The present invention relates to a control device, and a vehicle.

In embodiments the invention relates to a control device in the form of a human input device to provide control of an object. Typically, the object can be a mechanical object such as a vehicle, an airborne device such as helicopter, an airplane or a unmanned aerial vehicle UAV, sometimes more commonly referred to as drones.

The control device can in an example be for a virtual object, e.g. for providing input to a computer video game or simulation device such as a flight simulator.

The device Can be used to give inputs to a computer for use in video games, computer Simulation (SIMs), for remote camera control, as a controller for use in remotely controlled vehicles, in air on land on water and under water. In one alternative, the device can be used as a controller within a vehicle, in air on land on water or under water.

Known human interfaces to electronics come in many different types, each lending themselves towards particular tasks. For example a computer mouse is used to navigate a pointer around a computer screen, moving the pointer in the x-y coordinates. Joysticks and hand-held controllers are used for a wide range of computer games. The joysticks typically pivot about an anchor point and move in an x-y orientation. With additional buttons and inputs, they can be used to control anything from a game avatar to flying a plane or spacecraft.

In Simulation games (SIMS) the controllers more accurately match the control devices used in real life. For example in driving SIMs a broad range of steering wheels are commercially available. Such steering wheels can also be coupled with foot pedals and gear shifters, so as to give a very realistic and useful experience. Indeed, Formula 1 teams/drivers use SIMS coupled with realistic Human Machine Interaction (HMI) devices as part of their training plans. Flight Simulators have existed for a long time. For example the ‘Link Trainer’ was available for sale in 1929. Another such example is Microsoft Flight Simulator 1 released in 1982. HMI have been required for Flight SIMS since their inception, and as such they are now wide ranging, however the majority of systems use a traditional flight ‘Yoke’/Control Column. The yoke can be rotated about its axis (like a steering wheel) to control the ‘Roll’ of the aircraft, the ‘Pitch’ of the aircraft is controlled by pushing/pulling the yoke towards/away (Fore and Aft) from the user. A left and right foot peddle is used to control the rudders or ‘Yaw’ of the aircraft. The throttle is on a separate lever controlled by the users hand. A variation of the control device for aeroplanes replaces the Yoke with a flight stick, which can be used to simulate ‘bush planes’ and the like.

Helicopter control is typically also achieved via a ‘flight stick’, two foot pedals and a separate lever for throttle (typically referred to as a ‘collective’). In general terms helicopter controls can also be described as follows; the stick controls the Pitch and Roll, with feet controlling the Yaw and a separate hand lever controlling the throttle.

More recently HMI have been created to replicate the controls of fighter planes. These systems are called Hands On Throttle and Stick or “HOTAS” systems. Again, the stick controls the pitch and roll, feet peddles control the yaw and a separate lever is provided for the throttle.

Multi-rotors, quads, Unmanned Aerial Vehicles (UAVs, sometimes referred to simply as “’’drones”) are a more recent innovation. Unmanned Aerial Vehicles are a different classification of aircraft to planes and helicopters, and as such have a different control mechanism. As there are many types of Multi-rotors, ranging from as low as two rotors (bi-copters) up to hex or octocopter with 6/8 rotors, for simplicity, all multi-rotors will be referred to herein as UAVs.

Like conventional aircraft, UAVs require control of roll, pitch and yaw. Preferably also control is provided over throttle.

Whilst these 4 parameters are the same as those used to control aeroplanes, helicopters and the like, UAVS require a faster action to control these variables. The control of UAVS is therefore conventionally done with a hand-held controller, sometimes referred to as a radio transmitter, or transmitter. The transmitter has a stick for the left hand and a stick for the right hand. Each of the sticks is free to move in two axis, which can be configured to suit the user. The most popular arrangements for the sticks is referred to as ‘Mode 2’ - in which the left stick moved in the up-down direction controls the throttle, and moved left-right controls the Yaw. The right stick moved up-down controls the pitch, and moved left-right controls the Roll.

This system and set-up is also typically used to control model planes and model helicopters, both of which fall under the classification of UAVs.

Learning to fly ‘aero’ (acrobatically) or race UAVs using a conventional transmitter is considered difficult. The concept of coordinating left hand and right-hand movements is quite abstract and can be a barrier to entry to the sport/hobby/profession of flying UAVs.

