CONTROL DEVICE FOR CONTROLLING REAL OR VIRTUAL FLIGHT OBJECTS

Abstract

In order to further improve a control device (100) for controlling unmanned and / or manned and / or virtual airborne objects (10) in such a way that the control is easier to use and can be learned intuitively and more quickly even by untrained individuals, the control device (100) has a first control element (15) for controlling a movement about a vertical axis (11), a longitudinal axis (12) and a transverse axis (13) of the airborne object (10), a rotary movement and / or pivoting movement of the first control element (15) about its vertical axis (11), its longitudinal axis (12) and its transverse axis (13) causing the airborne object (10) to move about its vertical axis (11), longitudinal axis (12) and transverse axis (13), and the control device (100) also has a second control element (16) for changing the flying altitude (14) and / or speed and / or thrust of the airborne object (10).

Description

[0001] Control device for controlling real or virtual flying objects

[0002] Description

[0003] The invention relates to a control device for controlling unmanned and / or manned and / or virtual flying objects, in particular real and / or virtual multicopters, wherein movement about a vertical axis, a longitudinal axis and a lateral axis of the flying object is controlled by means of a first control element. Furthermore, a change in altitude and / or speed and / or thrust of the flying object is controlled by means of a second control element.

[0004] To control unmanned aerial vehicles (UAVs), such as drones or multicopters, conventional remote controls are used, which typically feature two levers positioned side-by-side and spaced apart. These levers control the drone's movement relative to its three axes, as well as changes in altitude. This is usually a classic four-channel remote control, where three channels are used to control the UAV's movement around its vertical, lateral, and longitudinal axes, and a fourth channel is used to control its pitch and roll. All four channels are controlled by the two control levers (each lever controls two channels).

[0005] State of the art

[0006] Design DE 402009005121 shows a classic remote control with two separate control levers. Each of the two control levers controls two axes.

[0007] US patent 2016 / 0297522 Al describes a classic four-channel remote control with two levers for controlling a drone, the remote control also having a screen for displaying images or videos taken by a camera on the drone.

[0008] US patent 2017 / 0108857 A1 describes another remote control for drones. This remote control features a touchscreen display, which can be used to control the drone and its movement around its respective axes. Furthermore, the movement of the remote control itself around its axes can control the drone's movement around the corresponding axis.

[0009] Description of the invention: Problem. Solution. Advantages

[0010] The invention is based on the objective of further improving a control device for controlling unmanned and / or manned and / or virtual flying objects in such a way that the control is easier to handle and can be learned intuitively and quickly even by inexperienced persons.

[0011] According to the invention, a control device for controlling unmanned and / or manned and / or virtual flying objects is provided, wherein a movement about a vertical axis, a longitudinal axis and a transverse axis of the flying object is controlled by means of a first control element, wherein a change in altitude and / or speed and / or thrust of the flying object is further controlled by means of a second control element. According to the invention, the control device is designed such that a rotational movement and / or pivoting movement of the first control element about its vertical axis, its longitudinal axis and its transverse axis causes the movement of the flying object about its vertical axis, longitudinal axis and transverse axis.

[0012] The control device according to the invention can be used, for example, to control underwater drones, unmanned and manned drones, spacecraft, guided missiles, helicopters, remote heads (e.g., camera remote heads), model aircraft, or gimbals. Furthermore, the control device according to the invention can be used to control virtual flying objects, for example, for video or computer games or flight simulators.

[0013] To make the control device according to the invention easier to learn and more intuitive to use, it has two separate control elements: a first control element and a second control element. Unlike a conventional four-channel remote control, the first control element is used to control three channels, namely the movement or deflection around the vertical, longitudinal, and lateral axes of the aircraft. The second control element is used to control the fourth channel, namely to change the altitude and / or speed and / or thrust of the aircraft. In the case of a drone or multicopter, this corresponds, for example, to the throttle. In other aircraft, controlling the fourth channel via the second control element could, for example, change the speed, acceleration, or thrust, in particular the forward thrust.

