WO2014109657A1

WO2014109657A1 - System and process of remote command of vehicles by copy of spatial orientation comprising a warning subsystem for non executable orders

Info

Publication number: WO2014109657A1
Application number: PCT/PT2013/000044
Authority: WO
Inventors: Severino Manuel Oliveira RAPOSO
Original assignee: Far Away Sensing
Priority date: 2013-01-09
Filing date: 2013-07-15
Publication date: 2014-07-17
Also published as: PT106723A

Abstract

The present invention relates to a system and process of remote command of a vehicle, in particular a model aircraft, by copy of spatial orientation, the system comprising a controller (11) configured for receiving orders from a user, a controlled vehicle (13), an external reference frame (12), and a warning subsystem for orders that are not susceptible of being followed/executed by controlled vehicle (13). The system may further comprise a security subsystem integrated into controller (11) and/or the controlled vehicle. The invention also relates to a process of remote command of a vehicle comprising the steps of copying the spatial orientation of controller (11), and simultaneously detecting non-executable orders, in this last case the process contemplates the automatic control of the vehicle in a security mode until executable orders are introduced. The present invention has application in the remote control vehicle industry, particularly in the model aircraft making industry.

Description

"SYSTEM AND PROCESS OF REMOTE COMMAND OF VEHICLES BY COPY OF SPATIAL ORIENTATION COMPRISING A WARNING SUBSYSTEM FOR NON-EXECUTABLE ORDERS"

FIELD OF THE INVENTION

The present invention relates to a system and process of remote command of a vehicle, in particular a model aircraft, by copy of spatial orientation, the system comprising a warning subsystem for orders that are not susceptible of being followed/executed by the controlled vehicle. The present invention has application in the remote control vehicle industry, particularly in the model aircraft making industry.

BACKGROUND OF THE INVENTION The remote-controlled vehicles are widely used for both leisure, namely in model aircraft making, and professional applications, as, for example, surveillance, terrestrial reconnaissance, search and rescue, among others where it is risky to involve people directly. Cases of using these systems in a military environment are also well known. The remote-controlled vehicles, such as, for example, those commonly called model aircrafts, require a remote controller /transmitter (such as that shown in Fig. 1) which normally uses radio frequency (RF) transmitted through an antenna or infrared (IR) transmission. In the controlled vehicle there is usually a receiver that is connected to a decoder /processor in order to drive electromechanical servos, for example, for controlling flight control surfaces and power of an engine (or engines). This controller can normally use 2, 3, 4, 5, or even 6 or more proportional controls and some more controls of the on/off type. Each of the proportional controls is associated with an order to be given to the controlled vehicle. For example, a power control may control, in the remote vehicle, one actuator or driver of an electrical engine or an electromechanical servo that actuates the throttle of an internal combustion engine.

The same applies to all other proportional controls, wherein these control an electrical or electromechanical system, the actuation of which, in turn, controls various actuators in the controlled vehicle proportionally. Some of these controls come in the form of self-centering mechanical levers which, when released by the user, return to a predefined position.

In most cases, the decoder/processor of a controlled vehicle, as, for example, a model aircraft, commands each of the command systems of the model aircraft through one or more electromechanical servos. The movement of the controls leads to the actuation, in a proportionate manner, of the corresponding electromechanical servos in the model aircraft. For example, the movement for controlling the ailerons in the controller generates an order for the model aircraft, namely, for an electromechanical servo to proportionally command the ailerons.

In the most common systems, the actuation of the controls in the controller transmits orders to the controlled vehicle that do not depend on the position of the user relative to the position of the controlled vehicle, which requires the user to permanently, mentally position himself as if he was inside the controlled vehicle.

For example, if the vehicle is travelling against the user and the user wants to make it turn, for example, to the right, the user must move the control contrary to the desired turning side, unlike what the user would do if he was inside the vehicle. If the controlled vehicle is travelling to the opposite direction of the user (moving away) and the user intends to make it turn, for example, to the left, the user moves the control to the same side of the desired turning side for the vehicle. These situations hamper the learning in respect of the command of these vehicles, especially when it concerns a vehicle with multiple command possibilities as, for example, a model aircraft.

U.S. Patent 8200375 discloses a control system, and helicopter controlled via radio, using a command mode different from the classic ones. Motion sensors are used in this system both in the helicopter and in the controller in order to allow determining the position of the helicopter in relation to the controller's reference frame. From this information, the movement orders given at the controller are adjusted, in order for the helicopter to move in directions according to the perspective of the controller user. Thus, the system involves performing calculations and continuous information communication between the helicopter and the controller and vice versa, even when the helicopter is following a simple path, such as, for example, a straight line. The controller of this system preferably uses a conventional interface of buttons, joystick, etc., for the user to introduce the desired movement orders.

There are systems that use an external reference to adjust the movement orders received by the vehicle to the perspective of the user. One such system is described in patent EP 1448436, in which the controller and the controlled vehicle have sensors to an external reference, such as the magnetic North. This system uses a process to command a vehicle in which, upon a movement order of the controller to the vehicle, information is attached about the spatial orientation of the controller relative to said external reference, the system then compares the spatial orientation of the controlled vehicle, in relation to the external reference, with the one from the controller, and finally, the movement order is adjusted in order to correspond to an order given in the perspective of the controller and not in the perspective of vehicle. Therefore, the user is still required to give orders to the vehicle by actuating controls in a controller.

More recently, the AR.Drone 2.0 commercial system of the company Parrot (http://ardrone2.parrot.com/) was disclosed, which uses an inertial system with Earth's magnetic field sensors. This commercial system allows for a command mode (named "Absolute mode") in which, after the user tilts the controller in one direction, the vehicle, regardless of the position to which it is turned, rotates (if necessary) to the direction to which the user has tilted the controller, moving itself to that direction. That is, the controller allows, in a simplified and adjusted to the user's perspective manner, to indicate the vehicle where to move. However, this system does not enable the user with a total command over the vehicle, only allowing to define the movement direction (for example, going to the right of the user), the manner in which the vehicle moves (more or less tilted, for example) to follow the designated direction not depending of any user action but depending only of the system programming. It must also be noted that this commercial system requires the separate purchase of controller and controlled flying vehicle, as well as of interface software between controller and controlled vehicle. The controller is a smartphone-type or tablet device having a symmetrical geometric shape.

In U.S. patent 8089225 is described another system that, upon changing of the controller spatial orientation in relation to a arbitrary neutral position, changes the orientation of the controlled vehicle in accordance with the orientation change of the controller. However, this system has no alert and/or trajectory self-correction process in the event of orders impossible to be obeyed by the controlled vehicle.

Although, as seen, there are numerous command systems of a controlled vehicle, none of the previous state of the art documents mentions the existence of a system having a simplified command mode for a controlled vehicle and at the same time avoiding that the user himself jeopardizes the integrity of the controlled vehicle by orders nonexecutable by the controlled vehicle. Indeed, a controlled vehicle has displacement constraints dictated by the laws of physics. These constraints are more apparent in the case of model aircrafts than in the case of terrestrial vehicles.