UAVs are being utilised more by emergency services such as the police and rescue services. Accordingly, this requires time and money to be spent on training operatives on how to fly using radio transmitters, or to the hiring of external operatives who can already fly using traditional radio transmitters.

In addition the use of UAVs in other fields is growing. It is more common now for filming of sports events, TV shows, and even films to be captured using high end cameras mounted on UAVs. Whilst the old style of camera drone control was adequate for static camera shots, to get fast paced dynamic shots a ‘freestyle/acro’ control device is required.

The radio transmitters used to fly actual UAVs can also be connected to a computer to control flight SIMs. Indeed, there is a growing popularity in SIM racing of Multi Rotors, with two leading leagues employing professional SIM racers. The Drone Racing League (DRL) ® and the Drone Champion League (DCL) ®.

US2016287198 discloses an adjustable mount for positioning an x-ray source comprising a vertical member that can swivel around a yaw axis, a circular arc-shaped yoke having two ends and passing through the vertical member, a gantry attached to the two ends of the yoke, and an x-ray source attached to the gantry. The x-ray source can be rotated around the yaw axis by swivelling the vertical member, pitched around a pitch axis by pitching the gantry, and/or rotated around a roll axis by passing the yoke through the vertical member.

WO9513576 discloses a computer interface device including a gimbal mounted handle having a plurality of input members for communicating navigation and command signals to a computer. The device provides a user with six degrees of freedom for navigation within a virtual reality world while simultaneously enabling a user to enter a series of commands in order to effectively communicate a user's intentions to a computer to effect a change within a virtual reality world.

EP565757 discloses a hand controller including a hand grip having therein a gimbal mechanism for allowing rotatory motion about three axes which intersect in the interior of the hand grip and from which motion transmitting members allow the motions about the three axes to be transmitted to remote pick off devices.

US5610631 discloses a video game/simulator system in a personal computer (PC) with game port and keyboard port includes a joystick includes a base and a joystick handle pivotally mounted on the base for two-dimensional movement. The joystick controller is connectable to both the game port of the personal computer and to the keyboard port via a second, throttle controller. The throttle and joystick controller inputs are reconfigurable to work with different video game/simulator programs by downloading a new set of key-codes from the personal computer via the keyboard port to a microcontroller and non-volatile memory in the throttle controller.

CN 102729238 discloses a three-axis intersection type posture main hand mechanism. The three-axis intersection type posture main hand mechanism comprises an elevating mechanism, a rolling mechanism, and a deflecting mechanism.

US2009187292 discloses an example of a control system for an aircraft. The system comprises a grip and a set of feedback components connected to the grip and a set of sensors.. There is a need and desire for an improved control device capable of controlling a UAV or other such HMI.

According to a first aspect of the present invention, there is provided a control device for providing control inputs in three degrees of freedom, the control device comprising: a base providing an anchor; a handling assembly or yoke having hand engagement regions for a user’s hands, the handling assembly or yoke being movably coupled to the base; the handling assembly or yoke being arranged to vary in orientation relative to the base, and to provide a control signal in dependence on its orientation relative to the base.

A control device is provided that enables a user to quickly and intuitively control an item such as a vehicle or a representation of a vehicle in a simulation or computer game. The control device is particularly useful for control of UAVs. The provision of a base and the yoke that moves relative to it provides a system that a user is intuitively able to interact with and use to control the position and/or orientation of the item under control. A human operator can feel and understand that the orientation of the handling assembly or yoke relative to the base, effectively, mirrors the orientation of the item under control with respect to its frame of reference. This simplifies the process of control in comparison to other know control devices, e.g. those using a pair of control sticks on an integrated or two connected controllers.

Furthermore, by comparison to the use of, say a gyroscope in a mobile telephone used to control say a driving game, the orientation of the yoke relative to the base provides a degree of accuracy that is not available from simple gyroscope-controlled devices such as those used in mobile telephone interfaces. In a preferred example, the base can fix the controller in a set position (relative to the base) and the arrangement of the yoke preferably in the form of a framework (to be described below) constrains the movement of each of the rotations around respective axes, having end point stops. This gives far greater accuracy and feedback as opposed to a floating device

In one example, the three degrees of freedom are roll, pitch and yaw. In another example, the degrees of freedom could be translation about X, Y and Z axes. In other words although the handling assembly or yoke will be rotated relative to the base under control of a user the rotation in the three degrees of freedom will generate control signals to cause translational movement in three degrees of freedom such as X, Y and Z axes.

