WO2017125428A1

WO2017125428A1 - Device for controlling a craft by remote guidance, and control method implemented by said device

Info

Publication number: WO2017125428A1
Application number: PCT/EP2017/050970
Authority: WO
Inventors: Vincent BROM
Original assignee: Brom Vincent
Priority date: 2016-01-18
Filing date: 2017-01-18
Publication date: 2017-07-27
Also published as: FR3046855B1; FR3046855A1

Abstract

The present invention relates to a device for controlling a craft by remote guidance, such as an air, land or aquatic craft, real or virtual, comprising a control interface (30) and communication means (40) for transmitting control instructions from the pilot to said craft. The control interface (30) is a mechanical interface that can be orientated in multiple directions with respect to a fixed frame of reference (XYZ), and having a steering member (31) able to be maintained by the pilot positioned in said fixed reference frame. Said control interface (30) further comprises position sensors (34a, 36b, 36c) arranged to transform movements and positions generated by the body of the pilot and transmitted to said steering member (31) into control instructions, in such a way that said craft reproduces at least partially the movements and positions of the body of the pilot.

Description

PILOTAGE EQUIPMENT BY TELEGUIDAGE OF A VEHICLE AND STEERING METHOD IMPLEMENTED BY SAID EQUIPMENT

Technical area :

The present invention relates to control equipment by remote control of a machine, such as an air, land or water craft, real or virtual, said equipment comprising at least a control interface and communication means for transmitting piloting instructions the pilot device audit, said control interface being a mechanical interface, steerable multi directionally with respect to a fixed reference, and having a steering member.

The present invention also relates to a control method implemented by the control equipment as defined above, the method in which the pilot transmits control instructions to said vehicle via a control interface and communication means, said interface piloting being a mechanical interface, orientable multi directionally with respect to a fixed reference, and comprising a steering member. Prior art:

Remote control of mobile devices is widely used in various technical fields, such as model making, drones, etc. both for leisure and sports activities, as well as for professional surveillance, investigation, cartography and audiovisual activities. The driver generally has a remote control to be placed on a support or to carry on it, provided with control members such as buttons, levers, steering wheel or handlebars, operated by the fingers and / or the hands of the pilot, in a repository defined by the remote control as such. This type of remote control further comprises a transmitter and an antenna for transmitting the control instructions to the mobile machine by radiocommunication via radio waves. In this case, the mobile machine comprises a receiver and an antenna for sensing the piloting instructions and transmitting them to its actuating means allowing its movement in space in a two-dimensional reference frame if it is a question of a land vehicle or a three-dimensional reference system if it is an aerial or aquatic machine. The craft may be real or virtual, for example in a flight simulator or driving simulator. In this case, the transmission of the control instructions can be carried out by a wire link or not. When the machine is real, the control can be done on sight, that is to say that the machine remains within sight of the pilot, or not. In the latter case, the vehicle is equipped with a camera and the images are retransmitted by radio to the pilot via a screen or video-goggles allowing him to visualize in real time the environment in which the machine operated remotely . This pilot technique is known as "piloting in immersion" or in English of "First Person View".

In general, remote controls are compact, compact and ergonomic so that the fingers and / or the hands of the pilot can easily actuate the control members by support movements, thrust, traction, rotation, tilt corresponding to flight instructions, these movements being performed in the three XYZ axes of the reference defined by the remote control, generally rotational movements around these three axes X, Y and Z, and sometimes translational movements in the plane of the remote control defined by the X and Y axes. The pilot can adopt a fixed position sitting or standing, or move while walking without affecting the control of the machine. Indeed, it is enough for him to move his fingers and / or his hands in the repository of the remote control to control the machine. In any case, he can spread his arms and rock his body to reproduce a real pilot. It follows that the range of motion, which he can perform with his fingers and / or his hands, is limited compared to the remote control and its reference system. Likewise, the amplitude of the displacements that it can generate on the control members is also limited. because of their construction since they are linked to the remote control by pivot links, spherical and / or linear. In addition, the small size of the control members offers only a relatively short lever that further limits the range of motion that the driver can generate. Thus, very small movements of the fingers and / or hands of the pilot must generate large ranges of movement of the mobile machine, without the pilot can properly control the steering. This piloting technique therefore does not allow the pilot to fully immerse himself in the steering because of the limitation of the movements, nor to carry out a precision steering because the control is limited to orders of movement of the machine by manual pulses on control members in a repository limited to the remote control. Consequently, this technique requires many hours of training before being able to control the piloting of a mobile machine by remote control without allowing the pilot to fully experience the piloting and feel the sensations. The same remarks apply, of course, to flight simulators and driving simulators.