Thus, a need exists for a system and process for the control of vehicles, in particular model aircrafts, which enables the command of the vehicle to take place by reproduction of the spatial orientation of a controller in relation to a reference frame, in order that the controlled model aircraft fully copies the spatial orientations adopted by said controller. There is also the need for said system to comprise a warning subsystem that interacts with the user in order to inform him of possible orders that are not executable by the vehicle.

There is also the need for a security subsystem that automatically takes over command of the controlled vehicle in the event of persistent occurrence of nonexecutable orders.

SUMMARY OF THE INVENTION

The present invention relates to a system of remote command of a vehicle by copy of spatial orientation, the system comprising:

• a controller (11) configured for receiving orders from a user comprising: a spatial perception and order transmission subsystem (1) comprising: spatial orientation meter (45);

command processor (46); and

data transmitter (48);

• a controlled vehicle (13), preferably a model aircraft, comprising: a control means (14) comprising: a movement processor (51);

a spatial orientation meter (52); and

a receiver (53); orientation control means (57, 58, 59, 60); and

motion control means (55, 56); • an external reference frame (12), which serves as a spatial orientation reference for controller (11) and controlled vehicle (13); and

• a warning subsystem integrated into controller (11) and/or controlled vehicle (13), configured for warning the user of the input of nonexecutable orders, comprising: an order processor member;

a memory having processor readable instructions, the memory being connected to said order processor member in order to be able to be accessed by it; and an alert device (47) arranged in controller (11) and/or an alert device (50) arranged in controlled vehicle (13).

In one aspect of the invention, said warning subsystem is in data communication with command processor (46) and/or movement processor (51).

Preferably, the warning subsystem further comprises sensors mounted in controlled vehicle (13), wherein the sensors are selected from the group consisting of accelerometers, gyroscopes, video cameras for position determination, air speed sensors, GPS sensors, air flow angle-of-attack sensors, loss of aerodynamic stability sensors and altitude sensors, distance to the ground sensors, and combinations thereof.

In an embodiment, said alert device (47) of the warning subsystem is selected from the group consisting of vibrating devices, visual signal generation devices, sound signal generation devices, and combinations thereof; and said alert device (50) of the warning subsystem is selected from the group consisting of visual signal generation devices, sound signal generation devices, and combinations thereof. In a preferred embodiment, the system of the invention further comprises a security subsystem integrated into controller (11) and/or controlled vehicle (13), the security subsystem comprising: a processor member and

a memory having processor readable instructions, the memory being connected to said processor member in order to be able to be accessed by it. Preferably, the security subsystem is in data communication with the warning subsystem.

In another aspect of the invention, the security subsystem is in data communication with command processor (46) and/or movement processor (51). In another embodiment, controller (11) has a variable shape along its longitudinal, vertical, and lateral axes, so that an user, even without maintaining visual contact with controller (11), knows its orientation through tact and/or proprioceptive sense.

The present invention further relates to a process of remote command of a controlled vehicle (13) by copy of the spatial orientation of a controller (11), which spatial orientation refers to an external reference frame (12), wherein the process comprises the steps of:

• copying the spatial orientation of controller (11) by: determining the spatial orientation of controller (11) by measuring physical quantities relative to each axis of external reference frame (12); transmitting the spatial orientation of controller (11) for a controlled vehicle (13); determining the spatial orientation of controlled vehicle (13) by measuring physical quantities relative to each of the axes of said external reference frame (12); comparing the spatial orientation of controlled vehicle (13) with the spatial orientation of controller (11); correcting the spatial orientation of controlled vehicle (13) so that it adopts the spatial orientation of controller (11),

• detecting non-executable orders by: monitoring all the orders given to controller (11) and/or monitoring operation parameters from controlled vehicle (13); transforming said monitored orders into command parameters; verifying the matching of said command parameters and/or said monitored operation parameters of controlled vehicle (13) with predefined acceptable operation parameters for controlled vehicle (13); and

• generating a non-executable order warning signal when a match of the command parameters and/or the monitored operation parameters of controlled vehicle (13) with the predefined parameters of acceptable operation for controlled vehicle (13) is not verified.

In a preferred embodiment, the process of the invention further comprises a step of automatic control of controlled vehicle (13) after generating a non-executable order warning signal, wherein said step of automatic control interrupts the step of copying the spatial orientation of controller (11) until new executable orders are introduced; or after direct driving by controller (11).

Preferably, the step of automatic control of controlled vehicle (13) is carried out after a predefined time interval after generating a non-executable order warning signal.

In another embodiment, the step of automatic control of controlled vehicle (13) is activated or deactivated in controller (11).

BRIEF DESCRIPTION OF THE DRAWINGS

The following text describes the invention in detail with reference to the accompanying drawings, wherein:

Fig. 1 illustrates an example of a system of remote control of the prior art;

Fig. 2 illustrates a possible embodiment of the present invention showing a controller and a controlled vehicle;

Fig. 3 shows different views of the controller from Figure 2;

Fig. 4 shows an operation mode of the present invention in different views, illustrating the replication of the position and spatial direction of the main controller in the model aircraft;

Fig. 5 illustrates a further embodiment of the present invention showing a controller, a controlled vehicle and an auxiliary controller; Fig. 6 is a schematic representation of the connections between the components comprised in the controller and the controlled vehicle in an embodiment of the system of the present invention; Fig. 7 is a schematic representation of the connections between the components comprised in the controller, the controlled vehicle, and the auxiliary controller, in another embodiment of the system of the present invention;

Fig. 8 shows a flowchart of a preferred embodiment of the present invention.

DETAILED DESCRIPTION OF THE INVENTION

The present invention relates to a system and process of remote command of a vehicle by copy of the spatial orientation of a controller (11) by the vehicle (13) to be controlled, wherein a user is only required to establish the desired spatial orientation in controller (11), that spatial orientation being replicated by controlled vehicle (13). This simplification in the process of command of vehicle (13) allows for any user (albeit with little experience commanding, for example, model air crafts, model helicopters, boats, remote controlled cars, etc.) to easily adapt to the use of the herein described system.

Throughout this description multiple references are made to "spatial orientation", by this meaning the angle adopted by the object in relation to each of the axes of an external reference frame (12), for example an orthonormal reference frame.

