADC converter. The multiplexing can be operated by a dedicated component or by the microprocessor 19.

In a second operation E2, the conversion of the multiplexed signal is performed by the ADC converter.

In a third step E3, in the microprocessor 19, the additional processing is performed on the digital data obtained from the signals S1, T, S1R. These processes are performed by two redundant calculating routines R1 and R1R, the identical instructions of which are stored in two parts of the memory of the separate CPU microprocessor, RAM1 and RAM2.

The routine R1 processes the data from the signals S1 and T, coming from the inputs ADC1 and ADC2 of the converter, and the routine R1 R processes the data coming from the signals S1R and T, coming from the inputs ADC4 and ADC3 of the converter.

• T
• S1, et
• Un signal INVS1, correspondant à une inversion numérique de S1 bit à bit.

At the output, the routine R1 provides digital data derived from the signals:

• T
• S1, and
• A signal INVS1, corresponding to a digital inversion of S1 bit by bit.

• T, que nous noterons TR, pour marquer la différence avec le signal obtenu par la routine R1
• S1R,
• Un signal INVS1R, correspondant à une inversion numérique de S1R bit à bit.

The routine R1R of the digital data derived from the signals:

• T, which we will note TR, to mark the difference with the signal obtained by routine R1
• S1R,
• A signal INVS1R, corresponding to a digital inversion of S1R bit by bit.

In a fourth step E4, the data obtained in E3 are formatted in the form of a SAF frame, for sending to the client system, by the interface controller IC and the interface driver of the actuator 7.

• S1 : la valeur du signal provenant d'un premier capteur 5, après traitement
• INVS1 : l'inversion numérique de S1 bit à bit.
• S1 R : la valeur du signal provenant d'un second capteur redondant 5R, après traitement
• INVS1R: l'inversion numérique de S1R bit à bit.
• RT : la valeur de réponse, correspondant à la valeur dérivée de T, mesurée en ADC2, et obtenue après les traitements par l'unité de traitement.
• RTR : la valeur de réponse, correspondant à la valeur dérivée de T, mesurée en ADC3, et obtenue après les traitements par l'unité de traitement.

This frame includes the following data:

• S1: the value of the signal coming from a first sensor 5, after treatment
• INVS1: the numerical inversion of S1 bit by bit.
• S1 R: the value of the signal coming from a second redundant sensor 5R, after treatment
• INVS1R: the digital inversion of S1R bit by bit.
• RT: the response value, corresponding to the value derived from T, measured in ADC2, and obtained after treatment by the processing unit.
• RTR: the response value, corresponding to the value derived from T, measured in ADC3, and obtained after treatment by the processing unit.

The frame further comprises a cyclic counter CC for identifying it with respect to the preceding and following frames.

The communication protocol between the supervision means 12 of the client device 10 and the processing unit constituted by the microcontroller 6 is of the master / slave type. The supervisory means 12 of the client device constitute the master, and the processing unit 6 of the remote control is the slave.

The supervisory means 12 send a synchronous request in the form of a master request frame MRF, and wait for a response in the form of a slave response frame SAF, in a given time window, from the transmission of the request. query frame.

An example of scheduling of frame transmissions is illustrated on the figure 6 . It appears in this example that the response of the processing unit must reach within 0.5 ms to the supervision means of the client device, and that the request frames are sent by these supervision means to an interval of between 5 and 25 ms.

The described synchronous mode makes it possible to avoid communication errors and avoids confusion between two replies to two transmitted request frames.

The master request frame MRF comprises the test setpoint value T, and the slave response frame SAF comprises the data of the signals RT, S1, INVS1, RTR, S1R, INVSR as detailed above. The Figures 7 and 8 describe an exemplary structure for these frames.

It is thus possible for the supervision means of the client device to compare the test setpoint value T sent with the received RT and RTR values, to identify whether the operation of the microcontroller is satisfactory, the received signals RT and RTR having been processed by all the components of the microcontroller 6, comprising redundant elements.

It is also possible to compare the values of S1 and INVS1, respectively of S1R and INVS1R, to control the smooth operation of the operations performed by the calculation routines.

Finally the comparison of the signals S1 and S1R make it possible to check the correct operation of the sensors 5, 5R.

As is self-evident, the invention is not limited to the preferred embodiments described above, by way of non-limiting example; on the contrary, it embraces all variants.

