PT106723A - System and remote control procedure of vehicles per space orientation copy understanding an unexecutable orders warning subsystem - Google Patents

System and remote control procedure of vehicles per space orientation copy understanding an unexecutable orders warning subsystem Download PDF

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Publication number
PT106723A
PT106723A PT106723A PT10672313A PT106723A PT 106723 A PT106723 A PT 106723A PT 106723 A PT106723 A PT 106723A PT 10672313 A PT10672313 A PT 10672313A PT 106723 A PT106723 A PT 106723A
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Portugal
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vehicle
control
command
spatial orientation
processor
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PT106723A
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Portuguese (pt)
Inventor
Severino Manuel Oliveira Raposo
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Far Away Sensing
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Priority to PT106723A priority Critical patent/PT106723A/en
Publication of PT106723A publication Critical patent/PT106723A/en

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G05D1/0016Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement characterised by the operator's input device
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G05D1/0033Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0055Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements

Abstract

The present invention relates to a system and method of remote control of a vehicle, in particular of an aircraft, by a spatial orientation copy, the system comprising a command (11) configured to receive orders from a user, a vehicle (13). ), An external reference (12), and an order alert subsystem which are not susceptible of being ob- served by the commanded vehicle (13). THE SYSTEM CAN ALSO UNDERSTAND A SAFETY SUBSYSTEM INTEGRATED WITH THE CONTROL (11) AND / OR THE CONTROLLED VEHICLE. The invention also relates to a remote control process of a vehicle comprising the steps of copying the space guidance of the command (11) and, secondarily, detecting non-executing commands, in which case the process comprises the automatic control OF THE VEHICLE IN SAFETY MODE UNTIL EXECUTABLE ORDERS ARE INTRODUCED. The present invention is applicable to the vehicle remote control industry, in particular the aeronautical industry.

Description

DESCRIPTION

" SYSTEM & REMOTE CONTROL PROCEDURE OF VEHICLES PER SPACE ORIENTATION COPY UNDERSTANDING AN UNEXECUTABLE ORDERS ADVISORY SUBSYSTEM "

FIELD OF THE INVENTION The present invention relates to a system and process for remote control of a vehicle, in particular a model airplane, by spatial orientation copy, the system comprising a warning subsystem of orders that are unobtainable / executed by the commanded vehicle. The present invention applies to the vehicle remote control industry, in particular to the aircraft modeling industry.

BACKGROUND OF THE INVENTION

Remote-controlled vehicles are widely used both for entertainment, namely aeromodelling, and for professional applications such as lookout, reconnaissance, search and rescue, among others where it is risky to involve people directly. There are also well-known cases of use of these means in a military context.

Remotely controlled vehicles, such as commonly called aircraft models, require a remote control / transmitter 1 (such as that shown in Fig. 1), which typically uses radio-frequency (RF) signals transmitted by an antenna or infrared (IR). In the commanded vehicle there is normally a receiver which is connected to a decoder / processor for the operation of electromechanical servos for, for example, controlling flight and power surfaces of a motor (or motors).

This command can normally use 2, 3, 4, 5 or even 6 or more proportional controls and some on / off type controls. Each of the proportional controls is associated with an order to be given to the commanded vehicle. For example, a power control may control, in the controlled vehicle, a driver or controller of an electric motor or an electromechanical servo acting on the throttle of an internal combustion engine. The same applies to all other proportional controls, in which they control an electrical or electromechanical system whose actuation, in turn, proportionally controls various actuators of the controlled vehicle. Some of these controls take 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, such as a model aircraft, controls each of the aircraft model control systems through one or more electromechanical servos. The movement of the controls leads to the proportional actuation of the corresponding electromechanical servos in the model airplane. For example, the control movement of the ailerons in the command produces 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 on the control unit transmits orders to the controlled vehicle which do not depend on the position of the user in relation to the position of the controlled vehicle, which forces the user to permanently position himself mentally as if he were inside the vehicle commanded

For example, if the vehicle is moving in the direction of the user and the user wants to turn it, for example to the right, the user must move the control to the opposite side of the intended turning, contrary to what would happen if was inside the vehicle. If the driven vehicle moves in the opposite direction to the user (moving away) and intends to turn it, for example to the left, the user moves the control to the same side of the intended turn for the vehicle. These situations make it difficult to learn about the control of these vehicles, especially when it is a vehicle with multiple control possibilities, such as a model airplane.

In US Pat. No. 8200375, a command and helicopter command system is described by means of radio frequencies, using a command mode different from the classics. In this system, motion sensors are used both in the helicopter and in the command, in order to determine the position of the helicopter relative to the reference of the command. From this information, the movement orders given in the command are adjusted so that the helicopter moves in directions according to the user's perspective of the command. In such a way, the system involves performing calculations and communicating information permanently between the helicopter and the command and vice versa, even when the helicopter is following a simple trajectory, such as in a straight line. The control in this system preferably utilizes a conventional button, joystick, etc. interface for the user to enter the desired drive orders.

There are systems that use an external reference to adjust the movement orders received by the vehicle from the user's perspective. One such system is described in EP 1448436, wherein the command and the commanded vehicle have sensors of an external reference, such as magnetic north. This system uses a process for controlling a vehicle in which, upon a command of movement of the command to the vehicle, information is attached on the spatial orientation of the control relative to said external reference, then compares the spatial orientation of the commanded vehicle with respect to the reference to that of the command, and finally the order of movement is adjusted so as to correspond to a command given in the command perspective and not in the perspective of the vehicle. Therefore, it is still necessary for the user to command the vehicle by performing controls on a command.

More recently, the commercial system AR.Drone 2.0 of the company Parrot (http://ardrone2.parrot.com/) was released, which uses an inertial system with Earth's magnetic field sensors. This commercial system allows a command mode (called " Absolut mode ") in which, after the user tilts the command in one direction, the vehicle, irrespective of the position for which it is turned, rotates (if necessary) towards the direction which the user tilted the control, moving 4 in that direction. That is, the control allows, in a simplified way and adjusted to the user's perspective, to indicate to the vehicle where to move. However, this system does not allow the user to fully command the vehicle, allowing it only to set the direction of movement (for example, going to the right of the user), the way the vehicle moves (more or less inclined , for example) to follow in the indicated direction does not depend on any user action but only on the system programming. It should also be noted that this commercial system requires the separate acquisition of the command and the controlled flying vehicle as well as the interconnection software between command and commanded vehicle. The command is a smart phone or tablet type device having a symmetrical geometric shape.

In US Pat. No. 2,889,225 there is disclosed a further system which, by changing the spatial orientation of the control relative to an arbitrary neutral position, changes the orientation of the driven vehicle according to the change of orientation of the control. However, this system does not have any alert and / or autocorrection process in the case of orders that can not be obeyed by the commanded vehicle.