In the context of the present invention, the expression "external reference frame" refers to an orthonormal reference frame (12) which is physically external in relation to both the controller (11) and the controlled vehicle (13). For example, external reference frame (12) is the Earth's magnetic field vector. Another possible example is the sunlight vector (or moonlight or from a particular star constellation). Yet another possible example is the gravity vector or the vector of a initially determined spatial direction (by gyroscopes in controller (11) and vehicle (13), pointed initially in the calibration process to the same spatial direction). The system of the present invention may use any of these or similar external reference frames and combinations thereof. In this description, the noun "controller" refers to the member or device that receives orders from the user and transmits them to the controlled vehicle. Unless expressly stated otherwise, the verb "to command" or "to control" and verbal variants thereof refer to the action of remotely piloting or steering a vehicle capable of being commanded (designated herein as controlled vehicle).

In the present invention, by "order" is meant an instruction to the controlled vehicle, in which an order may be related, for example, to the vehicle movement, power, speed, acceleration, among others. The noun "control" refers to the user-actuatable physical member (or members) available in the controller, which serves as an interface between the user and the system, unless the term is used in the writing in the sense of performing a control action. Examples of controls comprise buttons, joysticks, other proportional-type control means (as the widely known computer mouse wheel), among others.

In the context of the present application, the use of the expression "and/or" is intended to mean that both conditions are met or just one those is met. For example, the expression "processor (46) and/or processor (51)" means "processor (46) and processor (51) or processor (46) or processor (51)".

In the context of the present description, the expression "data communication" refers to a direct communication of data between different members of the system (that is, a physical communication by means of, for example, conductors) and/or a wireless communication (such as is commonly called in the state of the art) between different members of the system. In this description, the term "comprising" should be understood as "including, among others". As such, said term should not be construed as "consisting only of".

Fig. 1 shows a state of the art classic controller (22) for remotely commanding vehicles. In one embodiment in which the controlled vehicle is a model aircraft, joystick (15) if moved up and down according to a direction (16) controls the acceleration of model aircraft engines, and if moved according to a direction (17) controls a rudder (60), while another joystick (18) if moved according to a direction (19) controls elevators, and if moved according to a direction (20) controls ailerons for controlling the rotation about the longitudinal axis of the model aircraft. The actuation of these controls is proportionally repeated by model aircraft actuators. Generally, classic controller (22) also has an antenna (21) for wireless data transmission.

In the present invention, in addition to the aforementioned controller (11) and controlled vehicle (13), the remote command system of the present invention further comprises a warning subsystem to warn the user of non-executable orders, the system of this invention may further comprise a security subsystem to take over command of the controlled vehicle in a predefined security mode until the user sends orders susceptible of being executed to the controlled vehicle.

Said subsystems allow to safeguard the integrity of the controlled vehicle if nonexecutable orders are introduced in the controller, due to user inexperience, inattention, or carelessness (such as, for example, when performing impossible trajectories is intended or if the controller is dropped).

In the present invention, the expression "non-executable orders" refers to orders introduced in the controller by the user that the controlled vehicle cannot carry out or keep up with. These include spatial orientations which the controlled vehicle cannot copy due to its inherent limitations of weight and/or power, as well as spatial orientations that, although the controlled vehicle can temporarily copy, may result in a loss of stability. Non-executable orders further include the input of too many orders, simultaneously, in the controller, to which the controlled vehicle cannot comply.

In the instance of the controlled vehicle being a model aircraft, it is considered a spatial orientation non-executable order when, for example, the user orders the controlled vehicle (via controller) to take on an orientation perpendicular to the surface of the Earth. The controlled vehicle can copy that spatial orientation but not for a long time, unless it has a thrust higher than its weight. The system of remote command of vehicles of the present invention comprises five main members: an external reference frame (12), a controller (11), a controlled vehicle (13), a warning subsystem, and a security subsystem.

Controlled vehicle (13) is controlled via controller (11), by copy of the spatial orientation of controller (11) by controlled vehicle (13). For that purpose, controller (11) and controlled vehicle (13) comprise physical quantity gauges relative to each of the axes of the external reference frame (12) to determine their spatial orientation.

Said warning subsystem monitors orders given in controller (11), warns the user if orders non-executable by controlled vehicle (13) are detected, and if the user does not correct the incorrect order in a predefined time interval, the security subsystem takes over the command of controlled vehicle (13), in a predefined security-mode, until the user re-acquires the command of controlled vehicle (13), for example, by introducing an executable order.

In Fig 2, an embodiment of the system of the invention may be seen in which controlled vehicle (13) is a model aircraft.

The number of reference frame (12) axes depends on controlled vehicle (13), namely, it depends on the number of orthogonal axes about which controlled vehicle (13) can rotate by its own action and therefore change its spatial orientation. For example, external reference frame (12) has three axes if by its own action the controlled vehicle (13) can change the angle relative to each of three axes. In the instance where controlled vehicle (13) is a car, it typically comprises components that enable it to rotate around one axis: an axis (vertical axis (Z)) perpendicular to the plane in which the car moves and that crosses the centre of gravity of the car. On the other hand, a model aircraft-type controlled vehicle (13) typically comprises components that enable it to rotate around three axes: an axis (vertical axis (Z)) perpendicular to the plane of the Earth where the model aircraft moves and that crosses the centre of gravity of the model aircraft; an axis (longitudinal axis (X)) that crosses the model aircraft from the front to the back of the model aircraft and crosses the centre of gravity of the model aircraft; and an axis (lateral or transverse axis (Y)) that crosses the model aircraft between the wings of the model aircraft and crosses the centre of gravity of the model aircraft.

Controller (11) comprises a spatial perception and order transmission subsystem (1), which in turn comprises: a spatial orientation meter (45), a command processor (46), and a data transmitter (48).

The spatial orientation meter (45) comprises gauges that perform physical quantity measurements in each of the axes of external reference frame (12) (for example, they measure the Earth's magnetic field on each axis). Spatial orientation meter (45) is configured for sending the acquired physical quantity measurements to command processor (46).

Command processor (46) is configured for determining, based on the measurements carried out by spatial orientation meter (45), the angles of controller (11) with each of the axes of external reference frame (12), the set of these angles defining the spatial orientation of controller (11); and codifying the determined angles and sending them to data transmitter (48). Data transmitter (48) is configured for transmitting the data encoded by command processor (46) via a remote data transmission means (for example, infrared, radio, etc.). Controlled vehicle (13) comprises: a control means (14), orientation control means (57, 58, 59, 60), and motion control means (55, 56). In turn, control means (14) comprises: a movement processor (51), a spatial orientation meter (52) and a receiver (53).

Receiver (53) is configured for detecting data using the same remote data transmission means used by data transmitter (48) of controller (11) for transmitting data; and sending detected data to movement processor (51).