The publication WO 2011/140606 A1 describes a pilot station of a flying model such as a helicopter comprising a swivel seat, a handle and pedals. The rotation of the seat is generated automatically by an electronic control unit allowing the pilot to always be positioned facing his model. This cockpit has only one degree of freedom and it is not the movement of the pilot that generates the rotation of the seat but the control unit.

The publications US 5,782,639 and US 5,980,256 describe flight simulators in the form of a platform carried by an articulated tubular structure or a spherical capsule, both mobile in space with respect to a fixed frame of reference constituted by the ground on which is the simulator. In this case, the person is sitting inside the simulator to be an integral part of it and must operate levers or sleeves to create a reaction on the simulator, move it into space, and be trained with it. These simulators are particularly bulky, expensive and non-transportable. In addition, they do not make it possible to create real sensations of piloting because the pilot is not itself located in the fixed reference system but embedded in the simulator and undergoes the movements of the simulator. There are also optical devices implementing one or more cameras for detecting the movements of the body of the pilot to control a vehicle for example air. However, these devices are not accurate, are difficult to transport outdoors, are not autonomous and are very expensive. Parametric calculators are also known embedded in remotely controllable devices which automatically influence the actuators of the machine according to sensors on board detecting position, speed, geographical position, pressure, etc. said craft. However, these devices are never combined with the position or movements of the ground pilot to retransmit audit machine.

The known piloting techniques are therefore not satisfactory. Presentation of the invention

The present invention aims at overcoming these disadvantages by proposing a new piloting equipment by remote control, which is of simple and reliable design, autonomous, easily transportable, usable both outside and inside, cheap, and which allows the pilot to experience an experience close to real piloting thus giving him new sensations and simultaneously allowing him to greatly improve the precision and reliability of piloting, and thus be able to control more quickly the remote control of a real or virtual machine.

For this purpose, the invention relates to driving equipment of the kind indicated in the preamble, characterized in that said steering member is arranged to be maintained by the pilot when he is positioned in said fixed frame of reference, and in that said piloting interface furthermore comprises position sensors arranged to transform into piloting instructions the movements and positions generated by the pilot body transmitted to said body direction, so that said craft reproduces at least in part the movements and positions of the driver's body.

Thus, the invention differs from the known devices in that the pilot is positioned in the fixed reference system, and in that it is his own movements that are transmitted to a real or virtual machine via the control interface. The control method of the invention is therefore not identical to that of current techniques, and has the advantage of providing the pilot with driving sensations close to reality.

The steering member advantageously has a handlebar shape arranged to be held in one or both hands by the pilot. It can be of substantially straight shape, in V, or more or less curved. When it is curved, it can create a hoop delimiting an interior volume arranged to receive at least partly the body of the pilot.

In an alternative embodiment of the invention, the steering member can constitute alone the control interface and in this case comprise at least one gyroscopic position sensor. In this variant, the fixed reference system is defined solely by the pilot when he rests on a fixed surface and maintains said steering member. In another embodiment of the invention, the steering member is mounted on an articulated support arranged to rest on a fixed surface defining said fixed reference, the steering member and the articulated support constituting in this case said interface of piloting. The steering member may comprise at least one gyroscopic position sensor. The articulated support may comprise a base arranged to rest on said fixed surface defining said fixed reference, an articulated arm mounted on said base, and the steering member coupled to the free end of said articulated arm.

In this embodiment, the articulated arm may comprise at least a first and a second articulation respectively defining a first and a second pivot axis perpendicular to each other, and respectively associated with a first and a second position sensors. The articulated arm may also be mounted on the base by a third articulation defining a third pivot axis perpendicular to the first and second axes of rotation and associated with a third position sensor.

In another variant embodiment, the articulated arm may comprise at least one ball joint associated with a position sensor.