In one example, the control device comprises a support coupled to the base and arranged to present the yoke to a user at an ergonomic orientation. In one example, the coupled support is arranged to be foldable relative to the base so as to collapse to a smaller volume e.g. for storage when not in use.

In one example, the control device comprises a central plate being rotatable about a first axis, a first frame coupled to the central plate and being rotatable relative to the central plate about a second axis and a second frame being rotatable relative to the first frame about a third axis.

In one example, the three axes are mutually perpendicular.

In one example, the control device comprises position detectors arranged to detect the orientation of each of the central plate, the first frame and the second frame.

In one example, the position detectors are selected from the group consisting of hall sensors, position encoders, magnetic position encoders and potentiometers.

In one example, the control device comprises movement limiters arranged to limit the available range of movement of any or all of the central plate, the first frame and the second frame.

In one example, the control device comprises a processor arranged to receive control signals from the system and providing an output signal to an item under control in dependence on the control signals.

In one example, the processor is arranged to vary the output signal in dependence on selected sensitivity. In one example, the sensitivity in respect of orientation of different frames is different.

In one example, the control device comprises a trigger input to indicate desired throttle or power output. Preferably more than one trigger is provided, e.g. 2, 3 ,4 or more.

In one example, the control device comprises a plurality of trigger inputs.

In one example, the control device comprises a feedback generator to indicate to a user at any point in time the orientation of the handling assembly or yoke.

In one example, the control device comprises the feedback is one or more of haptic, sound or light based feedback.

In one example, the handling assembly or yoke is biased to a home position.

In one example, the biassing is provided by a resilient spring member, such as one or more elastic bands, and/or mechanically with the use of cams.

In one example, the support is collapsible to the base.

In one example, the second frame is provided with opposed grippable handles such that user can engage with the second frame with two hands.

According to a second aspect of the present invention, there is provided a vehicle having a control device according to the first aspect of the present invention.

In one example, the vehicle is selected from the group consisting of an aeroplane, a helicopter, a digger and a crane. In an example in which the control device is used to control something other than a vehicle it can be used to control aiming devices such as remote cameras or the turret of a gun. In an example, the control device can be used in conjunction with additional buttons on the handles, to control a game character or aviator either in 1 ^st person or 3 ^rd person, such as in the well-known game “Call Of Duty”. Another example is for control in the well-known game “Grand Theft Auto” where the control device can be arranged to change from controlling a walking character to a car/plane/tank/boat when the character gets into a vehicle. In another alternative, the control device can be used to control a character in VR when used in conjunction with a VR headset.

The control device could be used to control the ‘aiming’ of devices, such as a remote camera, giving pan, zoom and tilt, or left/right, up/down and zoom in/out. In an alternative, the control device can be used to control the aiming of a shooting device such as a gun turret on a tank with the three degrees of freedom (of the three rotational axes) being arranged to control left/right, up/down and zoom in/out.

According to a further aspect of the present invention, there is provided a control device comprising a handling assembly or yoke arranged such that the position and/or orientation of the handling assembly or yoke relative to a base to which it is connected, mirrors the orientation of an item to be controlled relative to a frame of reference.

Thus, a device is provided that enables user intuitively to operate the control device without requiring many hours of training and practice. The control device therefore makes UAVs accessible to a significantly larger group of people. This is advantageous for advanced operation of UAVs or control of systems or vehicles that would previously have taken a long time to gain competence in.

According to a further aspect of the present invention, there is provided a method of controlling an item such as a vehicle or a representation of a vehicle in a computer simulation or game, the method comprising: providing a control device comprising a handling assembly or yoke arranged such that the position and/or orientation of the handling assembly or yoke relative to a base to which it is connected, mirrors the orientation of an item to be controlled relative to a frame of reference; and moving the handling assembly or yoke to control the position of the item.