Movement processor (51) is configured for:

• decoding the data received by receiver (53);

• searching decoded data for data from controller (11) comprising the spatial orientation of controller (11);

• commanding the spatial orientation meter (52) for performing physical quantity measurements in each of the axes of external reference frame (12);

• using said acquired measurements to determine the angles of controlled vehicle (13) with each of the axes of external reference frame (12), the set of these angles defining the spatial orientation of controlled vehicle (13);

• calculating the difference between the spatial orientation of controller (11) and the spatial orientation of controlled vehicle (13);

• commanding motion control means (55, 56) so that the power applied by those is equal to a determined value; and • commanding orientation control means (57, 58, 59, 60) so that the spatial orientation of controlled vehicle (13) is equal to the spatial orientation of controller (11). Spatial orientation meter (52) comprises gauges that carry out physical quantity measurements in each of the axes of external reference frame (12) (for example, measure the Earth's magnetic field on each axis of the external reference frame (12)).

Orientation control means (57, 58, 59, 60) and motion control means (55, 56) of controlled vehicle (13) respectively control the controlled vehicle (13) spatial orientation and applied power, with the type and number of control means (55, 56, 57, 58, 59, 60) depending on the type of controlled vehicle (13).

The warning subsystem is configured for monitoring spatial orientation change orders and warning the user in the event it detects the input of orders non-executable by controlled vehicle (13).

The warning subsystem may be designed to indicate the security subsystem to take over the command of controlled vehicle (13), in the event the user does not correct the order in a predefined period of time.

The warning subsystem may be integrated into controller (11) and/or controlled vehicle (13) and is in communication with command processor (46) and/or movement processor (51), regardless of which of said controller (11) and controlled vehicle (13) integrates it.

The security subsystem is configured for, if active and if it receives an indication from the warning subsystem, taking over the control of controlled vehicle (13) (rather than it being commanded via spatial orientation changes in controller (11)) in a predefined security-mode until the user re-acquires control over controlled vehicle (13). For this reason, the security subsystem should be in data communication with the warning subsystem.

As the warning subsystem, the security subsystem may also be integrated into controller (11) and/or controlled vehicle (13) and be directly connected to the warning subsystem or indirectly connected to it, in this last situation via command processor (46) and/or movement processor (51), regardless of which of said controller (11) and controlled vehicle (13) integrates it. In a possible embodiment, the security subsystem may be triggered directly by the user by a control arranged in controller (11) specifically for this purpose.

Non-exclusive examples of predefined security modes comprise controlled vehicle (13) taking on a constant spatial orientation that makes it move in circles or controlled vehicle (13) maintaining the last spatial orientation considered to be executable, which, in that case, implies constantly maintaining and renewing a record of the last executable spatial orientation throughout the operation of the system.

In Fig. 3 is depicted a preferred embodiment of controller (11) in various views: top view (27); bottom view (28); side view (29); rear view (30); and front view (31).

In this preferred embodiment, controller (11) has a shape adapted to the palm of the hand of a user, in such a way that he, even in the absence of visual contact with controller (11), through touch and/or proprioceptive sense knows how controller (11) is spatially oriented in relation to external reference frame (12). For this reason, controller (11), for example, may present a shape similar to the general shape of computer mice, since this shape is widely known and easily adaptable to the palm of the hand of a user. Controller (11) may have any other shapes considered suitable as, for example, the shape of controlled vehicle (13). Preferably, controller (11) has drawn (see also Fig. 2) a representation (9) of controlled vehicle (13) to assist the user in understanding the use of the system. Controller (11) in the above mentioned embodiment has a shape variable along its longitudinal, vertical, and lateral axes (as seen, for example, in views (27, 28, 29, 30, 31) of Fig. 3) so that the user, even without maintaining visual contact with controller (11), knows, by touch and/or proprioceptive sense, how controller (11) is oriented.

As previously mentioned, spatial orientation meter (45) of controller (11) and spatial orientation meter (52) of controlled vehicle (13) each comprise gauges which make physical quantity measurements in each of the axes of the external reference frame (12). Therefore, said gauges are chosen depending on the number of axes external reference frame (12) has. In a case in which external reference frame (12) has three axes as, for example, if controlled vehicle (13) is a model aircraft, the gauges may be selected from the group comprising magnetic sensors, accelerometers, gyroscopes, video cameras (for position determination), altitude sensors (atmospheric pressure sensor, precision barometer, ultrasonic sensor, or any other which precisely measures the altitude to the ground), and the like, and combinations thereof.

Spatial orientation meter (45) of controller (11) and spatial orientation meter (52) of controlled vehicle (13) may comprise gauges of the same type or of different types.

Preferably, said gauges are able to detect the Earth's magnetic field in three axes, X, Y, and Z, where the X axis may correspond, for example, to the magnetic North (denoted as N in Fig. 4), the Y axis to East and the Z axis to the vertical axis perpendicular to the plane of Earth.

Also preferably, said gauges of spatial orientation meter (45) of controller (11) are aligned with easily identifiable axes of controller (11) itself so that a user can easily distinguish the spatial orientation of controller (11). The same is preferred in relation to the gauges of spatial orientation meter (52) of controlled vehicle (13). Still in a preferred embodiment, controller (11) comprises a power control means (2) designed for a user to adjust the controlled vehicle (13) power. In this embodiment, command processor (46) is configured for detecting the actuation of power control means (2), encoding information relative to the power to be applied and conveying that information to controlled vehicle (13) so that movement processor (51) commands the motion control means (55, 56) accordingly. Preferably, power control means (2) is of the proportional type and, for example, takes on the form of a built-in wheel controller (11) for rotating around an axis. In an alternate embodiment, the power of controlled vehicle (13) required at each moment is predefined in movement processor (51) or in command processor (46) in order to dismiss said power control means (2).

Returning to controller (11), it may further comprise a state light (8) (for example, a LED) to indicate whether the system is on. For example, state light (8) is on if the system is on. This state light (8) may be of the variable luminous intensity type, wherein the intensity varies according to the actuation of controls (2, 3, 4, 5, 6, 7) of controller (11), if any. In Fig. 6 and 7, buttons (2, 3, 4, 5, 6, 7) are illustrated as a group arranged in member (49).

It is an object of the present invention the easiness of using controller (11). Thus, it is advantageous for the controller (11) to have an independent source of electrical power. As such, in the preferred embodiment, the controller (11) comprises an opening (10) for receiving primary or secondary batteries. This opening (10) may be arranged on the bottom or top side of controller (11) or anywhere therein that may be used for this purpose.

In a preferred embodiment, controller (11) comprises a on/off switch (23) to allow the user for turning on or off the controller (11) and/or the whole system. Controller (11) may further comprise a display unit (25) at its bottom portion. This display unit (25) may be used for providing the user with a manner for selecting system parameters or switching between different operation modes of the system (explained below). The user will be able to browse through menus displayed in display unit (25) using, for example, controls (3, 4, 5, 6, 7) and/or the power control means (2).

Controller (11) may also comprise a connecting port (26) to which an auxiliary controller (44) may be connected in an embodiment which will be explained below. The controller (11) may further comprise dedicated controls (3, 4, 5, 6, 7) for specific predefined orders.