Although, as has been seen, there are several control systems for a controlled vehicle, none of the prior prior art documents mentions the existence of a system having a simplified command mode of a commanded vehicle and, at the same time, the user himself endangers the integrity of the vehicle driven by orders not executable by the vehicle under control. Indeed, a commanded vehicle has displacement constraints dictated by the laws of physics. These constraints are more evident in the case of model airplanes than in the case of land vehicles.

There is thus a need for a system and process for controlling vehicles, in particular aircraft models, which allows the vehicle control to be performed by reproducing the spatial orientation of a command relative to a frame so that the commanded model fully copies the spatial guidelines adopted by that command. There is also a need for said system to comprise a warning subsystem that interacts with the user in order to inform him of any command orders that are not executable by the vehicle.

There is also a need for a safety subsystem that automatically assumes command of the vehicle in case of persistent occurrence of non-executable orders.

SUMMARY OF THE INVENTION The present invention relates to a system for remotely controlling a vehicle by spatial orientation copy, the system comprising: a command (11) configured to receive commands from a user comprising: a perception subsystem (1) spatial and command transmission apparatus comprising: a spatial orientation meter (45); a control processor (46); and a data transmitter (48); A controlled vehicle (13), preferably a model airplane, comprising: a controller (14) comprising: a motion processor (51); a space orientation meter (52); and a receiver (53), guiding controllers (57, 58, 59, 60); and locomotion controllers (55, 56); • an external reference frame (12) serving as a spatial orientation reference for the control (11) and the controlled vehicle (13); and • a warning subsystem integrated in the command (11) and / or the commanded vehicle (13), configured to warn the non-executable order entry user, comprising: an order processing element; a memory having readable instructions by processor, the memory being connected to said order processing element so as to be accessible by it; and an alert device (47) arranged on the control (11) and / or an alert device (50) arranged on the driven vehicle (13). 7

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

Preferably, the warning subsystem further comprises sensors installed in the driven vehicle (13), wherein the sensors are selected from the group consisting of accelerometers, gyroscopes, positioning video cameras, airspeed sensors, GPS, angle of attack of the air flow, sensors of loss of aerodynamic stability and sensors of altitude, sensors of distance to the ground and their combinations.

In one embodiment, said warning subsystem alert device (47) is selected from the group consisting of vibrating devices, visual signal producing devices, sound signal producing devices and combinations thereof; and said warning subsystem alert device (50) is selected from the group consisting of visual signal producing devices, sound signal producing devices and combinations thereof.

In a preferred embodiment, the system of the invention further comprises a security subsystem integrated in the command (11) and / or the commanded vehicle (13), the security subsystem comprising: a processor element and a memory having processor readable instructions, the memory being connected to said processor element so that it can 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 the command processor 46 and / or the motion processor 51.

In another embodiment, the control (11) has a variable shape along its longitudinal, vertical and lateral axes, so that a user, even without having visual contact with the control (11), knows its orientation through the tact and / or sense proprioceptor. The present invention further relates to a method of remotely controlling a spatially orientated copy driven vehicle (13) of a control (11), the spatial orientation of which relates to an external frame (12), wherein the method comprises the steps of: copying the spatial orientation of the control (11) by: determining the spatial orientation of the control (11) by measuring physical quantities relative to each axis of the external reference frame (12); transmitting the spatial orientation of the control (11) to a controlled vehicle (13); determining the spatial orientation of the vehicle (13) controlled by measuring physical quantities 9 relative to each of the axes of said external frame (12); comparing the spatial orientation of the vehicle (13) commanded with the spatial orientation of the control (11); correcting the spatial orientation of the commanded vehicle 13 so that it adopts the spatial orientation of the command 11, • detects non-executable orders by: monitoring all orders given to the control (11) and / or monitoring of operating parameters coming from the controlled vehicle (13); transformation of said monitored orders into command parameters; corresponding check of said control parameters and / or said monitored operating parameters of the vehicle (13) commanded with predetermined acceptable operating parameters for the controlled vehicle (13); and • generation of a non-executable warning signal when there is no matching of the control parameters and / or the monitored operating parameters of the vehicle (13) commanded with the predefined parameters of acceptable operation for the vehicle (13). ) commanded.

In a preferred embodiment, the method of the invention further comprises an automatic control step of the vehicle (13) commanded after generation of a non-executable warning signal, wherein said automatic control step interrupts the copy step of the vehicle spatial orientation of the command (11) until new executable commands are introduced; or after direct actuation by the control (11).

Preferably, the automatic control step of the controlled vehicle (13) is performed after a predefined time interval has elapsed after the generation of a non-executable warning signal.

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

BRIEF DESCRIPTION OF THE DRAWINGS The invention will now be described in detail with reference to the accompanying drawings, in which: Fig. 1 shows an example of a remote control system of the prior art; Fig. 2 shows a possible embodiment of the present invention showing a command and a commanded vehicle; Fig. 3 shows different views of the control of Fig. 2; 4 shows a mode of operation of the present invention, in different views, illustrating the reproduction, in the model aircraft, of the position and spatial direction of the main command; Fig. 5 shows a further embodiment of the present invention showing a command, a commanded vehicle and an auxiliary command; 6 is a schematic representation of the connections between the components comprised in the control and in the driven vehicle, in one embodiment of the system of the present invention; Fig. 7 is a schematic representation of the connections between the components comprised in the control, commanded vehicle and auxiliary control, 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 method of remote control of a vehicle by copy of the spatial orientation 12 of a command (11) by the vehicle (13) to be commanded, wherein a user only needs to impose on the control (11) the desired spatial orientation, this spatial orientation being reproduced by the controlled vehicle (13). This simplification in the process of controlling the vehicle 13 allows any user (even if he has little experience to command, for instance, model aircraft, helmets, boats, remote control cars, etc.) to easily adapt to the use of the system described herein.

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

In the context of the present invention, the term " external referential " refers to an orthogonal reference frame (12) which is physically exterior to both the control (11) and the controlled vehicle (13). By way of example, the external reference (12) is the vector of the Earth's magnetic field. Another possible example is the vector of sunlight (or the moon or a particular stellar constellation). Yet another possible example is the gravity vector or the vector of an initially determined spatial direction (by gyroscopes in the control (11) and in the vehicle (13), initially in the calibration pointed to the same spatial direction). The system of the present invention may utilize any of these external or similar references and combinations thereof. 0 noun " command " in this description refers to the element or device that receives orders from the user and the 13 transmits to the commanded vehicle. Unless explicitly stated otherwise, the verb " command " or " control " and their verbal variants, refer to the action of remotely piloting or driving a controllable vehicle (designated in the present description by commanded vehicle).