[0014] To control the three channels, the first control element is mounted on a rotatable and pivotable bearing, such that a rotational movement around its vertical axis causes the aircraft to move around its vertical axis. A pivoting or rotating movement of the first control element around its longitudinal axis causes the aircraft to move around its longitudinal axis. Furthermore, a rotational or pivoting movement of the first control element around its transverse axis causes the aircraft to move around its transverse axis. Thus, the first control element can be moved or rotated around its three axes, with each movement or deflection causing a corresponding movement or deflection of the aircraft around the respective corresponding axis.For this purpose, the control device has a fixed base to which the first control element can be moved, pivoted, or rotated around its three axes. This means that the first control element is rotatably and / or pivotably mounted on the fixed base. The fixed base is therefore not moved together with the first control element. For example, the fixed base could be a support plate, a suitably designed frame, a tripod, or something similar. The fixed base could also be integrated into an object. By means of a suitable weight or pressure ratio, the base can be held stationary when the first control element is actuated or moved. The fixed base can thus also serve to support the control device on a surface, such as a table.Alternatively, the control device could also be designed to be worn around the neck. In this case, the fixed base could be a support element for bracing against the body or positioning in front of the body. For the purposes of the invention, the fixed base is thus understood to be an element that is fixed relative to the first control element. The fixed base need not be, but could be, permanently fixed in place.

[0015] Preferably, the first control element is connected to the stationary base via one or more bearing elements. In particular, the first control element is rotatably mounted on the stationary base about its vertical axis by means of a bearing element, or is rotatably connected to it. Thus, the first control element, or rather its vertical axis, is at least temporarily held or fixed in place by the stationary base. The control device as a whole can still be portable.

[0016] For each of the three axes of the control element, the control device has angle sensors to detect the deflection or displacement of the movement around the respective axis. These angle sensors can be positioned at any suitable location along the respective axis. For example, the angle sensors can be located in the center of the axes, at the ends of the axes, or in between. The angle sensors detect the deflection or displacement of the control element around the respective axis. The angle detected by the angle sensors serves as the basis for controlling the deflection or movement of the aircraft around the corresponding axis.

[0017] The longitudinal and transverse axes of the first control element can be spaced apart from each other or intersect and thus be arranged on the same plane. Preferably, the distance between the longitudinal and transverse axes is less than 10 cm, more preferably less than 5 cm, and most preferably less than 2.5 cm. In particular, the vertical, longitudinal, and transverse axes of the first control element pass through a common point, a central intersection of the three axes. In particular, this common point lies above the fixed base.

[0018] Furthermore, it is preferably provided that the first control element is fixed with respect to its vertical axis and / or its longitudinal axis and / or its transverse axis by means of a spring element. This provides for automatic return to the zero position of the first control element with respect to its respective axis. The spring element is a flexible element, in particular a spring, a rubber element, or a hydraulic element, and fixes the respective axis by means of a tension and / or compression connection. The spring action or spring force of the spring element is preferably adjustable or variable individually for each axis or jointly for all axes. A separate spring element can also be provided for each axis. The spring action or spring force can also be deactivated if required.Thus, the first control element is fixed in its neutral state or zero position with respect to its vertical axis, longitudinal axis, and / or transverse axis by means of the spring element. It is also preferably provided that the first control element has two parallel and spaced-apart planes which are rotated or pivoted together about the respective axis—the vertical, longitudinal, and transverse axes—of the first control element. The two planes can be plate-shaped. Both planes are connected to each other in such a way that they follow the same movement. This means that the position of the two planes relative to each other, as well as their distance from each other, remains constant when the first control element is moved.Furthermore, it is preferably provided that the central intersection of the three axes of the control element is located between the two planes, and most preferably in the middle between the two planes.

[0019] The first control element could also have two planes arranged at an angle to each other. For example, the two planes could be arranged at an angle between 5 degrees and 30 degrees. For certain applications, ease of use is increased if the two planes are arranged at an angle greater than 0 degrees to each other. This allows, for example, a slight tilt of one of the two planes towards the user. Preferably, the angle between the two planes of the first control element is adjustable between 0 degrees (parallel to each other) and 30 degrees. The user can thus preferably set the angle themselves, depending on the application or preference.

[0020] Alternatively, the first control element is mounted directly on the fixed base so that it can move about all three axes. For this purpose, the first control element can, for example, have a cross-section that increases from the fixed base. For instance, the first control element is at least partially conical or has at least partially the shape of a conical segment.