Claims (18)

1. Remote control (2) for mobile machine, in particular for public works machine, agricultural or load-handling machine, intended to generate control signals (S1, S1R) towards a client device (10), by way of communication means (9), the remote control comprising:

   - a movable control handle (3) that can move according to at least one degree of freedom with respect to the body of the remote control (4),

   - at least one sensor (5, 5R) of the position of the control handle (3),

   - a processing unit (6) or micro controller for processing the signals emitted by the at least one sensor (5, 5R),

   - an actuator (7), intended to transmit control signals (S1, S1R), processed by the processing unit (6) to the client device (10),

   characterized in that it comprises test means (30, 33, 34) intended to introduce a signal derived from a test signal (T) emitted by the client device (10) as input (ADC2, ADC3) for the processing unit (6), and in that it is designed to emit, towards the client device (10), an information set (SAF), in response to the test signal (T), comprising at least one response signal (RT), corresponding to the processing of the signal derived from the test signal (T) by the processing unit (6).
2. Remote control (2) according to Claim 1, characterized in that the information set (SAF), emitted in response to the test signal (T) moreover comprises at least one control signal corresponding to the processing of the signal of the sensors by the processing unit (6).
3. Remote control (2) according to one of Claims 1 and 2, characterized in that the test signal (T) is a digital signal.
4. Remote control according to one of Claims 1 to 3, characterized in that the test means comprise:

   - means (30) for emitting an analog signal on the basis of the test signal (T)

   - means (33) for filtering the analog signal emitted.
5. Remote control (2) according to one of Claims 1 to 4, characterized in that the processing unit (6) comprises at least one analog/digital converter (18, 34).
6. Remote control (2) according to one of Claims 4 and 5, characterized in that the means for emitting a signal towards the filtering means (33) on the basis of the test signal (T) comprise means for generating a signal of pulse width modulation type (30).
7. Remote control (2) according to one of Claims 4 to 6, characterized in that the filtering means comprise a low-pass filter (33).
8. Remote control (2) according to one of Claims 1 to 7, characterized in that it comprises additional means for monitoring the processing unit, comprising:

   - a component for checking the supply voltage of the unit (39), and/or

   - a component for checking the timing frequency of the operations in the processing unit (40).
9. Remote control (2) according to one of Claims 1 to 8, characterized in that it comprises at least two sensors (5, 5R) for each degree of freedom of the handle (3).
10. Method of checking the operation of a processing unit (6) of a mobile machine remote control (2), in particular for public works machine, agricultural or load-handling machine, intended to generate control signals (S1, S1R) towards a client device (10), by way of communication means (9), the remote control comprising:

    - a movable control handle (3) that can move according to at least one degree of freedom with respect to the body of the remote control (4),

    - at least one sensor (5, 5R) of the position of the control handle (3),

    - a unit (6) for processing the signals emitted by the at least one sensor (5, 5R),

    - an actuator (7), intended to transmit control signals (S1, S1R), processed by the processing unit (6) to the client device (10),

    method comprising the steps consisting in,
    at the level of a client device (10):

    - emitting a test signal (T) destined for the processing unit (6),

    at the level of the remote control:

    - producing a signal derived from the test signal (T) emitted by the client device (10)

    - introducing the derived signal as input (ADC2, ADC3) for the processing unit (6),

    - processing the signal derived from the test signal (T) as a sensor signal at the level of the processing unit (6),

    - emitting an information set (SAF), comprising at least one response signal (RT) corresponding to the processing by the processing unit, of the signal derived from the test signal (T), towards the client device (10),

    at the level of the client device:

    - comparing the test signal (T) and the response signal (RT).
11. Method according to Claim 10, characterized in that the test signal (T) is a digital signal.
12. Method according to one of Claims 10 and 11, characterized in that the production of a signal derived from the test signal is carried out by:

    - deriving an analog signal on the basis of the test signal (T)

    - filtering the analog signal thus emitted.
13. Method according to one of Claims 10 to 12, characterized in that the information set (SAF) comprises moreover, at least one signal (S1, S1R, INVS1, INV S1R) corresponding to the processing of the signal of the sensors by the processing unit (6).
14. Method according to one of Claims 11 to 13, characterized in that, at the level of the client device (10), the information set (SAF) emitted by the remote control is waited for in a determined time interval after emission of the test signal (T).
15. Method according to one of Claims 11 to 14, characterized in that it comprises a step, at the level of the processing unit, consisting in multiplexing the sensor signals (S1, S1R) and signals derived from the test signal (T), and in processing the multiplexed signal with processing means (18), in particular to carry out an analog/digital conversion.
16. Method according to one of Claims 10 to 15, characterized in that the detection of the position of the handle (3) is carried out by two distinct sensors (5, 5R).
17. Method according to one of Claims 10 to 16, characterized in that at least one part of the processing is carried out, within the processing unit, in a redundant manner by at least two routines (R1, R1R) whose instructions and/or data are recorded in two distinct memory areas (RAM1, RAM2) of the processing unit (6).
18. Method according to Claim 17, characterized in that a first routine (R1) processes signals of a first sensor (S1) and the signal derived from the test signal (T), and a second routine (R1R) processes signals of a second sensor (S1R) and the signal derived from the test signal (TR).

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