By "order", in the present invention, is meant an instruction for the commanded vehicle, an order may relate, for example, to movement, power, speed, acceleration of the vehicle, among others. 0 noun " control " refers to the user-actuable physical element or elements present in the control interface between the user and the system unless the term is used in the wording in the sense of carrying out a control action. Examples of controls include knobs, joystick, other proportional type controllers (such as the widely known computer mouse wheel), among others. expression verify expression means (46) or

In the context of the present application, the use of " and / or " is intended to mean that both conditions are or is only one of them. For example, the processor 46 and / or processor 51, processor 46 and processor 51, or processor processor 51. ".

In the context of the present disclosure, " data communication " refers to a direct communication of data between different elements of the system (i.e. physical communication via, for example, conductors) and / or a wireless communication (as commonly known in the prior art ) between different elements of the system.

In this description, " comprising " should be understood as " including, among others ". As such, that term should not be construed as " consisting only of ". 1 shows a prior art command 22 for remotely controlling vehicles. In an embodiment in which the controlled vehicle is a model aircraft, the joystick 15, if moved up and down in a direction 16, controls the acceleration of engines in the aircraft model and, if moved in a direction 17, controls a steering rudder (60), while another joystick (18), if moved in a direction (19), controls an altitude control rudder and, if moved in a direction (20), controls ailerons to control rotation over the longitudinal axis of the model aircraft. The actuation of these controls is proportional to actuators of the model aircraft. Typically, the classic control 22 further has an antenna 21 for wireless data transmission.

In the present invention, in addition to the command (11) and the commanded vehicle (13) mentioned above, the remote control system of the present invention further comprises a warning subsystem, to warn the user of non-executable commands, the system of the invention being able to comprise additionally a safety subsystem to take command of the controlled vehicle in a predefined safety mode until the user sends orders that can be executed to the commanded vehicle. 15

These subsystems allow the integrity of the commanded vehicle to be safeguarded if non-executable commands are entered into the control, whether due to lack of experience, inattention or carelessness of the user (such as when planning to perform impossible trajectories or dropping command).

In the present invention, the expression " non-executable orders " refers to orders entered on the command by the user that the commanded vehicle can not execute or follow. These include spatial orientations that the commanded vehicle can not copy due to its inherent weight and / or power limitations, as well as spatial orientations that, although the controlled vehicle may temporarily copy, may result in a loss of stability. Non-executable orders also contemplate the introduction of too many orders, at the same time, in the control, to which the commanded vehicle can not respond.

In the case where the vehicle is a model airplane, it is considered a non-executable order of space orientation, when, for example, the user commands the commanded vehicle to assume an orientation perpendicular to the Earth's surface. The commanded vehicle is able to copy this spatial orientation but not for a long time unless it has a thrust force greater than its weight. The vehicle remote control system of the present invention comprises five main elements: an external frame (12), a control (11), a controlled vehicle (13), a warning subsystem and a safety subsystem. The driven vehicle (13) is controlled by the control (11), by copying the spatial orientation of the control (11) by the driven vehicle (13). To this end, the control (11) and the controlled vehicle (13) comprise meters of physical quantities relating to each of the axes of the external frame (12) to determine its spatial orientation. Said warning subsystem monitors the commands given in the command (11), warns the user to detect orders not executable by the commanded vehicle (13) and, if the user does not correct the incorrect order in a predefined time interval, the safety subsystem assumes the control of the vehicle (13) in a predefined safety mode, until the user is able to regain command of the vehicle (13) controlled, for example by entering an executable order.

In Fig. 2 an embodiment of the system of the invention can be observed, in which the driven vehicle (13) is a model airplane. The number of axes of the external reference frame 12 depends on the driven vehicle 13, in particular, depends on the number of orthogonal axes on which the driven vehicle 13 is able to rotate by its own action and, therefore, change its spatial orientation .

For example, the external frame 12 has three axes if the driven vehicle 13 is able to change by its own angle the angle it makes with each of three axles. In the case where the driven vehicle 13 is a car, it usually comprises components which enable it to rotate about an axis: an axis 17 (vertical axis Z) perpendicular to the plane in which the carriage moves and passes by the center of gravity of the car. On the other hand, a controlled model-type vehicle 13 generally comprises components which enable it to rotate about three axes: an axis (vertical (Z) axis) perpendicular to the plane of the Earth where the model aircraft moves and passes by the center of gravity of the model airplane; an axis (longitudinal axis (X)) passing through the model airplane from the front to the rear of the model airplane and passing through the center of gravity of the model airplane; and an axis (lateral or transverse axis) passing through the model between the wings of the model airplane and passing through the center of gravity of the model airplane. The control (11) comprises a subsystem (1) for spatial perception and transmission of orders, which in turn comprises: a spatial orientation meter (45), a control processor (46) and a data transmitter . The space orientation meter (45) comprises instruments that perform measurements of physical quantities on each of the axes of said external reference frame (12) (for example, they measure the Earth's magnetic field on each axis). The spatial orientation meter 45 is configured to send measurements of physical quantities effected to the command processor 46. The control processor 46 is configured to determine the angles that the command 11 makes with each of the axes of the external frame 12, based on the measurements made by the spatial orientation meter 45, of these angles defining the spatial orientation of the control (11); 18 and encode the determined angles and send them to the data transmitter (48). The data transmitter 48 is configured to transmit the data encoded by the command processor 46 via a remote data transmission path (such as infrared, radiofrequencies, etc.). The driven vehicle (13) comprises: a controller (14), guidance controllers (57, 58, 59, 60) and locomotion controllers (55, 56).

In turn, the controller (14) comprises: a motion processor (51), a spatial orientation meter (52) and a receiver (53). The receiver (53) is configured to detect data on the same remote data transmission route used by the data transmitter (48) of the command (11) to transmit data; and sending detected data to the motion processor (51). The motion processor (51) is configured to: decode data received by the receiver (53); • look at data decoded data from the control (11) comprising the spatial orientation of the control (11); • directing the spatial orientation meter (52) so that it measures physical quantities on each of the axes of the external frame (12); • using said measured measurements to determine the angles which the vehicle (13) controls makes with each of the axes of the external frame (12), the set of such angles defining the spatial orientation of the driven vehicle (13); • calculating the difference between the spatial orientation of the control (11) and the spatial orientation of the driven vehicle (13); • controlling the locomotion controllers (55, 56) in such a way that the power applied by them is equal to a certain value; and guiding the guidance controllers (57, 58, 59, 60) such that the spatial orientation of the driven vehicle (13) is equal to the spatial orientation of the command (11). The space orientation meter 52 comprises instruments that perform measurements of physical quantities on each of the axes of the external frame 12 (for example, they measure the Earth's magnetic field on each axis of the frame 12).