All the dedicated controls (2, 3, 4, 5, 6, 7) that are comprised in controller (11) are connected to movement processor (46) (as may be observed schematically, for example, in Fig. 6 and 7), which distinguishes the activation of those controls and processes the orders required by the user upon activating those controls. Also, display unit (25) is connected to movement processor (46). The layout of the controls and the display unit (25) as exemplified in Fig. 3 is merely an embodiment of the present invention.

As mentioned above, in controlled vehicle (13) the type and number of orientation control means (57, 58, 59, 60) depend on the controlled vehicle (13) type. Orientation control means (57, 58, 59, 60), in the case the controlled vehicle (13) is a model aircraft, control the aerodynamic surfaces of controlled vehicle (13) in order to change the spatial orientation of controlled vehicle (13), wherein the orientation control means (57, 58, 59, 60) may be selected from the group comprising elevator (59), rudder (60), ailerons (57, 58), and the like.

In the event the controlled vehicle (13) is a model helicopter, the orientation control means (57, 58, 59, 60) control the cyclic of the model helicopter, the collective pitch and the rear propeller in order to change the spatial orientation of the helicopter model.

Also as previously mentioned, the type and number of motion control means (55, 56) depend on the controlled vehicle (13) type. In the event controlled vehicle (13) is a model aircraft, for example, the motion control means (55, 56) comprise one or more engines (55, 56) or turbines.

There are kinds of controlled vehicles (13) in which orientation control means (57, 58, 59, 60) and motion control means (55, 56) are the same, that is, controlled vehicle (13) comprises members responsible for simultaneously controlling the spatial orientation and power of controlled vehicle (13). An example of such a controlled vehicle (13) is the quadrotor. Like the controller (11), controlled vehicle (13) may also comprise a state light (54) (for example, a LED) for indicating whether controlled vehicle (13) is on and capable of receiving orders from controller (11). For example, state light (54) lights on if such occurs. In one embodiment, the data transmitter (48) of controller (11) and/or receiver (53) of controlled vehicle (13) are of the transceiver type, capable of transmitting and receiving data, instead of just transmitting or receiving the data. This provides a two-way communication, useful for some operation modes explained hereunder.

In Fig. 6 are schematically depicted, by way of example, the connections between the components comprised in controller (11) and the connections between the components comprised in controlled vehicle (13). In controller (11), the central component is the command processor (46), which is connected to all the other components comprised in the controller (11). On controlled vehicle (13), the central component is the movement processor (51), to which all other components of controlled vehicle (13) are connected. In Fig. 6 and 7 are depicted control means (SI to Sn), for example, of the servo type, controlling orientation and motion control means (55, 56, 57, 58, 59, 60) of controlled vehicle (13) which, in this example, is a model aircraft. Each control means (SI to Sn) may have a specific function: a power control means (SI) controls engines (55, 56); a control means (S2) moves ailerons (57, 58); a control means (S3) moves elevators (59); a control means (S4) moves a rudder (60); other control means (S5 to Sn) control other members that may be present in the model aircraft as, for example, to control landing gear retraction. In one embodiment, said warning subsystem warns the user via tactile, vibratory, sonorous, visual, or other signals that suit the warning function. For this purpose, the warning subsystem may comprise a warning device (47) in controller (11) and/or a warning device (50) in controlled vehicle (13). The warning device (47) in controller (11) is preferably capable of generating tactile, vibratory, sonorous, visual, or other signals. Warning device (50) in controlled vehicle (13) is preferably capable of generating visual signals (for example, a LED), also being able to use sonorous signs or of another type considered suitable. For this purpose, warning devices (47, 50) may be selected from a group comprising vibratory devices, visual signal generating devices, sonorous signal generating devices, and the like and combinations thereof.

Regarding the security subsystem, it may comprise an accelerometer mounted on controller (11) for detecting, for example, situations in which the user drops the controller (11). In this situation, the security subsystem receives the information from the accelerometer and takes over control of controlled vehicle (13) on the basis of predetermined criteria.

The system of the present invention may additionally comprise an auxiliary controller (44), depicted, for example, in Fig. 5. Auxiliary controller (44) comprises an auxiliary command processor (62), auxiliary controls (34, 35, 36, 38, 39, 40, 41, 42) and/or an auxiliary display unit (33) connected to auxiliary command processor (62), such as depicted, for example, in Fig. 5 and 7. This auxiliary controller (44) enables the provision of additional command options for controlled vehicle (13) without adding more controls to controller (11). For example, functions and/or operation modes (explained below) may be associated to the various auxiliary controls (34, 35, 36, 38, 39, 40, 41, 42), instead of adding controls to controller (11).

The auxiliary command processor (62) is in data communication with controller (11), namely, with command processor (46). This connection between auxiliary command processor (62) and command processor (46) is performed preferably via a connecting cable (32) connected to a connecting port (26) in controller (11) or rather via remote data transmission, such as infrared, radio, etc.. The auxiliary command processor (62) distinguishes the activation of auxiliary controls (34, 35, 36, 38, 39, 40, 41, 42) and is configured for sending the orders required by the user to the command processor (46) by activating those controls (34, 35, 36, 38, 39, 40, 41, 42).

The auxiliary display unit (33), if comprised in auxiliary controller (44), is connected to auxiliary movement processor (62), which controls the display of menus in auxiliary display unit (33). In one preferred embodiment, auxiliary controller (44) comprises controls (35, 36, 38) for the user to browse through said menus displayed on auxiliary display unit (33), namely: an accept button (35), a cancel button (36), and a menu browsing control means (38).

Auxiliary controller (44) may comprise an auxiliary power control means (39) of the trigger type for controlling the power of the controlled vehicle (11). In this embodiment, the power of controlled vehicle (13) is proportional to the pressure applied by the user applies to the power control means (39).

Like controller (11) and controlled vehicle (13), also the auxiliary controller (44) may comprise a state light (37) (for example, a LED) for indicating if the auxiliary controller (44) is connected to the system. For example, the state light (37) turns on if such occurs. The auxiliary controller (44) may comprise a switch (43) for turning on/off auxiliary controller (44), regardless of whether the remaining members of the system are on or off.

In one embodiment, auxiliary controller (44) may comprise an auxiliary proportional control (34) of the joystick type with two axes of freedom. This auxiliary proportional control (34) may be used for making small adjustments in the spatial orientation of controlled vehicle (13). The auxiliary proportional control (34) may also be used for controlling a controlled vehicle (13) in more axes of the external reference frame (12) than allowed by controller (11), which may be useful, for example, if a user already has a controller (11) able to command a certain controlled vehicle (13) (for example, a model aircraft) capable of rotating about a certain number of axes, and wants to use the same controller (11) for controlling another controlled vehicle (13) (for example, the one described in U.S. patent 8128033) capable of rotating in a larger number of axes to which controller (11) was designed.