According to a further aspect of the present invention, there is provided a control device for providing control inputs to control the orientation or movement of an item, the control device comprising: base; a handling assembly or yoke having hand engagement regions for a user’s hands, the handling assembly or yoke being movably coupled to the base; the handling assembly or yoke being arranged to vary in orientation relative to the base, and to provide a control signal in dependence on its orientation relative to the base, for provision to the item under control, in which the control device is arranged to control orientation or movement of the item under control in two or more degrees of freedom, the handling assembly or yoke being rotatable about a corresponding two or more number of axes that intersect at a common point.

According to a further aspect of the present invention, there is provided a control device for providing control inputs to control the orientation or movement of an item, the control device comprising: a base; a handling assembly having hand engagement regions for a user’s hands, the handling assembly being movably coupled to the base, the hand engagement regions being provided on transverse sides of a frame provided as part of the control device, a first hand engagement region being provided on the left side of the frame and a second hand engagement regions being provided on the right side of the frame for engagement, respectively by a user’s left and right hands; the handling assembly being arranged to vary in orientation relative to the base, and to provide a control signal in dependence on its orientation relative to the base, for provision to the item under control, in which the control device is arranged to control orientation or movement of the item under control in three degrees of freedom, the handling assembly being rotatable about three axes that intersect at a common point.

Any or all of the features mentioned above as being provided in an example can be provided as part of the control device of this (or any) further aspect.

Embodiments of the present invention will now be described in detail with reference to the accompanying drawings, in which:

Figure 1 is a schematic view from above of a first example of a control device;

Figure 2 is a schematic view from the side of the control device of the Figure 1 ;

Figure 3 is a schematic front view of the control device of Figures 1 and 2; Figures 3A and 3B show representations of axes and the response from the control device;

Figure 4 is a perspective view of a second example of a control device;

Figure 4A is a schematic view of a possible handle from the control device of Figure 4;

Figure 5 is a front view of the control device of Figure 4; and

Figure 6 is plan view of the control device of Figures 4 and 5;

Figure 7 is an electronic control device for the device of figures 1 to 6; and

Figure 8 shows schematically a user interacting with the control device..

The control device shown in Figure 1 provides an arrangement in which the control device is configured to provide control input in three degrees of freedom. The control device has a base 10 upon which is arranged an assembly including a handling assembly referred to as a yoke 18. The handling assembly or yoke 18 is anchored to the base and is arranged to facilitate intuitive input and variation of its position in respect of roll, pitch and yaw relative to the base. As will be explained below, the control device is arranged to provide a signal independence of the detected roll, pitch and yaw positions which can be used as an input to either an actual physical device in the form of a UAV or a simulator. Indeed, the device can be used as an input for any suitable apparatus including a traditional land based vehicle, a digger, a crane, an aeroplane, a helicopter or indeed any other such device. The control device comprises a base plate 1 which is fixedly mounted to the base 10.

A support arm 20 is provided extending from the base 1 and upon which is mounted the moveable part of the handling assembly or yoke itself. The handling assembly or yoke is arranged so as to present to a user at a comfortable ergonomic angular orientation by virtue of an angular offset member 2. Of course, in the example in Figures 1 to 3, the upstanding arm 20 is arranged vertically with respect to the base 10 and thus the angular offset 2 is provided to determine the angle of presentation to a user. In another example, the upstanding member 20 could itself be arranged at some acute angle relative to the base 10 so as to determine the angle of presentation of the handling assembly or yoke in its rest position to a user.

Relative to the base 10, the handling assembly or yoke is arranged to be moveable around three intercepting axis which correspond to the roll, pitch and yaw positions of the yoke and which, by operation of position and angular encoders are able to generate signals to determine the position of some other object, as explained above.

Referring to Figure 1, the three intersecting axis 12, 14 and 16 can be seen. The axis 12 represents a roll axis. The axis 14 represents a yaw axis and axis 16 represents a pitch axis 16. By virtue of intersecting frame members, to be described below, a user can intuitively vary the position of the yoke and thus easily provide a control signal to some associated item. The configuration of the handling assembly or yoke facilitates the intuitive control since in effect the position of the yoke relative to the base 10 and/or the support 1 represents the actual position of the item being controlled. There is no need for a user to learn to control say a double lever control of conventional UAV controllers, but rather immediately as soon as a user engages with the yoke they can intuitively understand how movement of it will translate into movement of the item under control.