Depending on the machine to be driven, the steering member may comprise a pivoting handle associated with a position sensor for controlling the speed or the advance of said machine.

The control equipment according to the invention may further comprise at least one computer and actuators embedded in said machine, the computer being arranged to convert said control instructions into control commands of said actuators as a function of the instantaneous position of said vehicle.

For this purpose also, the invention relates to a control method of the kind indicated in the preamble, characterized in that the control instructions are created by the movements and the positions generated by the pilot's body positioned in the fixed reference system, which movements and pilot body positions are detected by the steering interface via said steering member arranged to be maintained by the pilot positioned in said fixed reference, and are transformed into control instructions by position sensors provided in said control interface, so that said vehicle reproduces at least in part the movements and positions of the driver's body.

The forward or backward tilting movement of the pilot's body around the Y axis of the fixed frame of reference may advantageously make it possible to create an advance or retreat instruction if the craft is a rolling, floating or aerial, or a descent or climb instruction to control depth or pitch if the craft is an overhead craft such as a multi-rotor or underwater drone.

The lateral tilt movement to the right or to the left of the pilot body around the axis X of the fixed reference system can advantageously make it possible to create a lateral displacement instruction to the right or to the left if the machine is a machine rolling, floating or overhead, or a right or left swing instruction to control the roll if the craft is an air craft such as a multi-rotor or underwater drone.

The rotational movement of the pilot's body about its central axis Z of the fixed reference system may advantageously make it possible to create a direction change instruction to the right or to the left of said machine if the machine is a rolling, floating or overhead vehicle, or a right or left turn instruction for controlling the yaw if the craft is an overhead craft such as a multi-rotor or underwater drone.

Preferably, the position obtained by the pilot's body at the end of his movements makes it possible to create a similar position on said machine within the limits of the positions acceptable by said machine. Brief description of the drawings: The present invention and its advantages will appear better in the following description of several embodiments given as non-limiting examples, with reference to the appended drawings, in which:

FIG. 1 schematically represents the operating principle of the invention applied to an aerial vehicle for which the pilot is positioned in a fixed reference frame XYZ defined by the ground on which it rests,

FIG. 2 is a perspective view of a control interface according to a first embodiment of the invention,

FIG. 3 is a perspective view of a control interface according to a second variant embodiment of the invention,

FIG. 4 is a perspective view of another control interface according to the second variant embodiment of the invention, and

FIGS. 5A, 5B and 5C are diagrammatic top views of a pilot showing three possible driving positions.

Illustrations of the invention and different ways of making it:

With reference to the figures, the piloting equipment according to the invention can be applied to any type of gear 10, real or virtual, such as an overhead, land or water craft, via wired or non-wired communication means. wired by radiocommunication. The air craft may be, by way of non-limiting example, an airplane, an airship, a helicopter, a drone, a wing or the like. The land vehicle may be by way of non-limiting example a bicycle, a motorcycle, a car, a quad, a tractor or the like. The watercraft may be as a non-limiting example a sailing boat, a motor boat, a surfboard, a submarine or the like.

FIG. 1 illustrates the operating principle of the invention applied to an aerial vehicle such as an airplane. Driver 1 is standing in a fixed XYZ repository for driving said machine 10 by moving its own body as if it were on or in said machine so that the machine 10 reproduces at least in part the movements and positions generated by the pilot. For the purposes of the present invention, the term "fixed reference system" is intended to mean a three-dimensional orthonormal reference mark XYZ whose XY plane is defined by the ground or any other equivalent bearing surface on which the pilot 1 is positioned whether he is standing , sitting or lying down. It will later be referred to as "XYZ Fixed Repository".

Thus, the pilot 1 can control the machine by being totally free of his movements, by playing on the positions of his body that the machine will reproduce and by carrying out amplitudes of movement much larger than in the driving techniques of the state of the art, allowing him both to obtain a much more precise steering and to feel new sensations close to a real piloting. This piloting technique is similar to full immersion piloting and can be applied to both remote control and flight simulator or flight control.

The movements and the positions of the pilot 1 make it possible to create all the piloting instructions necessary for the control of the craft 10, thus generating a new driving method in which the craft 10 reproduces at least part of the movements and the positions initiated by the pilot 1, usually from his pelvis by moving his bust and his arms.