The guiding controllers (57, 58, 59, 60) and the locomotion controllers (55, 56) of the controlled vehicle (13) respectively control the spatial orientation and the power 20 applied by the driven vehicle (13), the type and number of controllers (55, 56, 57, 58, 59, 60) dependent on the type of vehicle (13) commanded. The warning subsystem is configured to monitor spatial orientation change orders and warn the user if he detects the entry of non-executable commands by the commanded vehicle (13). The warning subsystem may be designed to instruct the safety subsystem to take over the commanded vehicle (13) if the user does not correct the order for a predefined duration of time. The tell-tale subsystem may be integrated in the command (11) and / or the commanded vehicle (13) and is in communication with the command processor (46) and / or the motion processor (51), regardless of which of said (11) and vehicle (13) controlled or integrated. The safety subsystem is configured to take control of the vehicle (13) which is commanded (instead of being commanded by changes of spatial orientation in the control (11)) in a predefined safety mode until the user regains control over the driven vehicle (13). For this purpose, the security subsystem must be in data communication with the warning subsystem.

Like the warning subsystem, the safety subsystem may also be integrated in the control (11) and / or the controlled vehicle (13) and be directly connected to or indirectly connected to the warning subsystem 21, in the latter case via the processor 46 ) and / or the motion processor (51), regardless of which of said command (11) and the vehicle (13) commanded to be integrated. In one possible embodiment, the safety subsystem can be actuated directly by the user, through a control arranged on the control (11) specifically for that purpose.

Non-exclusive examples of predefined modes of security comprise the controlled vehicle (13) assuming a constant spatial orientation which causes it to move in circles or the controlled vehicle (13) maintains the last spatial orientation which has been considered executable, which, in this case , implies maintaining and constantly renewing a record of the last spatial orientation executable throughout the system operation.

In Fig. 3 a preferred embodiment of the control (11) is shown in several views: top view (27); view (28) from below; lateral view (29); rear view (30); and a front view (31).

In this preferred embodiment, the control (11) has a shape adapted to the palm of a user's hand, in such a way that, even in the absence of visual contact with the control (11), it knows by touch and / or of the proprioceptor sense, as the control (11) is oriented spatially with respect to the external frame (12). For this reason, the control 11 may, for example, have a shape similar to the general shape of the computer mice, since this shape is widely known and easily adapted to the palm of a user's hand. The control (11) may have any other suitable shapes, such as the shape of the driven vehicle (13). Preferably, the control (11) is shown (see also Fig. 2) a representation (9) of the vehicle (13) commanded to assist the user in understanding the use of the system. The control 11, in the above-mentioned embodiment, has a variable shape along its longitudinal, vertical and lateral axes (as seen for example in the views (27, 28, 29, 30, 31) of Fig. 3), so that the user, even without visual contact with the control (11), knows by the touch and / or proprioceptor sense how the control (11) is oriented.

As previously mentioned, the spatial guidance meter (45) of the control (11) and the spatial orientation meter (52) of the driven vehicle (13) each comprise measuring instruments which carry out measurements of physical quantities in each of the axes of the external frame (12). Accordingly, said measuring instruments are chosen depending on the number of axes that the external frame (12) has. In a situation where the external reference frame 12 has three axes, such as if the driven vehicle 13 is a model aircraft, the measuring instruments can 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 device that accurately measures ground altitude) and the like and combinations thereof. The spatial orientation meter 45 of the control 11 and the spatial orientation meter 52 of the driven vehicle 13 may comprise instruments of the same or different types.

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

Also preferably, said measuring instruments (45) of spatial orientation of the control (11) are aligned with easily identifiable axes of the control (11) itself, so that a user can easily distinguish the spatial orientation of the (11). The same is preferred with respect to the instruments of the spatial orientation meter (52) of the driven vehicle (13).

In yet a preferred embodiment, the control (11) comprises a power controller (2) designed for a user to regulate the power of the driven vehicle (13). In this embodiment, the control processor (46) is further configured to detect the actuation of the power controller (2), to encode power information to be applied and to transmit that information to the controlled vehicle (13) so that the motion processor (51) controls the locomotion controllers (55, 56) accordingly. Preferably, the power controller (2) is of the proportional type and assumes, for example, the shape of a wheel, embedded in the control (11), to rotate about an axis. 24

In an alternate embodiment, the power of the commanded vehicle (13) required at any given time is predefined in the motion processor (51) or the control processor (46) in order to dispense said power controller (2).

Returning to the control (11), the latter may further comprise a status light (8) (for example, an LED) to indicate whether the system is turned on. For example, the status light (8) is on if the system is on. This status light 8 may be of varying luminous intensity, wherein the intensity varies according to the actuation of controls (2, 3, 4, 5, 6, 7) of the control (11) if present. In Figs. 6 and 7, the knobs (2, 3, 4, 5, 6, 7) are shown as a group arranged in the element (49). It is an object of the present invention to provide ease of use of the control (11). Accordingly, it is advantageous if the control unit (11) has an autonomous source of electric power. As such, in the preferred embodiment, the control (11) comprises an opening (10) for receiving batteries or batteries. This opening 10 may be disposed on the lower or upper face of the control 11 or at any location thereon which may be used for this purpose.

In a preferred embodiment, the control (11) comprises an on / off switch (23) to enable the user to turn the control (11) and / or the entire system on or off. The control (11) may further comprise a display unit (25) at its bottom. This display unit 25 may be used to provide the user 25 with a way to select system parameters or to switch between different operating modes of the system (explained below). The user may navigate through menus displayed in the display unit (25) using, for example, controls (3, 4, 5, 6, 7) and / or the power controller (2). The control 11 may also comprise a connection port 26 (or port) to which an auxiliary command 44 may be connected in an embodiment which will be explained below. The control (11) may further comprise dedicated controls (3, 4, 5, 6, 7) for predefined specific orders.

All of the dedicated controls 2, 3, 4, 5, 6, 7 that are comprised in the control 11 are connected to the motion processor 46 (as can be seen schematically, for example, in Figures 6 and 7 ), which distinguishes the activation of these controls and processes the commands required by the user when activating those controls. Also the display unit 25 is connected to the motion processor 46. The arrangement of the controls and the display unit 25 as exemplified in Fig. 3 is a mere embodiment of the present invention.