The frames and the structure of the exemplary handling assembly or yoke as shown provides a convenient and robust mechanism by which the yoke is rotatable about three axes that intersect at a common point. The point is fixed relative to the base and thereby provides stability to the yoke and further an intuitive means for a user to control an item by moving the yoke relative to the base. It will be understood that in another example the control device can be provided in which movement about only two axes that intersect at a common point is provided. Such a control device may be suitable for control of items that do not need three control parameters to determine their movement or orientation, but only need two. With reference to figure 1 such a device could be easily arrived at by forming, say, frames 22 and 24 as a single unitary item such that the control device is able to rotate about only two of the three axes 12, 14 and 16. For example it could be arranged to be free to rotate about only axes 12 and 14 or 12 and 16. The control device including the yoke 18 comprises two interacting frames 22 and 24. In addition, a rotating plate 26 is provided which is itself arranged within the first frame 22. The rotatable plate 26 is arranged so as to be axially rotatable about the axis 12 such that when it rotates, the yoke itself rotates about its roll axis 12. The common point at which the three axes intersect is, in this example, at the centre of the plate 26.

The first frame member 22 comprises arm 6 and vertical arm 28 which form a frame which, in this example is generally square. As can be seen, the vertical arms 28 are rotationally connected to the circular plate 26 around bearings 30. Thus, in response to application of force by a user through interaction with handles 9, the entire yoke will rotate around axis 16 which represents a rotation around the pitch axis for an associated item.

Connected to the arms 26, via pivots 32 representing a yaw connect 7, are yaw bars 8 forming part of the second frame 24. The second frame 24 is able to rotate relative to the first frame 22 about the pivots 32. Thus, by interaction with the handles 9, a user is able to move the yoke and vary its yaw position. This movement can of course be independent of any movement around the pitch axis.

Finally, the disc or central plate 26 is rotationally mounted to the axle top 3 such that the assembly of the first and second frames 22 and 24 is able to rotate around the roll axis 12 (see more clearly in Figure 2). The central plate is shown as a circular disc 26 but it will be appreciated that other shapes could be used. For example, the plate 26 could be square, pentagonal, hexagonal or indeed any desired shape as long as it fits into its position and is able to move as required for operation of the control device.

The handles 9 are provided in the form of cylindrical sleeves 34 which are arranged to rotate relative to the second frame 24 as it is rotated around axis 14. Thus, this will ensure that a user’s hands do not get unnecessarily hot through frictional interaction with the handles 9. In an example, the handles are ergonomically molded to fit a human hand, having a forwards and backward orientation. Bearings at the top and bottom of cylindrical sleeves 34 of the handles allow the rotation of the handles independent of the yaw bar rotation angle. In the example shown, the opposed handles are provided on the control device as part of the second frame 24, but it will be understood that this need not be a limiting embodiment. The provision of opposed handles enables a user to interact intuitively with the control device in a manner not possible, with, say the devices described in much of the prior art. For example looking at the device of WO95/13576, what is effectively provided is a simple joystick mechanism, albeit come interacting frame members appear to be disclosed. However there is no disclosure or suggestion of the provision of regions for engagement of a user’s hands, let alone the provision of opposed handles for engagement of a user’s hands.

In a further example, but not provided as a strict necessity, a control button 36 is provided on a rear side of one of the handles 9. Preferably, the button 36 is a pressure sensitive controller which is able to provide a signal in relation to the amount of pressure applied to it. In this way, a throttle control is able to be applied to the yoke as part of the same integrated unit. As mentioned above multiple buttons can be provided to enable control of a desired number of additional parameters. Figure 4A shows a schematic view of a handle including plural buttons. In this example there are 4 on the front side where a user’s fingers would typically be arranged, and a single one on the reverse side that a user is able to press using their thumb. Any desired number or configuration of buttons can be provided on one or both of the handles 9.

The control device provides an intuitive input device for controlling either a real vehicle or a simulator.