Indeed, there may be mentioned as non-limiting examples, the following movements of the body of the pilot 1:

The forward or backward tilting movement of the pilot's body 1 (around the Y axis) according to the arrows M1 may correspond to an advance or retreat instruction if the machine 10 is a rolling machine , floating or overhead, or a descent or climb instruction according to the arrows PI for controlling the depth or the pitch if the machine 10 is an aerial vehicle such as a multi-rotor or underwater drone,

The lateral tilting movement to the right or to the left of the pilot body 1 (around the X axis) according to the arrows M2 corresponds to a lateral displacement instruction to the right or to the left if the machine

10 is a rolling machine, floating or air, or a right or left swing instruction according to the arrow P2 to control the roll if the machine 10 is an aerial vehicle such as a multi-rotor or underwater drone , The rotational movement of the body of the pilot 1 about its central axis (around the Z axis) according to the arrows M3 corresponds to a direction change direction to the right or to the left or lace regardless of the gear 10 according to the arrow P3.

Likewise, the position of the body of the pilot 1 obtained at the end of his movements is preserved by the machine 10, of course within the limits of the amplitudes acceptable by said machine 10, until the pilot initiates another movement. which will generate another displacement of the machine 10. For example, the pilot 1 can by maintaining his body in a position inclined by 30 ° forwards to maintain the craft 10 in a pitch position of 30 ° by horizontal ratio, then it may a moment later reduce its inclined position forward to 20 ° to change the pitch position at 20 ° of said machine 10. Thus, the position of the driver 1 is reproduced at least in part by the machine 10, which induces for the pilot 1 to fully experience the piloting operation and to feel the sensations allowing it a greater finesse in the choice of trajectories imposed on the machine 10. Of course, in according to the settings made by the pilot, there is a report proportional between the positions generated by the pilot and the positions performed by the machine, this ratio is not necessarily equal to 1/1.

The pilot 1 controls the starting and stopping of the machine 10 as well as its speed by a control member accessible for example by a hand or a foot. The control of the speed or gases can be controlled by a potentiometer or any other equivalent means actuated from a handle, a control panel, a pedal (not shown), or any equivalent control member. Controlling the advance of an aerial vehicle such as a helicopter, a drone or the like, or an underwater craft such as a submarine or the like, can be managed by the speed handle or the handle gases or any equivalent control device. Similarly, the control of its recoil can be managed by a brake handle or by any equivalent control member. The computer embedded in the machine 10 may also affect the control of the speed or gases for example to stop the engine in case of loss of signal from the driver 1.

To implement this new piloting technique, the piloting equipment according to the invention comprises at least:

a control interface 30, 30 'associated with a transmission unit 40 and comprising a steering member 31, 3, for detecting the movements and positions of the pilot's body 1, transforming them directly into piloting instructions, and transmitting said instructions 10, and a computer (not shown) coupled to actuators (not shown) embedded in the machine 10 to receive the piloting instructions, compare them with the position of the vehicle 10 and transform them into control of the actuators, so that the machine 10 reproduces at least partly the movements and positions of the body of the pilot 1. The computer and the actuators are devices known and used in the field of remote control gear and do not will not be detailed further.

In the case of a remote control, the control can be done on sight, that is to say that the machine 10 remains visible by the driver 10, or not. In the latter case, the piloting equipment can be completed by a camera embedded in the machine 10 for transmitting in real time to the pilot 1 via a screen or video-goggles the images of the environment in which evolves the machine 10 controlled remotely. Referring more particularly to Figure 2, the control interface 30 according to a first variant of the invention comprises a movable steering member 31 in space, maintained by the driver 1 (not shown in this figure) and supported by a support or an articulated foot. The height of the articulated support will be adapted to the position of the pilot 1 who can be seated, standing or lying down. The articulated support is constituted in the example shown by an articulated arm 32 carrying at its upper end said steering member 31, and a base 33 in which is mounted the lower end of the articulated arm 32. The base 33 is intended to be placed on the ground or on any other fixed support surface, which constitutes the fixed reference XYZ in which the pilot is also positioned 1. Of course, any other equivalent support may be suitable.