As mentioned previously, the type and number of guiding controllers (57, 58, 59, 60) depend on the type of vehicle (13) commanded. The guiding drivers 57, 58, 59, 60, in the case where the driven vehicle 13 is a model aircraft, controls the aerodynamic surfaces of the driven vehicle 13 in order to vary the spatial orientation of the vehicle 13, (57, 58, 59, 60) may be selected from the group comprising a rudder (59), directional rudder (60), aileron (57, 58) and the like.

In case the driven vehicle (13) is a helium model, the guiding controllers (57, 58, 59, 60) control the cyclic pitch of the helium model, the collective pitch and the rear propeller to vary the spatial orientation of the helium model.

Also as noted above, the type and number of locomotion controllers (55, 56) also depend on the type of vehicle (13) commanded. If the driven vehicle (13) is a model airplane, for example, the locomotion controllers (55, 56) comprise one or more motors (55, 56) or turbines.

There are controlled vehicle types (13) in which the guiding controllers (57, 58, 59, 60) and the locomotion controllers (55, 56) are the same, i.e., the controlled vehicle (13) comprises elements responsible for simultaneously controlling the spatial orientation and power of the driven vehicle (13). An example of such controlled vehicles (13) is the quadriprotor.

Like the control 11, the driven vehicle 13 may also comprise a status light 54 (for example, an LED) to indicate whether the commanded vehicle 13 is on and able to receive command commands ( 11). For example, the status light (54) will illuminate if it does.

In one embodiment, the command data transmitter (11) and / or the receiver (53) of the driven vehicle (13) are of the transceiver type, capable of transmitting and receiving data, rather than just transmitting or receive the 27. This provides bi-directional communication, useful for some modes of operation explained below.

6 shows schematically as an example the connections between the components comprised in the control (11) and the connections between the components included in the driven vehicle (13). In the control (11), the central component is the control processor (46), which is connected to all other components comprised in the control (11). In the controlled vehicle 13, the central component is the motion processor 51, to which all other components of the driven vehicle 13 are connected.

In FIGS. 6 and 7 there are shown controllers (SI to Sn), for example of the servo type, which control the guidance and locomotion controllers (55, 56, 57, 58, 59, 60) of the driven vehicle (13) which , in this example, is a model airplane. Each controller (SI to Sn) may have a specific function: a power controller (Sl) controls motors (55, 56); a controller (S 2) moves ailerons (57, 58) i; a controller (S3) moves riders (59) of altitude; a controller (S4) moves a directional rudder (60); other controllers (S5 to Sn) control other elements that may be present in the model aircraft, such as controlling landing gear collection.

In one embodiment, said warning subsystem warns the user via tactile, vibrating, sonic, visual or other signals that are in accordance with the warning function. To that end, the warning subsystem may comprise an alert device (47) in the control (11) and / or a

(50) on the driven vehicle (13). The alert device 47 on the control 11 is preferably capable of generating tactile, vibrating, sonic, visual or other signals. The alert device 50 on the driven vehicle 13 is preferably capable of generating visual signals (eg an LED), and may also use sound signals or other signals which are considered to be suitable. To this end, the alert devices (47, 50) may be selected from a group comprising vibration devices, visual signal producing devices, sound signal producing devices and the like and combinations thereof.

As regards the safety subsystem, it may comprise an accelerometer installed on the control (11) to detect, for example, situations in which the user drops the control (11). In this situation, the safety subsystem receives the information from the accelerometer and takes control of the driven vehicle (13) based on predetermined criteria. The system of the present invention may further comprise an auxiliary command 44, shown, for example, in Figure 5. The auxiliary command 44 comprises an auxiliary control processor 62, controls 34, 35, 36, 38 , 39, 40, 41, 42) and / or an auxiliary display unit (33) connected to the auxiliary control processor (62), as shown for example in Figures 5 and 7.

This auxiliary command 44 allows to provide additional command options for the controlled vehicle 13 without adding further controls to the command 11. For example, various auxiliary controls (34, 35, 36, 38, 39, 40, 41, 42) may be associated with functions and / or modes of operation (explained below) instead of adding controls to the control (11). The auxiliary control processor (62) is in data communication with the command (11), namely with the control processor (46). This connection between the auxiliary control processor (62) and the control processor (46) is preferably via a connection cable (32) connected to a connection port (26) in the control (11) or via a remote data transmission path, such as infrared, radio frequency, etc. The auxiliary control processor (62) distinguishes the activation of the auxiliary controls (34, 35, 36, 38, 39, 40, 41, 42) and is configured to send the commands required by the user to the control processor (46) activate such auxiliary controls (34, 35, 36, 38, 39, 40, 41, 42). The auxiliary display unit 33, if comprised in the auxiliary control 44, is connected to the auxiliary motion processor 62, which controls the display of menus in the auxiliary display unit 33. In a preferred embodiment, the auxiliary command (44) comprises controls (35, 36, 38) for the user to navigate said menus displayed on the auxiliary display unit (33), namely: an acceptance button (35), a button (36) and a menu navigation controller (38). The auxiliary control (44) may comprise a trigger-type auxiliary power controller (39) for controlling the power of the driven vehicle (11). In this embodiment, the power of the driven vehicle (13) is proportional to the pressure that the user applies to the power controller (39).

Like the command 11 and the driven vehicle 13, the auxiliary control 44 may also comprise a status light 37 (for example, an LED) to indicate whether the auxiliary control 44 is connected to the auxiliary control 44, system. For example, the status light (37) turns on if this happens. The auxiliary control 44 may comprise a switch 43 for switching on / off the auxiliary control 44 independently of whether the remaining elements of the system are turned on or off.

In one embodiment, the auxiliary command (44) may comprise an auxiliary proportional control (34) of the joystick type with two axes of freedom. This auxiliary proportional control (34) can be used to make small adjustments in the spatial orientation of the driven vehicle (13). The auxiliary proportional control 34 may also be used to control a vehicle 13 driven on more axes of the external frame 12 than allowed by the control 11, which may be useful, for example, if a user already has a command (11) capable of driving a particular controlled vehicle (13) (eg a model airplane) capable of driving on a number of axles and wishes to use the same command (11) to control another controlled vehicle (13) ( for example, described in US patent 8128033) capable of rotating on a larger number of axes for which the control (11) has been designed. The auxiliary control 44 may further comprise lateral buttons 40, 41, 42, whereby the user chooses the commands and / or operating modes (explained below) assigned to those buttons 40, 41, 42 ) side. This choice is made by navigating the menus displayed on the auxiliary display unit (33). This allows a user to choose which commands and / or modes of operation they wish to have the most accessible without having to navigate the menus displayed on the auxiliary display unit (33). The side knobs (40, 41, 42) may be on either side of the auxiliary knob (44) (although shown only on the right side) so that they can be conveniently pressed by right-handed or left-handed people.