Auxiliary controller (44) may further comprise lateral buttons (40, 41, 42), wherein it is the user who chooses the orders and/or operation modes (explained below) assigned to those lateral buttons (40, 41, 42). This choice is made through browsing the menus displayed on the auxiliary display unit (33). This enables a user to select the orders and/or operation modes required to be more readily accessible without having to browse through the menus displayed in the auxiliary display unit (33). Lateral buttons (40, 41, 42) may be in either side of the auxiliary controller (44) (although only displayed on the right side) so they may be conveniently pressed by right-handed or left- handed people.

In Fig. 7 are shown schematically as an example the same connections depicted in Fig. 6, and additionally the connections between the components comprised in auxiliary controller (44). All components of auxiliary controller (44) are connected to auxiliary command processor (62) which, in turn, is connected to the command processor (46) of controller (11), preferably as previously mentioned, through connecting cable (32) and connecting port (26). In Fig. 7, the buttons (35, 36, 38, 40, 41, 42) are illustrated as a group arranged in member (61). Said command processor (46), auxiliary command processor (62) and movement processor (51) comprise each a processor member and a memory containing processor readable instructions, said memory being connected to said processor member in order to be able to be accessed by it. Said instructions may be designed by one skilled in the art in order that said processors are configured as described throughout this description.

Also, the warning and security subsystems each comprise an order processor member and a memory having processor readable instructions, the memory being connected to said order processor member in order to be accessed by it. However, the order processor members and memories of both the warning and security subsystems may be a single member. Similarly, if one or both of the warning and security subsystems are comprised in controller (11), the processors and memories of the warning and security subsystems may be integrated into command processor (46). Similarly, the processors and memories of the warning and security subsystems may be integrated into movement processor (51).

The present invention also relates to a process of remote control of a controlled vehicle (13) by copy of spatial orientation of a controller (11), which spatial orientation refers to an external reference frame (12), the process comprising: copying the spatial orientation of controller (11) by: determining the spatial orientation of controller (11) by measuring physical quantities relative to each axis of external reference frame (12); transmitting the spatial orientation of controller (11) for a controlled vehicle (13); determining the spatial orientation of controlled vehicle (13) by measuring physical quantities relative to each of the axes of said external reference frame (12); comparing the spatial orientation of controlled vehicle (13) with the spatial orientation of controller (11); correcting the spatial orientation of controlled vehicle (13) so that it adopts the spatial orientation of controller (11), detecting non-executable orders by: monitoring all the orders given to controller (11) and/or monitoring operation parameters from controlled vehicle (13); transforming said monitored orders into command parameters; verifying the matching of said command parameters and/or said monitored operation parameters of controlled vehicle (13) with predefined acceptable operation parameters for controlled vehicle (13); and generating a non-executable order warning signal when a match of the command parameters and/or the monitored operation parameters of controlled vehicle (13) with the predefined parameters of acceptable operation for controlled vehicle (13) is not verified.

By control parameters is understood, for example, the angles read by sensor (45) between the axis (12) and the controller, namely Mx (angle of the longitudinal axis), My (angle of the lateral axis), Mz (angle of the vertical axis). These angles are transmitted as orders for the model aircraft to copy.

By "operation parameters" of controlled vehicle (13) is understood, for example, attitudes of the model aircraft in space relative to reference frame (12), engine power, speed, and other relevant parameters.

By "parameters of acceptable operation" of controlled vehicle (13) is understood in practice the flight envelope as defined by those skilled in the art of model aircraft making. That is, an airplane can fly, while having energy, horizontally, parallel to the ground, but it can never fly a long time at a 90 ⁰ angle relative to the ground, so after a short amount of time this is an unacceptable flight parameter. Another example of an unacceptable parameter is pointing the nose of the airplane to the sky for a long time, most airplanes do not have a thrust higher than their weight, so after a short amount of time the airplane falls.

In one particular aspect of the invention, when the non-executable order(s) warning signal is generated: · the user may, in response, introduce a new executable order, which will enable the normal control of controlled vehicle (13) by copy of spatial orientation; or

• if the user does not introduce a new executable order in a predetermined time period, a security subsystem takes over automatic control of controlled vehicle (13), in a predefined security mode which stops the step of copying the spatial orientation of controller (11) until the user again introduces executable orders; Naturally, if there are no non-executable order signals, the system of the invention allows for the operation of controlled vehicle (13) by copy of spatial orientation. In Fig. 8 there is shown a flowchart representing an embodiment of the process of the present invention. The flowchart of controller (11) is represented in (63) and the flowchart of controlled vehicle (13) is represented in (73).

In spatial orientation copying operation of the invention, the spatial orientation meter (45) performs (64) physical quantity measurements relative to each of the axis of external reference frame (12) (for example, by measuring the Earth's magnetic field on each axis - Mx, My, Mz) and sends them to command processor (46).

Then, command processor (46) processes (65) the measurements (in the example, Mx, My, Mz) from the spatial orientation meter (45) and converts them to angles of controller (11) with each of the axes of external reference frame (12) (respectively, a_t, β_ί, 5_t), that is, it determines the spatial orientation of controller (11) in relation to external reference frame (12), then reads the position of the buttons and choices of the menu (66). If the commanded movement is not possible (67), controller (11), via warning device (47) and/or (50), warns the user of an impossible model aircraft attitude (68). If the system is in the security mode (69), then the system gives orders to controlled vehicle (13) to maintain a pre-programmed security movement (70) or to maintain the last spatial orientation deemed executable. Then, command processor (46) encodes (71) the data concerning the spatial orientation of controller (11) and sends it to data transmitter (48), which in turn transmits it (72) via remote data transmission means (infrared (IR), radio frequency (RF), etc.).

Next, in controlled vehicle (13), receiver (53) receives data through said remote data transmission means used by data transmitter (48) of controller (11) and sends this data to movement processor (51). Movement processor (51) decodes (74) the data received by receiver (53) and searches for data from controller (11) comprising the spatial orientation of controller (11).

In case movement processor (51) finds data concerning the spatial orientation of controller (11) in the received data, it will command the spatial orientation meter (52) to perform (76) physical quantity measurements regarding each of the axes of external reference frame (12) (for example, by measuring the Earth's magnetic field on each axis - Mxp, Myp, Mzp).

Movement processor (51) then processes the measurements carried out by spatial orientation meter (52) and calculates (77) the angles of controlled vehicle (13) with each of the axes of external reference frame (12) (converts Mxp, Myp, Mzp into α_ρ, β_ρ, δ_ρ, respectively), that is, determines the spatial orientation of controlled vehicle (13).

Then, movement processor (51) calculates (78) the difference between the spatial orientation of controller (11) and the current spatial orientation of controlled vehicle (13) and calculates (79) how to actuate the orientation control means (57, 58, 59, 60) and the motion control means (55, 56) of controlled vehicle (13) so that controlled vehicle (13) copies the spatial orientation of controller (11) relatively to external reference frame (12).