The steering member 31, 3 is arranged to be maintained by the pilot 1 with one or two hands. It is in the form of a handlebar 31a, 31b, of rigid design, that is to say non-flexible and non-articulated, to be able to transmit a change of position of the driver 1 directly, accurately and reproducibly, without inertia.

In the example shown in Figures 2 and 3, the handlebar 31a has a curved shape to create a hoop. This example is of course not limiting as will be seen with reference to FIG. 4. It is preferably symmetrical with respect to a median plane XZ, and delimits an interior volume such that it can receive at least part of the body The handlebar 31a can thus at least partially surround the body of the driver 1 and describe a perimeter large enough so that it can be held by both hands by the driver 1, arms extended in part or in full, to the front, side or rear depending on the driving position he wants to adopt and the machine 10 he directs. These different steering positions are shown diagrammatically in FIGS. 5A, 5B and 5C and may correspond, for example, to a driving position of a motorcycle when the pilot's arms are directed forward (FIG. 5A), a driving position of an airplane when the pilot's arms are spaced apart on the sides (Figure 5B) and a steering position of a wing when the arms of the pilot are directed to the rear (Figure 5C).

The steering member 31, 3 may comprise at least two separate grip zones ZP and remote from each other to receive both hands of the pilot. These gripping zones ZP are not necessarily physically defined and do not necessarily include a handle. The steering member 31, 3 can indeed be maintained by the pilot with two hands or with one hand respectively placed at different locations on the handlebar 31a, 31b without affecting the operation of the control interface 30, 30 ' .

At least one of its gripping zones ZP, for example that to the right of the median plane XZ for the right-handed pilots, comprises a pivoting handle 34 actuable by one of the hands of the pilot 1 to control the speed or the advance of the machine 10 by acceleration and deceleration via a position sensor 34a. This example is not limiting, the pivoting handle 34 may be located to the left of the median plane XZ for left-handed pilots. Similarly, the pivoting handle 34 can be replaced by any other suitable control member, which can be arranged in front of the driver 1 or at any other location on the steering member 31, 31 '. It may also comprise a brake lever (not shown) for controlling the stopping or retreating of the machine 10 via another position sensor.

The articulated arm 32 comprises in the example shown in Figure 2 three sections 32a, 32b, 32c connected together, two by two by a pivot joint. The median section 32b is assembled to the lower section 32a by a first pivot joint 35b along the Y axis and the upper section 32c is assembled to the median section 32b by a second pivot joint 35c along the X axis. The lower section 32a is assembled to the base 33 along the Z axis, this assembly being fixed as in the illustrated example or performed by a third pivot joint (not shown) of Z axis. Each pivot joint 35b, 35c is associated has a position sensor 36b, 36c. Each articulation pivot 35b, 35c may further comprise a return member (not shown) arranged to return the control interface 30 in an initial starting position. The steering member 31 is assembled at the free end of the upper section 32c at a fixed central point passing through the median plane XZ. It also carries the transmission unit 40 which comprises at least one battery (not shown), a transmitter and a radio antenna, and which is electrically connected to the different position sensors 34a, 36b, 36c.

Thus, this control interface 30 is steerable in different directions, and at least in the XZ plane and in the YZ plane. If a third articulation is provided between the base 33 and the lower section 32a, it would also be orientable about the Z axis. The position sensors 34a, 36b, 36c are angular position sensors making it possible to transform a positional change. angular of the body of the pilot 1 relative to the fixed reference XYZ via the steering member 31 maintained by the pilot in an electrical signal representative of a steering instruction. These position sensors are for example resistive potentiometers, reliable and inexpensive, being specified that any other type of position sensors may be suitable. Similarly, the pivot joints 35b, 35c can be replaced one or the other or all by one or more ball joints allowing all rotations around the X, Y and Z axes. In this case, sensors will be chosen. of angular position or gyroscopic adapted to the ball joints. In a variant not shown, it is possible to provide position sensors in the steering member 31 and in the articulated support, or only in the steering member 31 in the form of gyroscopic sensors in this case to greatly simplify the articulated support design. Referring now to FIG. 3, the control interface 30 'according to a second variant of the invention comprises only the steering member 31 of the preceding example, mobile in space, intended to be maintained by the two hands of the pilot 1 (not shown in this figure) and not linked to a support. The steering member 31 carries the transmission unit 40 which in this case comprises one and preferably several gyroscopic position sensors (not shown) capable of transforming a change of angular position of the body of the pilot 1 relative to the fixed reference system XYZ in which the driver is located via the handlebar 31a held by the pilot in an electrical signal representative of a control instruction. In this variant embodiment, the fixed reference system XYZ is defined by the pilot 1 himself bearing on the ground or on any fixed support surface, in an orthonormal reference frame XYZ whose origin corresponds to the initial starting position of the gyroscopic position sensors. Thus, this control interface 30 'is steerable in the three XYZ axes, with no limit imposed by a mechanical support.