[0021] The second control element is preferably designed as a lever, rotary knob, rocker switch, pistol trigger, or pedal. Depending on whether the second control element is intended for foot operation or operation with one or more fingers, it can be designed accordingly. For foot operation, the second control element is therefore preferably designed as a pedal, pedal-shaped, or rocker switch. For hand operation, or operation with one or more fingers, the second control element is preferably designed as a lever, rotary knob, rocker switch, or pistol trigger.

[0022] The second control element is preferably arranged on the first control element and / or on the fixed base of the control device.

[0023] Therefore, preferably at least two variants for arranging the second control element are provided. In a first variant, the second control element is attached to or on the first control element, with the second control element moving together with the first control element, so that when the first control element is operated with both hands, the second control element is always reachable or operable with the finger. Releasing the first control element is therefore not necessary to operate the second control element.

[0024] In the second variant, the second control element is not connected to the first control element, but to the stationary base of the control device. In this case, the second control element does not follow the movement of the first control element.

[0025] For the first variant, the second control element could, for example, be arranged as a lever, rotary knob, rocker switch, or pistol trigger on the first control element, particularly on its upper surface. In the second variant, the second control element could, for example, be provided separately as a pedal or rocker switch for foot operation and thus not be connected to the first control element. It is also preferably provided that the control device has two handles, which are rigidly connected to the first control element or rigidly connected to the stationary base of the control device. The two handles are for gripping with both hands. The orientation of the handles and their distance from each other are preferably adjustable or changeable. The handles can be designed as completely separate handles or connected to each other continuously, for example, by means of a rod.Furthermore, the handles can be part of the upper level of the first control element or be formed entirely as one piece with the first control element.

[0026] In a first variant, the handles are rigidly connected to the first control element. This variant is particularly suitable for use while seated, i.e., when operating the control device from a seated position. The first control element is moved directly via the handles. The handles are preferably arranged on the upper level of the first control element. This variant is also suitable when the control device is worn around the neck and operated while standing in front of the body.

[0027] In a second variant, the handles are rigidly connected to the fixed base of the control device and not to the first operating element. This variant is particularly suitable for operating the control device while sitting, lying down, or standing. In these operating modes, the first operating element can have a seat, lying surface, or standing surface on which the person sits, lies down, or stands and can move the first operating element around its three axes by shifting their weight. For these operating modes, the handles are preferably rigidly attached to the fixed base and not mounted on the first operating element. The handles thus serve primarily for gripping or support, with the first operating element being moved by means of body movement or weight shifting and not directly via the handles.The handles are preferably arranged parallel to the transverse axis of the first operating element and, more preferably, offset vertically from the transverse axis of the first operating element. The handles may, but need not, be positioned centrally on the first operating element.

[0028] Furthermore, the zero position of the first control element is adjustable and variable with respect to its vertical, longitudinal, and lateral axes. The zero position of the first control element is understood to be the position that causes no deflection of the aircraft. It is thus a neutral position of the first control element. The zero position may, but need not, correspond to the midpoint of a maximum deflection or maximum angle around one of the axes. The zero position could be configured such that the first control element is horizontal and parallel to the fixed base in the zero position. Alternatively, the zero position could also represent an inclination or a predetermined deflection around one or more of the axes.

[0029] Furthermore, it is preferably provided that the first control element is rotatable or pivotable about its vertical axis by a first maximum angle, wherein the first maximum angle is adjustable and variable. For the purposes of the present invention, a maximum angle is understood to be a maximum total deflection or a maximum range by which the control element is rotatable or pivotable about the respective axis. The first maximum angle refers to the maximum deflection about the vertical axis of the first control element. The first maximum angle can be set symmetrically or asymmetrically about the zero position with respect to the vertical axis of the first control element. For example, an asymmetrical setting can be created by varying or changing the zero position of the first control element with respect to its vertical axis.A preferred starting value for the first maximum angle is 50°; with a symmetrical setting, a maximum deflection of the first control element around its vertical axis of 25° in each of the two directions is possible on this basis.

[0030] A translation factor determines the ratio between a detected angle and the actual deflection or angle around the axis of the flying object. The deflection of the first control element around a given axis is detected by an angle sensor as described above. Preferably, the translation factor is adjustable. This adjustment can be achieved by varying the maximum total deflection or the corresponding maximum angle, and / or by other means, such as electronically as a calculated value.