Movement processor (51) further controls (81) the motion control means (55, 56) in order to operate according to a determined power value of controlled vehicle (13).

The spatial orientation copying operation then returns to start (64).

In Fig. 4 are depicted examples of copy of a spatial orientation change of controller (11) by the model aircraft in each of the axes of external reference frame (12), which in this example comprises three axes. In this figure are depicted a rear view, a side view, and a top view showing respectively angles , β, δ between the spatial orientation of controller (11) and controlled vehicle (13) and the spatial orientation of reference frame (12). Simultaneously, the non-executable order detecting operation takes place.

The warning subsystem monitors spatial orientation change orders in order to detect non-executable orders. This monitoring comprises processing the data concerning the spatial orientation of controller (11) as calculated (65) by command processor (46).

If the warning subsystem detects a non-executable order, warns (68) the user about such detection, preferably by activating an alert device (47, 50).

Preferably, if a predefined time interval occurs after said warning (68) without the user introducing a new executable order of spatial orientation change in controller (11), then, if (68) and the security subsystem is active, the warning subsystem indicates the security subsystem to take over command of controlled vehicle (13) according to a predefined security mode, until the user again introduces an executable order. In a possible embodiment of the invention, the security mode may be triggered directly by the user (hence, by controller (11)) as mentioned above, and the security mode may contemplate a maximum time period of activity, after which the security subsystem stops controlled vehicle (13) (in the case of a model aircraft, lands and turns off). Further in this last case, it is contemplated the possibility of the security subsystem of the invention to stop controlled vehicle (13) at its initial starting location.

Naturally, if the security subsystem takes over control of controlled vehicle (13), movement processor (51) will ignore the regular operation mode by copy of spatial orientation, that is, it ignores orders relative to spatial orientation change from controller (11), unless such orders are deemed executable by the system. In a preferred embodiment, the security subsystem may be manually turned on or off by the user and/or its sensitivity adjusted by the latter in controller (11). This means that in the event of being turned off by the user, the security subsystem is prevented from acting, the system being only provided with warning signals from the warning subsystem, regarding non-executable orders. Regarding the sensitivity adjustment, it may be set so that the security subsystem acts with a (adjustable) delay relative to the moment it receives the indication of the occurrence of a non-executable order, which allows for a more or less delayed correction by the user. Returning to the warning subsystem, in an embodiment, it receives information from sensors selected from the group comprising accelerometers, gyroscopes, video cameras (for position determination), air speed sensors, GPS sensors, air flow angle-of- attack sensors, loss of aerodynamic stability sensors, altitude sensors, and distance to the ground sensors, and the like, and combinations thereof, mounted in controlled vehicle (13) and processes this information for detecting incorrect spatial orientations of controlled vehicle (13) that may give rise to loss of command of the same. If it detects such incorrect spatial orientations, the warning subsystem acts as explained above.

In an embodiment, in the event the user introduces a non-executable command in controller (11), the warning subsystem transmits orders to controlled vehicle (13) for the latter to perform a predefined movement, recognizable by the user at a distance. For example, in the case of a model aircraft, it may oscillate around its vertical axis (via orientation control means (60)) with sufficient magnitude for the user to be able to distinguish such oscillation at a distance.

As previously referred in embodiments of the system of the invention, controller (11) may comprise additional controls (2, 3, 4, 5, 6, 7) with specific orders assigned to the actuation of these additional controls. If any of these additional controls is actuated, command processor (46) encodes and attaches (66) the information corresponding to the actuation of the control to the information relative to the spatial orientation of controller (11) before it is sent to the data transmitter (48) and then to controlled vehicle (13), then being decoded and read by movement processor (51). In one alternate embodiment, instead of actuating said additional controls (2, 3, 4, 5, 6, 7), the user may browse through menus in display unit (25) of controller (11), if any, to choose said specific orders. The embodiments associated with those specific orders are explained below.

Preferably, the amount of power to be applied by controlled vehicle (13) is controlled by the user. Such may be performed by the input of the desired amount of power in controller (11) in a power control means (2), which, if of the wheel type, allows the user to have sensitivity on the input power changes.

Alternatively, the amount of power to be applied is determined autonomously by prior set up of movement processor (51) or command processor (46). Preferably, a calibration of neutral spatial orientation in relation to external reference frame (12) is carried out in controller (11) and controlled vehicle (13), at least at system start-up. The calibration may be performed, for example, by placing the controller (11) on the ground levelled with the plane of the Earth and the controlled vehicle (13) in the same plane pointing in the same direction, then indicating to the system that controller (11) and controlled vehicle (13) are ready to be calibrated, which may be accomplished, for example, via actuation of a specific button (4) in controller (11) or in auxiliary controller (44).

In a preferred embodiment, controlled vehicle (13) is a model aircraft. For takeoff, motion control means (55, 56) of controlled vehicle (13) must be in nominal operation situation. Such control of power applied by motion control means (55, 56) may be carried out autonomously by command processor (46) or by movement processor (51), or in a manner adjusted by the user via power control means (2), if existent in controller (11) or auxiliary controller (44). To make controlled vehicle (13) takeoff in this case, after the user selects the nominal situation applied power (or for that value to be applied autonomously), the user must slowly rotate controller (11) about axis (Y) (see Fig. 6 or 7), as when one wants to lift the front of controlled vehicle (13) so that it starts advancing and taking off.

Still in an embodiment of a model aircraft, the process comprises an operation mode of autonomous takeoff, the movement processor (51) being further configured for controlling controlled vehicle (13) autonomously. In this operation mode, preferably, control means (14) of controlled vehicle (13) comprises additional gauges that perform physical quantity measurements, such as a speedometer, in order to provide a secure autonomous command of controlled vehicle (13). For initiating this operation mode, the user actuates, for example, a specific button (5) of controller (11). After receiving the start order, command processor (46) transmits the corresponding information to controlled vehicle (13) in the same manner it transmits spatial orientation change orders.

Similarly, the process may comprise an operation mode of autonomous landing, wherein, preferably, control means (14) of controlled vehicle (13) includes additional gauges that perform physical quantity measurements, such as, for example: speedometer, altitude precision sensor, etc., in order to provide a secure autonomous command of controlled vehicle (13). To initiate this operation mode the user may actuate a specific button (6) for autonomous landing.