FIG. 4 illustrates another embodiment of the control interface 30 'of FIG. 3 comprising a single control member 3 without support. It is in the form of a substantially straight or V-shaped handlebar 31b. It can be provided with two distinct and remote gripping zones ZP for receiving both hands of the driver 1 positioned in the fixed reference system XYZ. As in the previous examples, the gripping zones ZP may or may not be delimited physically by handles. At least one of the gripping zones ZP may comprise a pivoting handle 34 for controlling the speed or the advance of the machine 10, or any other control element fulfilling the same function. The handlebar 31b carries the transmission unit 40, a display screen 41 and one or more gyroscopic position sensors 42 to form a complete and compact control interface 30 '. When the machine 10 is driven is a real machine, it is for example equipped with a receiver for receiving radio waves the control instructions sent by the transmitter of the transmission unit 40, one or more gyro sensors which transmit to a computer the instantaneous position of the machine 10, a computer which compares the control instructions to the instantaneous position of the machine 10 in each axis X, Y and Z and, in case of difference, sends control instructions to the actuators of the mobile members of the machine 10 to move accordingly to match the control instructions at the instantaneous position of the machine 10.

As explained above, the speed of the machine 10 can be controlled by the driver 1 via the pivoting handle 34 provided on the handlebar 31a, 31b of the steering member 31, 3, or by any other control member filling the same function. The speed instruction is directly transmitted from the transmitter to the receiver which directly controls the throttle actuator or the speed variator of the engine of the machine 10. As explained above, any other device for controlling the speed of the machine 10 can be provided, including inside said machine 10 via the computer. When the machine 10 is a virtual machine, the control instructions are converted into digital signals processed by computer software to directly change the position of the virtual machine on a screen of a flight simulator or driving, according to known simulators. The control interface 30, 30 'may be supplemented by specific control buttons (not shown) making it possible to exceed the angular positions of the pilot 1 in order, for example, to be able to generate a loop in the case of piloting an airplane or any another figure for any other gear driven. It is clear from this description that the invention makes it possible to achieve the goals set, namely to allow a pilot to experience an experience similar to that of the actual piloting greatly improving the precision of the pilot while giving him new sensations given that the craft similarly reproduces the angular displacements made by the pilot's body.

The present invention is not limited to the embodiments described but extends to any modification and variation obvious to a person skilled in the art. In particular the shape, design and arrangement of the steering members, control members and articulated support described may vary to suit the pilot and the machine to drive. Similarly, the choice of sensors is not limiting and extends to any other compatible sensor.

Claims

Equipment for remote control of a machine (10), such as a real or virtual air, land or aquatic machine, said equipment comprising at least one control interface (30, 30 ') and communication means (40 ) for transmitting pilot control instructions (1) to said machine (10), said control interface (30, 30 ') being a mechanical interface, orientable multi directionally with respect to a fixed reference (XYZ), and comprising a device steering gear (31, 3), characterized in that said steering member (31, 3) is arranged to be held by the pilot (1) when positioned in said fixed frame (XYZ), and that said control interface (30, 30 ') further comprises position sensors (34a, 36b, 36c, 42) arranged to convert into motions and movements generated by the pilot body transmitted to said steering member (31). , 3), so that said machine (10) reproduces at least partly the movements and positions of the pilot's body (1).

Piloting equipment according to claim 1, characterized in that said steering member (31, 3) has a handlebar shape (31a, 31b) arranged to be held in one or both hands by the pilot (1).