[0031] A separate translation factor can be provided for each axis. In the context of the present invention, the first translation factor relates to the ratio between the detected angle about the deflection of the first control element about its vertical axis and the actual deflection about the vertical axis of the flying object. The second translation factor relates to the ratio of the deflections about the longitudinal axis of the first control element and the actual deflection of the flying object about its longitudinal axis. The third translation factor relates to the ratio of the deflections about the transverse axis of the first control element and the actual deflection of the flying object about its transverse axis. The following simple equation serves to illustrate this principle:

[0032] Angle A / X (translation factor) = Angle B

[0033] Angle A corresponds to the detected angular deflection of the first control element around a respective axis;

[0034] X corresponds to the translation factor for the respective axis;

[0035] Angle B corresponds to the actual control of the angular deflection of the flying object around the corresponding axis. The first control element is further preferably rotatable about its longitudinal axis by a second maximum angle, wherein the second maximum angle is adjustable and variable. Furthermore, the first control element is preferably rotatable about its transverse axis by a third maximum angle, wherein the third maximum angle is adjustable and variable. The same features described above apply to the second and third maximum angles as to the first maximum angle.

[0036] Thus, the first maximum angle refers to the maximum total deflection of the first control element about its vertical axis, the second maximum angle to the maximum total deflection of the first control element about its longitudinal axis, and the third maximum angle to the maximum total deflection of the first control element about its transverse axis.

[0037] Furthermore, it is preferably provided that the zero position of the second control element is adjustable and variable. This allows for a variable and adjustable maximum total deflection or maximum range for the second control element as well. The zero position can be a neutral position, a center position, or any range between the neutral position and the center position of the second control element. This position, or this zero position, is particularly preferably changeable.

[0038] As with the first control element, a translation factor, namely the fourth translation factor, can be provided for the second control element. The fourth translation factor then represents the ratio between the detected deflection of the second control element and the actual control of the aircraft. In the case of a multicopter, this would be the ratio between the detected deflection of the second control element and the throttle used to change the multicopter's altitude. The following simple equation illustrates this principle:

[0039] Deflection A / X (translation factor) = control B. Deflection A corresponds to the detected deflection of the second control element;

[0040] X corresponds to the translation factor for the second control element;

[0041] Control B corresponds to the actual control of the aircraft to change its altitude, speed or thrust;

[0042] The second control element preferably has a spring mechanism that resets it to its zero position after it is actuated. Upon release, the spring mechanism automatically resets the second control element. As with the spring element of the first control element, the spring mechanism of the second control element is preferably adjustable and variable with respect to its spring action or spring force. This ensures automatic return to the zero position of the second control element.

[0043] Brief description of the drawings

[0044] The invention is explained below by way of example using preferred embodiments.

[0045] They show schematically:

[0046] Figure 1: a perspective view of a control device,

[0047] Figure 1a - 1ld: exemplary rotational and swiveling movements of the first

[0048] Control element of the control device,

[0049] Figure 2: a perspective view of a control device for use or operation in a lying position, Figure 3: a perspective view of a control device for wearing around the neck,

[0050] Figures 4 and 5: another control device with an ergonomically shaped first control element, and

[0051] Figure 6a: a schematic representation of a 4-channel remote control from the state of the art,

[0052] Figure 6b: a schematic representation of a control device, and

[0053] Figure 6c: a 3-dimensional schematic representation of a

[0054] Control device.

[0055] Preferred embodiments of the invention

[0056] Figure 1 shows an example of a variant of a control device 100 for controlling unmanned and / or manned and / or virtual flying objects 10. The control of a multicopter or drone is shown as an example. The control device 100 controls the movement of the flying object 10 about a vertical axis 11, a longitudinal axis 12, and a lateral axis 13. The movement about these three axes 11, 12, 13 of the flying object 10 is controlled by means of the first control element 15 of the control device 100.

[0057] For this purpose, the first control element 15 is mounted on a fixed base 19 so as to be rotatable about the vertical axis 11a of the first control element 15 and also pivotable about the longitudinal axis 12a and the transverse axis 13a of the first control element 15. The first control element has two parallel planes 17, 18.