In Fig. 7, the same connections shown in Fig. 6 are shown, schematically, and, in addition, the connections between the components included in the auxiliary control unit (44). All of the components of the auxiliary control 44 are connected to the auxiliary control processor 62, which in turn is connected to the command command processor 46 of the control 11, preferably as already mentioned above , through the connecting cable (32) and the connecting port (26). In Fig. 7, the knobs (35, 36, 38, 40, 41, 42) are shown as a group disposed in the element (61).

Said command processor (46), auxiliary control processor (62) and motion processor (51) each comprise a processor element and a memory containing processor readable instructions, said memory being connected to said processor element to be accessible by it. Said instructions may be designed by a person skilled in the art so that said processors are configured as described throughout this disclosure.

Also, the subsystems, telltale and security, each comprise an order processing element and a memory having readable instructions by processor, the memory being connected to said order processing element so as to be accessible by it.

However, the order processing elements and the memories of both the warning and security subsystems may constitute a single element. Likewise, if one or both of the warning and safety subsystems are comprised in the control (11), the processors and memories of the warning and safety subsystems may be integrated in the control processor (46). Likewise, the processors and memories of the warning and safety subsystems may be integrated in the motion processor (51). The invention also relates to a method of remotely controlling a vehicle (13) commanded by a spatial orientation copy of a command (11), the spatial orientation of which relates to an external frame (12), the method comprising: copying the spatial orientation of the control (11) by: determining the spatial orientation of the control (11) by measuring physical quantities relative to each of the axes of an external reference frame (12); Transmitting the spatial orientation of the control (11) to a controlled vehicle (13); determining the spatial orientation of the vehicle (13) controlled by measuring physical quantities relating to each of the axes of said external frame (12); comparing the spatial orientation of the vehicle (13) commanded with the spatial orientation of the control (11); correcting the spatial orientation of the vehicle 13 so as to adopt the spatial orientation of the control 11, detecting non-executable commands by: monitoring all commands given to the control (11) and / or monitoring of operating parameters coming from the controlled vehicle (13); transformation of said monitored orders into command parameters; (13) commanded with predefined acceptable operating parameters for the controlled vehicle (13), the acceptable operating parameters of which define the possible operating limits of the vehicle ( 13) commanded; and generating a non-executable warning signal when a control parameter and / or the monitored operating parameters of the vehicle (13) controlled by the predetermined acceptable operating parameters for the vehicle (13) are not matched, commanded

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

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

&Quot; Acceptable operating parameters " of the controlled vehicle (13) is in practice the flight domain as defined by those skilled in the aircraft modeling art. In other words, an airplane can fly, while it has energy, horizontally, parallel to the ground, but it can never fly a long time at 90 ° to the ground, this is therefore after a short time 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 of the airplanes have no impulse beyond their weight so that after a short time falls.

In a particular aspect of the invention, when the command prompt signal or non-executable commands is produced: the user may in response enter a new executable command, which will enable normal control of the copy-controlled vehicle (13) spatial orientation; or • if the user does not enter a new executable command in a predetermined period of time, a safety subsystem assumes automatic control of the controlled vehicle (13) in a predefined security mode which interrupts the copy step of the spatial orientation of the command ) until the user re-enters executable orders;

Of course, if there are no non-executable command signals, the system of the invention allows the operation of the spatially oriented copy guided vehicle (13).

In Fig. 8 there is shown a flowchart depicting one embodiment of the process of the present invention. The flow diagram of the control 11 is shown at 63 and the flowchart of the controlled vehicle 13 is shown at 73.

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

The control processor 46 then processes (65) the measurements (in the example, Mx, My, Mz) from the spatial orientation meter (45) and converts them to angles that the command (11) each of the axes of the external reference frame 12 (respectively, cx_t, 3_t, õ_t), that is, determines the spatial orientation of the control (11) relative to the external reference frame (12), then reads the position of the buttons and choices of the menu (66). If commanded movement is not possible (67), the command (11) through the tell-tale (47) and / or (50) warns the user of attitude in the not possible model (68). If the system is in the safe mode 69 then the system commands the vehicle 13 to maintain a preprogrammed safety movement 70 or to maintain the last spatial orientation considered executable.

Then, the command processor 46 encodes the data relating to the spatial orientation of the command 11 and sends it to the data transmitter 48, which in turn transmits the data 72 via a data path remote data transmission (infrared (IR), radio frequency (RF), etc.). Thereafter, in the commanded vehicle 13, the receiver 53 receives data through said remote data transmission path used by the command data transmitter 48 and sends that data to the processor 51 movement. The motion processor 51 decodes the data received by the receiver 53 and searches for data from the command 11 comprising the spatial orientation of the command 11.

If the motion processor 51 finds data relating to the spatial orientation of the controller 11 in the received data, then it will command the spatial orientation meter 52 to perform (76) measurements of physical quantities 37 relative to each of the axes of the external reference (12) (for example, measuring the Earth's magnetic field on each axis - Mxp, Myp, Mzp). The motion processor 51 then processes the measurements made by the spatial orientation meter 52 and calculates the angles that the driven vehicle 13 makes with each of the axes of the external frame 12 (converts Mxp,

Myp, Mzp in α_ρ, β_ρ, δ_ρ, respectively), that is, it determines the spatial orientation of the driven vehicle (13).

The motion processor 51 then calculates 78 the difference between the spatial orientation of the control 11 and the actual spatial orientation of the driven vehicle 13 and calculates 79 how the controllers 57, 58 , 59, 60) and the locomotion controllers (55, 56) of the vehicle (13) commanded so that the controlled vehicle (13) copies the spatial orientation of the control (11) relative to the external reference frame (12) . The motion processor 51 also controls the locomotion controllers 55, 56 in order to operate in accordance with a determined power value of the driven vehicle 13. The spatial orientation copy operation then returns to the start (64).

In Fig. 4 exemplary copy of the spatial orientation change of the control (11) by the model is shown in each of the axes of the external frame (12), which in this example comprises three axes. In this figure, there are shown a rear view, a side view and a top view, showing angles α, β, δ, respectively, between the spatial orientation of the control (11) and the driven vehicle (13) and the spatial orientation of the frame (12).

At the same time, non-executable order detection works. The warning subsystem monitors spatial orientation change orders in order to detect non-executable orders. This monitoring comprises processing the data relating to the spatial orientation of the control (11) as calculated (65) by the control processor (46).

If the alerting subsystem detects a non-executable command, it informs the user of such detection, preferably by activating an alert device (47, 50).

Preferably, if a predefined time interval after said warning 68 is elapsed, without the user entering a new executable spatial orientation change command in the command 11, then, if 68 and the control subsystem is activated, the warning subsystem signals the safety subsystem to take command of the vehicle (13) controlled in accordance with a predefined safety mode, until the user re-enters an executable order.