In contrast to devices that typically require control of two separate two dimensional joy sticks, the current device provides the advantage that the yoke itself has positions of roll, pitch and yaw relative to the base and these can be arranged to map directly to the relative position of the object under control.

The relative position of the first and second frames and indeed the yoke as a whole around the roll axis 12 can be determined based on known technologies such as positioning coders or potentiometers. Other examples include hall sensors, but it will be appreciated by a skilled person that any possible arrangement of rotary encoding devices can be used.

As explained above, it is preferred in one example that the control device is used as a controller for a UAV. In this configuration, some form of wireless connectivity is required. This is shown schematically in Figures 2 and 3 by a transmitter 38 provided coupled to the base 10. Of course, this is merely schematic and the radio transmission or wireless connectivity can be provided as integrated in some other part of the general assembly.

If the control device is used in connection with some fixed apparatus or indeed within a cock pit of an actual vehicle then the connection of the encoded signal outputs to the device itself will be appropriately configured.

The amount of movement that each of the components is able to make relative to whatever it is connected to is preferably limited by some movement limiter. In other words, the plate or disc 26 is able to rotate relative to the axle top 3 by some amount around axis 12) but not say beyond 80 degrees either way from a central rest position. The first frame 22 is able to pivot about axis 16 by some amount but, say, not more than 40 degrees each way relative to the plane of the disc 26.

Similarly, the second frame 24 is able to pivot about axis 14 by some amount but say not more than 30 degrees each way relative to the plane of the first frame 22. The precise amount by which each of the components is able to rotate may be varied or in some cases the limits can be switched off entirely. Each of the components (disc 26, first frame 22 and second frame 24) has a rest position and preferably they are biased into that position by mechanical, electronic or magnetic means.

In an example, haptic feedback is integrated into the handles in the form of a vibrating element (not shown). The haptic feedback can be used to indicate to a user when the orientation or position of the yoke has reached some defined position in respect of any or all of the three axes of rotation. In other words, when the rotation about, say, axis 12, exceeds some defined limit a haptic response could be activated to cause vibration of the handles which will alert a user to the position. Such feedback can be used for any or all of the three axes of rotation and the signals or type of feedback could be the same or different. Feedback other than haptic feedback can be used. For example an audible alarm could sound when the position of the yoke reaches some limit or a light such as an LED could be activated to indicate the position to the user..

The movement limiters may be physically built into the hardware e.g. cut-outs or projections are provided to determine the maximum available movement of each of the components relative to whatever it is connected to.

Figures 3A and 3B show representations of axes and the response from the control device. The movement of the object under control (whether real or virtual) is effected in response to movement of the control device. The manner in which the object can be made to move in response to movements of the control device can be varied as desired. Two examples are shown in Figures 3A and 3B. In figure 3A 3 mutually perpendicular axes are shown which represent the axes of movement of the control device. The output, i.e. the movement of the object is represented by the rotation around the axes. In other words, rotation of the control device about the axes 12, 14 and 16 will cause a corresponding rotation of the object about respective axes. By contrast in Figure 3B the controlled movement is translational such that rotation of the control device (yoke) around axis 16, will cause a translational movement of the object under control in a linear direction shown by the arrow 17, and so forth for the other two axes as well.

Figures 4 to 6 show a second example of a control device. The control device is similar to that of Figures 1 to 3 and so like components will not be described in detail. It will be understood from the figures that the general method of operation of the example of Figures 4 to 6 ids substantially the same as that of Figures 1 to 3.

A difference is that the first frame 22 is generally octagonal instead of square or rectangular as it is in the example of Figures 1 to 3. In other examples different shapes, e.g. circular, elliptical can be used for the first and second frames subject to the frames being able to move as described herein. What is important is the coupling of the frames to each other and the configuration of the bearings that allow the plate 26 to pivot about the yaw axis 12, first frame 22 to pivot relative to the plate 26 about a pitch axis 16, and the second frame 24 to pivot relative to the first frame about a roll axis 14.