Piloting equipment according to claim 2, characterized in that said handlebar (31a) has a curved shape to create a hoop delimiting an interior volume arranged to receive at least partly the body of the driver (1).

Piloting equipment according to any one of the preceding claims, characterized in that said steering member (31, 3) constitutes by itself said steering interface (30 '), the fixed reference frame (XYZ) being defined solely by the pilot (1) when resting on a fixed surface and maintains said steering member (31, 3), and said steering member (31, 3 Γ) comprises at least one gyroscopic position sensor.

Piloting equipment according to any one of claims 1 to 3, characterized in that said steering member (31) is mounted on an articulated support arranged to rest on a fixed surface defining said fixed reference (XYZ), said steering member (31) and said articulated support constituting said control interface (30).

Piloting equipment according to claim 5, characterized in that said steering member (31) comprises at least one gyroscopic position sensor.

Control equipment according to claim 5, characterized in that said articulated support comprises a base (33) arranged to rest on said fixed surface defining said fixed reference (XYZ), an articulated arm (32) mounted on said base, and in that said steering member (31) is coupled to the free end of said articulated arm (32).

Piloting equipment according to claim 7, characterized in that said articulated arm (32) comprises at least a first and a second articulation (35b, 35c) respectively defining a first and a second pivot axis (X, Y) perpendicular to each other , and respectively associated with first and second position sensors (36b, 36c).

Piloting equipment according to claim 8, characterized in that said articulated arm (32) is mounted on said base (33) by a third articulation defining a third pivot axis (Z) perpendicular to the first and second pivot axes (X, Y) and associated with a third position sensor.

10. Piloting equipment according to claim 7, characterized in that said articulated arm (32) comprises at least one ball joint associated with a position sensor.

11. Piloting equipment according to any one of the preceding claims, characterized in that said steering member (31, 3) comprises a pivoting handle (34) associated with a position sensor (34a) for controlling the speed or the advancing said machine (10).

12. Piloting equipment according to any one of the preceding claims, characterized in that it further comprises at least one computer and actuators embedded in said machine (10) and in that said computer is arranged to transform said instructions of controlling the control commands of said actuators as a function of the instantaneous position of said machine (10).

13. A method for remote control of a machine (10), such as a real or virtual airborne, land or aquatic machine, implemented by said piloting equipment according to any one of the preceding claims, in which process the pilot (1) transmits steering instructions to said machine (10) via a control interface (30, 30 ') and communication means (40), said control interface (30, 30') being a mechanical interface, steerable multi directionally with respect to a fixed reference (XYZ), and comprising a steering member (31, 3), characterized in that said driving instructions are created by the movements and positions generated by the pilot's body (1) positioned in said fixed reference frame (XYZ), which movements and positions of the pilot body (1) are detected by said control interface (30, 30 '), via said steering member (31, 3) maintained by the pilot (1 ) positioned in said fixed repository (XYZ), and are transformed into control instructions by position sensors (34a, 36b, 36c, 42) provided in said control interface (30, 30 '), so that said machine (10) reproduces at least in part the movements and positions of the driver's body (1).

14. The driving method as claimed in claim 13, characterized in that the forward or backward tilting movement of the pilot body (1) around the Y axis of the fixed reference creates an advance instruction or recoil if the craft (10) is a rolling, floating or airborne craft, or a descent or climb instruction for controlling depth or pitch if the craft (10) is an air craft such as a drone multi-rotor or underwater.

15. Driving method according to claim 13, characterized in that the lateral inclination movement to the right or to the left of the pilot body (1) around the axis X of the fixed reference system creates a lateral displacement instruction towards to the right or to the left if the machine (10) is a rolling, floating or overhead vehicle, or a right or left tilting instruction for controlling the roll if the machine (10) is an aerial vehicle such as as a multi-rotor or underwater drone.

16. Control method according to claim 13, characterized in that the rotational movement of the driver's body (1) around its central axis Z of the fixed reference system creates a direction change instruction to the right or to the left or lace of said machine (10).

17. Driving method according to any one of claims 13 to 16, characterized in that the position obtained by the body of the driver (1) at the end of its movements creates a similar position on said machine (10) in the limit of its acceptable positions by said apparatus (10).