In a possible embodiment of the invention, the safety mode may be actuated directly by the user (thus, by the control (11)) as discussed above, and the safe mode may comprise a maximum time of activity, which the safety subsystem immobilizes the controlled vehicle (13) (in the case of a model airplane, it lands and disconnects). Still in the latter case, it is envisaged that the safety subsystem of the invention may immobilize the vehicle (13) commanded at its initial place of departure.

Naturally, if the safety subsystem takes over the commanded vehicle (13), the motion processor (51) will ignore the normal operating mode by spatial orientation copy, ie it ignores orders for spatial orientation changes from command (11), unless such orders are considered executable by the system.

In a preferred embodiment, the safety subsystem may be turned on or off manually by the user and / or their sensitivity regulated by the latter on the controller (11). This means that in case of being disconnected by the user, the security subsystem is prevented from acting, with the system only having alert signals from the warning subsystem, referring to non-executable commands. As regards the sensitivity adjustment, it can be established in such a way that the safety subsystem acts with a delay (adjustable), when it receives the indication of occurrence of non-executable order, allowing a more or less delayed correction by the user .

Returning to the tell-tale subsystem, in one embodiment, it receives information from selected sensors of the group comprising accelerometers, gyroscopes, video cameras (for position determination), airspeed sensors, GPS, air sensors, aerodynamic stability loss sensors, altitude sensors and ground distance sensors and the like and combinations thereof, installed in the driven vehicle (13) and processes said information to detect incorrect spatial orientations of the controlled vehicle (13) which can give loss of control of the same. If it detects such incorrect spatial orientations, the warning subsystem acts as explained above.

In one embodiment, in the event that the user enters a non-executable command in the command (11), the alerting subsystem transmits orders to the vehicle (13) commanded for the latter to make a predefined movement recognizable by the user at a distance. For example, in the case of a model aircraft, it oscillates on its vertical axis (by means of an orientation controller 60) in a sufficient amplitude only for the user to be able to distinguish this oscillation from a distance.

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

Preferably, the power value to be applied by the driven vehicle (13) is controlled by the user. This can be done by entering the desired power value in the control (11) in a power controller (2), which, if it is of the wheel type, allows the user to have a sensitivity for the power changes introduced.

Alternatively, the power value to be applied is determined autonomously by prior configuration of the motion processor 51 or the command processor 46.

Preferably, a neutral spatial orientation calibration with respect to the external reference frame (12) is carried out on the control (11) and on the guided vehicle (13) at least at system start-up. Calibration can be done, for example, by placing the control (11) on the ground, flush with the plane of the Earth, and the vehicle (13) commanded in the same plane pointing in the same direction, then indicating to the system that The control 11 and the controlled vehicle 13 are ready to be calibrated, for example by actuating a specific button 4 on the control 11 or auxiliary control 44.

In a preferred embodiment, the driven vehicle (13) is a model aircraft. In order to raise flight, the locomotion controllers (55, 56) of the controlled vehicle (13) must be operating at rated speed. Such power control applied by the locomotion controllers 55, 56 may be performed autonomously by the command processor 46 or by the motion processor 51 or in a user-set mode by the controller 2, (11) or an auxiliary control (44). In order to make the vehicle (13) commanded to take off in this situation, after the user selects the rated power applied (or the same value is applied autonomously), the user must slowly turn the control (11) on the shaft (Y) ( see Fig. 6 or 7), such as when it is desired to raise the front of the driven vehicle (13) so that it starts to move forward and take off.

In yet another embodiment of a model aircraft, the method comprises a standby mode of operation, the motion processor (51) being further configured to command the autonomously controlled vehicle (13). In this operating mode, preferably the controller (14) of the driven vehicle (13) comprises additional instruments which perform measurements of physical quantities, such as a speedometer, in order to provide a safe autonomous control of the vehicle (13). ) commanded. To initiate this mode of operation, the user actuates, for example, a specific button (5) on the control (11). Upon receiving the start command, the command processor 46 transmits the respective information to the commanded vehicle 13 in the same manner as it transmits the spatial orientation change orders.

Similarly, the method may comprise an autonomous landing mode of operation, wherein preferably the controller (14) of the controlled vehicle (13) comprises additional instruments which carry out measurements of physical quantities, such as, for example, : speedometer, altitude sensing sensor, etc., so as to provide a safe autonomous command of the vehicle (13) commanded. In order to start this mode of operation, the user may actuate a specific autonomous landing button (6).

In one embodiment, the method comprises a command mode of the alternate controlled vehicle (13) (75) to spatial orientation copy mode. In this control mode, the commanded vehicle 13 stops copying the spatial orientation of the control 11 and instead a spatial orientation change of the control 11 produces an order to proportionally control the controllers 57, 58 , 59, 60) of the driven vehicle (13). For example, if the driven vehicle 13 is a model aircraft: turning the control 11 on its lateral axis Y produces an order to act proportionally on the rudder rudders 59; rotating the control (11) on its vertical axis (Z) produces an order of proportionally acting the directional rudder (60); and rotating the control (11) on its longitudinal axis (X) produces an order of proportionally acting the ailerons (57, 58). To initiate this command mode, the user preferably changes the position of a switch (24) to indicate whether the system is to operate in the spatial orientation copy mode of the present invention or in the conventional command mode . The latter conventional control mode corresponds to 80 in the flowchart 73 of the driven vehicle 13 as shown in Fig. 8. The method may also comprise modes of operation in which the driven vehicle 13 assumes predefined spatial orientations by actuation of specific buttons (3, 4). For example, if the driven vehicle 13 is a model aircraft, by actuating a button 3 on the control 11, the driven vehicle 13 assumes a spatially inclined orientation to its left and by actuation of another knob (4) on the control (11), the driven vehicle (13) assumes a spatially inclined orientation to its right. When actuating one of these buttons (3, 4), the controlled vehicle (13) stops copying the spatial orientation of the control (11) until the user interrupts the operating mode in question, for example by actuating the respective button (3, 4). ) specific. If these operating modes are included, the motion processor (51) will be further configured to command the orientation controllers (57, 58, 59, 60) in order to cause the guided vehicle (13) to maintain the predefined spatial orientation.