In one embodiment, the process comprises a mode of command of controlled vehicle (13), alternative (75) to the spatial orientation copy mode. In this command mode, controlled vehicle (13) stops copying the spatial orientation of controller (11), and instead a spatial orientation change of controller (11) generates an order proportionally controlling orientation control means (57, 58, 59, 60) of controlled vehicle (13). For example, if controlled vehicle (13) is a model aircraft: rotating controller (11) about its lateral axis (Y) generates an order for proportionally actuating the elevator (59); rotating controller (11) about its vertical axis (Z) generates an order for proportionately actuating the rudder (60); and rotating controller (11) about its longitudinal axis (X) generates an order for proportionately actuating ailerons (57, 58). To initiate this command mode, the user preferably changes the position of a switch (24) for indicating whether he desires for the system to operate in the spatial orientation copy mode of the present invention, or in the conventional command mode. This last conventional command mode corresponds to (80) in flowchart (73) of controlled vehicle (13) as can be seen in Fig. 8. The process may also comprise operation modes wherein controlled vehicle (13) takes on predefined spatial orientations upon actuation of specific buttons (3, 4). For example, if controlled vehicle (13) is a model aircraft, upon actuation of a button (3) in controller (11) controlled vehicle (13) takes on a spatial orientation with an inclination to the left, and upon the actuation of another button (4) in controller (11) controlled vehicle (13) takes on a spatial orientation with an inclination to the right. By actuating one of these buttons (3, 4), controlled vehicle (13) stops copying the spatial orientation of controller (11) until user interrupts the operation mode at hand, for example, by actuating again the corresponding specific button (3, 4). In the event these operation modes are included, movement processor (51) will be further configured for commanding orientation control means (57, 58, 59, 60) in order to make controlled vehicle (13) maintain the predefined spatial orientation.

In another embodiment, the process comprises an operation mode comprising, upon actuation of a specific button (7), making controlled vehicle (13) maintain its spatial orientation, even if the user changes the spatial orientation of controller (11). In this embodiment, movement processor (51) is further configured for, if the operation mode is activated, recording the current spatial orientation of controller (11) and commanding orientation control means (57, 58, 59, 60) in order to make controlled vehicle (13) maintain the recorded spatial orientation. To start or stop this operation mode, the user actuates, as already mentioned, a specific button (7) for activating or deactivating the operation mode above. This allows, for instance, for the user to switch the controller (11) between hands or for another person to hold it, without taking the risk of introducing a spatial orientation change order that could jeopardize the integrity of controlled vehicle (13). Still in another embodiment, the process comprises an operation mode that, if activated, makes controlled vehicle (13) return to the location where the system was activated, that is, to the starting point of controlled vehicle (13). In this embodiment, when the system is started, movement processor (51) records the geographical coordinates of the starting location. For this, control means (14) of controlled vehicle (13) comprises, in this embodiment, additional gauges capable of determining the global position of controlled vehicle (13), as for example a GPS. Movement processor (51) is further configured for, if the operation mode is activated, commanding controlled vehicle (13) autonomously until it returns to the starting location. Said operation mode may be activated upon actuation of a specific button (7) in controller (11) during a predefined time duration, or still autonomously in case there is a communication breakdown between controller (11) and controlled vehicle (13) (for example, if controlled vehicle (13) does not receive any data from controller (11) during a predefined time interval).

In the various additional operation modes of said embodiments of the process of the present invention, it is mentioned that movement processor (51) is further configured for commanding controlled vehicle (13) in accordance with each operation mode. However, alternatively, command processor (46) may configured for calculating the spatial orientations associated with the corresponding operation modes and transmitting these spatial orientations (via data transmitter (48)) to controlled vehicle (13), instead of transmitting the spatial orientation of controller (11). This embodiment allows reducing the processing by movement processor (51) which has to constantly process the command over motion control means (55, 56) and orientation control means (57, 58, 59, 60).

When a reference is made in this description to using controller (11) and actuating controls in controller (11) for introducing orders or selecting specific operation modes, it is not intended to limit the invention thereby. In fact, in an alternate embodiment, controls may be actuated in auxiliary controller (44) or menus may be browsed in auxiliary display unit (33), if any, in order to input said orders or select said specific operation modes. This embodiment allows simplifying the controller (11) in order user to use it just for selecting the spatial orientation of controlled vehicle (13).

Claims

1. System of remote command of a vehicle by copy of spatial orientation, characterized by comprising:

• a controller (11) configured for receiving orders from a user comprising: a spatial perception and order transmission subsystem (1) comprising: a spatial orientation meter (45);

a command processor (46); and

a data transmitter (48);

• a controlled vehicle (13) comprising: a control means (14) comprising: a movement processor (51);

a spatial orientation meter (52); and

a receiver (53); orientation control means (57, 58, 59, 60); and

motion control means (55, 56);

• an external reference frame (12), which serves as a spatial orientation reference for controller (11) and controlled vehicle (13); and

a memory having processor readable instructions, the memory being connected to said order processor member in order to be able to be accessed by it; and

an alert device (47) arranged in controller (11) and/or an alert device (50) arranged in controlled vehicle (13).

System according to claim 1, characterized by the warning subsystem being in data communication with command processor (46) and/or movement processor (51).

System according to claim 1 or 2, characterized by the warning subsystem further comprising sensors mounted in controlled vehicle (13).

System according to the previous claim, characterized by the sensors of the warning subsystem being selected from the group consisting of accelerometers, gyroscopes, video cameras for position determination, air speed sensors, GPS sensors, air flow angle-of-attack sensors, loss of aerodynamic stability sensors and altitude sensors, distance to the ground sensors, and combinations thereof.

System according to claim 1, characterized by alert device (47) of the warning subsystem being selected from the group consisting of vibrating devices, visual signal generation devices, sound signal generation devices, and combinations thereof.

System according to claim 1, characterized by warning device (50) of the warning subsystem being selected from the group consisting of visual signal generation devices, sound signal generation devices, and combinations thereof.

7. System according to any of the previous claims characterized by further comprising a security subsystem integrated into controller (11) and/or controlled vehicle (13), the security subsystem comprising: a processor member

a memory having processor readable instructions, the memory being connected to said processor member in order to be able to be accessed by it.

8. System according to claim 7, characterized by the security subsystem being in data communication with the warning subsystem.

9. System according to claim 8, characterized by the security subsystem being in data communication with command processor (46) and/or movement processor (51).

10. System according to claim 1, characterized by controller (11) having a variable shape along its longitudinal, vertical, and lateral axes, so that an user, even without maintaining visual contact with controller (11), knows its orientation through tact and/or proprioceptive sense.

11. System according to any of the previous claims, characterized by controlled vehicle (13) being a model aircraft.

12. Process of remote command of a controlled vehicle (13) by copy of the spatial orientation of a controller (11), which spatial orientation refers to an external reference frame (12), characterized by comprising the steps of:

13. Process of remote command according to claim 12, characterized by further comprising a step of automatic control of controlled vehicle (13) after generating a non-executable order warning signal, wherein said step of automatic control interrupts the step of copying the spatial orientation of controller (11) until new executable orders are introduced; or after direct driving by controller (11).

14. Process of remote command according to claim 13, characterized by the step of automatic control of controlled vehicle (13) being carried out after a predefined time interval after generating a non-executable order warning signal.

15. Process of remote command according to claims 13 or 14, characterized by the step of automatic control of controlled vehicle (13) being activated or deactivated in controller (11).