In the Example of Figures 4 to 6, again the handling assembly or yoke is arranged relative to the base so as to present at an ergonomically comfortable angle relative to a user when in a neutral position. This is achieved by the use of trapezoidal support legs 25 having arranged thereon an intermediate support plate 27

The sensitivity of the control device can be controlled by a processor that receives position data from the bearings or system or directly by control of the sensitivity of the bearings themselves. In other words, the sensitivity can be controlled directly e.g. by making the bearings stiffer relative to each other such that a small additional force input by a user will cause relatively little movement of the orientation of the frames relative to the base, or by control of the signal provided to the item under control.

Some means of wireless connectivity is also optionally provided as described above with reference to Figure 2, even though it is not shown in Figures 4 to 6.

Figure 7 is a schematic simplified view of the control circuits used in the control device of any of Figures 1 to 6. A control device 40 is provided which can be the same as any of the devices described above with reference to Figures 1 to 6. As explained above the relative angular position of the frames 22 and 24 are used to mirror the orientation of an item under control. Typically it will be the roll, pitch and yaw positions that are determined by the position encoders or other detectors included as part of the control device and these are coupled via connections 46 to a controller such as a microprocessor 42 optionally included as part of the provided as part of the control device. The processor 42 receives the position or orientation signals from the device 40 and communicates these to a signal propagator 44. This can be a wireless transmitter, (e.g. the transmitter 38 shown in Figure 2) or it can be wired propagator which couples the signal into another system such as a computer upon which a simulation is being performed.

Included in the connections 46 is an optional connector 48 which represents the possible communication of data other than simply the three position data, but could be for example a signal generated by a user’s interaction with a separate trigger or input such as the throttle button 36 described above with reference to Figure 2.

The representation shown in Figure 7 is schematic and simplified but demonstrates the key functional components of the control device and its associated systems.

In general then, it will be appreciated that a control device is provided that is arranged such that its position relative to a base to which it is connected, mirrors the orientation of an item to be controlled relative to a frame of reference such as the earth’s surface, or in the case of a controller for video game or simulation, the frame of reference of the game or simulation. Thus, a simple and intuitive control device is provided that a user is able to pick up and operate without requiring significant training or practice. This is particularly useful is areas such as the control of vehicles including diggers and cranes and also in respect of providing a control device for use with a UAV or a UAV SIM system.

Thus, there is provided in accordance with an example, apparatus and method for controlling the 3 Axis (Roll, Pitch, Yaw) of a vehicle or items. Preferably, the apparatus includes a two handed ‘wheel’ or ‘yoke’ that controls pitch, roll and yaw in an effective, accurate and intuitive way.

The apparatus comprises a ‘yoke’ with rotation about a first axis 12. This axis can be configured to control any of the three variable, but more likely it will be used to control the ‘Roll’ output.

In a general non-limiting example, attached to either side of the central rotational body is another pivot point, this pivot point being oriented horizontally (around axis 16), with the line of axis running through the midpoint of the central body 26. Connected to the pivot point are a pair of bars 28 running vertically, the tilting of these bars forward and backwards can be used to control any variable, but more likely the Pitch output.

The tops and bottoms of the vertical side bars are connected with horizontal bars 6, at the midpoint of the top and bottom horizontal bars, there is another pair of pivot points (for rotation around axis 14). These pivot points are connected to two longer horizontal bars 8 which terminate at each end with a connection to a left and right handle 9. The handles 9 can be used to push/pull with the left and right hands in opposite directions to cause movement around the axis 14. These movements can be configured to control any axis of movement of the object under control, but typically are used to control yaw.

The line of axis 14 preferably runs vertically through the midpoint of the rotational body 26.

Thus, what is provided is simple, fast precise and intuitive control of three axis, whilst maintaining two hands on each of the side handles. Throttle control can either be via the use of a foot pedal, or with a trigger on either of the handles.

As explained above, the rotation of any of the axes could be sensed in several known ways, such as the use of rotary encoders, Hall sensors, potentiometers, or the like.

Figure 8 shows schematically a user interacting with the control device.. As can be seen the manner in which a user interacts with the device will be intuitive since the orientation of the yoke and its various frames (as explained above) relative to the base of the control device will mirror the orientation of the item under control in the real world, which could be a physical item in the physical world or a virtual item in a SIM or video game.

Embodiments of the present invention have been described with particular reference to the examples illustrated. However, it will be appreciated that variations and modifications may be made to the examples described within the scope of the present invention.