In another embodiment, the method comprises a mode of operation comprising actuating a specific button (7) to cause the controlled vehicle (13) to maintain its spatial orientation, even if the user changes the spatial orientation of the control (11). ). In this embodiment, the motion processor 51 is further configured to, if the operating mode is activated, register the current spatial orientation of the command (11) and command the orientation controllers (57, 58, 59, 60) so as to cause the controlled vehicle (13) to maintain the spatial orientation recorded. In order to start or interrupt this mode of operation, the user acts, as already mentioned, a specific button (7) to activate or deactivate said operation mode. This allows, for example, the user to change the hand control (11) or to be held by another person without running the risk of introducing a spatial orientation alteration order that could jeopardize the integrity of the controlled vehicle (13) . 45

In yet another embodiment, the method comprises a mode of operation which, if activated, causes the driven vehicle (13) to return to the place where the system was activated, i.e., to the place of departure of the driven vehicle (13). In this embodiment, when the system is initialized, the motion processor 51 registers the geographical coordinates of the place of departure. To this end, the controller (14) of the driven vehicle (13) comprises, in this embodiment, additional instruments capable of determining the overall position of the controlled vehicle (13), such as a GPS. The movement processor (51) is further configured so that, if the operating mode is activated, the autonomously controlled vehicle (13) is actuated until it returns to the place of departure. Said operating mode can be activated by actuating a specific button (7) on the control (11) for a predefined time duration or, also, autonomously, in case of a communication break between the control (11) ) and the controlled vehicle (13) (for example, if the commanded vehicle (13) does not receive any data from the control (11) for a predefined time).

In the various further modes of operation of the aforesaid embodiments of the method of the present invention, it is stated that the motion processor 51 is further configured to command the vehicle 13 driven in accordance with each mode of operation. Alternatively, however, the command processor 46 may be configured to calculate the spatial orientations associated with the respective modes of operation and to transmit those spatial orientations (via the data transmitter 48) to the commanded vehicle (13) , instead of transmitting the spatial orientation of the control (11). This embodiment allows to reduce processing by the motion processor (51), which has to constantly process the control over the locomotion controllers (55, 56) and the controllers (57, 58, 59, 60) of guidance.

When referring to this description to use the command (11) and actuating controls on the control (11) to enter orders or select specific operating modes, it is not intended to limit the invention in this way. In fact, in an alternative embodiment, controls may be actuated on the auxiliary control (44) or menu navigation on the auxiliary display unit (33), if present, so as to enter said commands or select said operating modes specific. This embodiment simplifies the control (11) so that the user only uses it to choose the spatial orientation of the driven vehicle (13).

Lisbon, January 9, 2013 47

Claims (15)

  1. Remote control system of a vehicle by spatial orientation copy, characterized in that it comprises: a command (11) configured to receive commands from a user comprising: a spatial perception and command transmission subsystem (1) comprising: a space orientation meter (45); a control processor (46); and a data transmitter (48); A controlled vehicle (13) comprising: a controller (14) comprising: a motion processor (51); a space orientation meter (52); and a receiver (53), guiding controllers (57, 58, 59, 60); and locomotion controllers (55, 56); • an external reference frame (12) serving as a spatial orientation reference for the control (11) and the controlled vehicle (13); and a warning subsystem integrated in the command (11) and / or the commanded vehicle (13), configured to warn the non-executable order entry user, comprising: an order processing element; a memory having readable instructions by processor, the memory being connected to said order processing element so as to be accessible by it; and an alert device (47) arranged on the control (11) and / or an alert device (50) arranged on the driven vehicle (13).
  2. System according to claim 1, characterized in that the warning subsystem is in data communication with the command processor (46) and / or the motion processor (51).
  3. System according to claim 1 or 2, characterized in that the warning subsystem further comprises sensors installed in the controlled vehicle (13).
  4. System according to the preceding claim, characterized in that the sensors of the warning subsystem are selected from the group consisting of accelerometers, gyroscopes, video cameras for position determination, airspeed sensors, GPS, flow angle sensors of air, stability loss sensors 2 aerodynamics and altitude sensors, ground distance sensors and their combinations.
  5. System according to claim 1, characterized in that the warning device (47) of the warning subsystem is selected from the group consisting of vibrating devices, visual signal producing devices, sound signal producing devices and combinations thereof.
  6. System according to claim 1, characterized in that the warning device (50) of the warning subsystem is selected from the group consisting of visual signal producing devices, sound signal producing devices and combinations thereof.
  7. System according to any one of the preceding claims, characterized in that it further comprises a safety subsystem integrated in the control (11) and / or the controlled vehicle (13), the safety subsystem comprising: a processor element and a memory having instructions readable by processor, the memory being connected to said processor element so as to be accessible by it.
  8. System according to claim 7, characterized in that the security subsystem is in data communication with the warning subsystem. 3
  9. System according to claim 8, characterized in that the safety subsystem is in data communication with the control processor (46) and / or the motion processor (51).
  10. A system according to claim 1, characterized in that the control (11) has a variable shape along its longitudinal, vertical and lateral axes, so that a user, even without having visual contact with the control (11), knows its orientation through the touch and / or proprioceptor sense.
  11. System according to any one of the preceding claims, characterized in that the driven vehicle (13) is a model aircraft.
  12. A method of remotely controlling a vehicle (13) commanded by spatial orientation copy of a command (11), the spatial orientation of which refers to an external frame (12), comprising the steps of: copying the spatial orientation of the control (11) by: determining the spatial orientation of the control (11) by measuring physical quantities relative to each axis of the external frame (12); transmitting the spatial orientation of the control (11) to a controlled vehicle (13); Determining the spatial orientation of the vehicle (13) controlled by measuring physical quantities relative to each of the axes of said external frame (12); comparing the spatial orientation of the vehicle (13) driven with the spatial orientation of the control (11); correcting the spatial orientation of the commanded vehicle 13 so that it adopts the spatial orientation of the command 11, • detects non-executable orders by: monitoring all orders given to the control (11) and / or monitoring of operating parameters coming from the controlled vehicle (13); transformation of said monitored orders into command parameters; corresponding check of said control parameters and / or said monitored operating parameters of the vehicle (13) commanded with predetermined acceptable operating parameters for the controlled vehicle (13); and • generation of a non-executable warning signal when there is no correspondence of the command parameters and / or the monitored operating parameters of the vehicle (13) commanded with the predefined parameters of acceptable operation for the vehicle (13). ) commanded.
  13. Control method according to claim 12, characterized in that it further comprises an automatic control step of the vehicle (13) controlled after the generation of a non-executable warning signal, wherein said automatic control step interrupts the step of copying the spatial orientation of the command (11) until new executable commands are introduced; or after direct actuation by the control (11).
  14. The control method according to claim 13, characterized in that the automatic control step of the controlled vehicle (13) takes place after a predefined time interval has elapsed after the generation of a non-executable warning signal.
  15. A control method according to claim 13 or 14, characterized in that the automatic control step of the controlled vehicle (13) is activated or deactivated in the control (11). Lisbon, January 9, 2013 6
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