[0058] A rotational movement of the first control element 15 about its vertical axis 11a causes, taking into account the first translation factor, a corresponding rotational movement of the flying object 10 about its vertical axis 11. A pivoting movement of the first control element 15 about its longitudinal axis 12a causes, taking into account the second translation factor, a corresponding pivoting movement of the flying object 10 about its longitudinal axis 12. A pivoting movement of the first control element 15 about its transverse axis 13a causes, taking into account the third translation factor, a pivoting movement of the flying object 10 about its transverse axis 13.

[0059] As already mentioned, Figure 1 shows an example of the control of a multicopter or drone. In a multicopter, the fourth channel corresponds to the throttle and thus to changing the flight altitude 14 of the aircraft 10. This change in flight altitude 14 is controlled via the second control element 16 of the control device 100. In the example shown in Figure 1, the second control element 16 is arranged on the first control element 15 in such a way that it can be easily operated using the index fingers without having to release the handles 20, 21 of the control device 100 on the first control element 15.

[0060] In the example shown in Figure 1, the handles 20, 21 are arranged on and connected to the first control element 15. The orientation of the handles 20, 21, in particular their inclination to the surface of the first control element 15, is variable or adjustable. The distance between the handles 20, 21 could also be adjustable.

[0061] Figures aa to ld show exemplary rotational and swiveling movements of the first control element 15 of the control device 100 and the corresponding movements of the flying object 10.

[0062] Figure 2 shows an example of a control device 100 for surface-mounted operation. For this purpose, the first control element 15 has a lying surface on which the operator can lie. In contrast to the variant shown in Figure 1, the handles 20, 21 and the second control element 16 are not arranged on or connected to the first control element 15. Instead, in this variant, the handles 20, 21 can be connected to the stationary base 19 or fixed separately.

[0063] In the example shown in Figure 2, the first control element 15 is moved by shifting body weight, unlike the variant shown in Figure 1. The handles 20 and 21 serve for gripping and support. Thus, the first control element 15 can be easily rotated about its vertical axis 11a and tilted or pivoted about its longitudinal axis 12a and its transverse axis 13a by shifting body weight.

[0064] Figure 2 shows only one possibility for a control device, wherein the first control element 15 can be operated by shifting the body's weight. Instead of a lying surface, the control device 100 could also have a seat for operation while seated or a standing surface for operation while standing.

[0065] Figure 3 shows an example of a control device 100 designed to be worn around the neck. For this purpose, the control device 100 has a strap 25. In principle, the example shown in Figure 3 is similar to the variant shown in Figure 1. However, in contrast to the variant shown in Figure 1, the stationary base 19 has a support element for bracing against or in front of the body.

[0066] Figures 4 and 5 show another variant of a control device 100. The variant shown here, in contrast to the examples in Figures 1 to 3, is more ergonomically shaped. The first control element 15 is formed integrally with the handles 20, 21 and is mounted on a fixed base 19 so as to be rotatable about the vertical axis 11a of the first control element 15 and pivotable about the longitudinal axis 12a and transverse axis 13a of the first control element 15. In the example shown in Figures 4 and 5, the fixed base 19 is relatively small compared to the upper area of ​​the first control element 15 and has a round cross-section. However, the fixed base 19 could have any suitable shape and size.

[0067] In the example shown in Figures 4 and 5, the first control element 15 is arranged directly on the stationary base 19 via the corresponding bearings, or rather, mounted on it. Similar to the examples in Figures 1 and 3, the second control element 16, in the form of one or two levers, is arranged on the first control element 15.

[0068] The example of a control device 100 shown in Figures 4 and 5 has a particularly ergonomic design due to the one-piece construction of the first operating element 15 with the handles 20, 21 and thus offers a comfortable holding and gripping as well as operation of the control device.

[0069] Figure 6a shows a schematic diagram of a four-channel remote control known from the prior art. Such a four-channel remote control has two control levers, each of which can be used to control two channels of the aircraft 10 (not shown in Figure 6a for clarity). Typically, the right control lever controls the deflection of the aircraft 10 about its vertical axis 11 and its lateral axis 13. The left control lever controls the deflection of the aircraft 10 about its longitudinal axis 12 and also the throttle, thus changing the altitude of the aircraft 10 (fourth channel). With such a remote control, the two control levers can be operated either with the two thumbs or by a thumb and forefinger combination.

[0070] Figure 6b shows a schematic representation of the control device 100 according to the invention. In contrast to typical four-channel remote controls known from the prior art (see Figure 6a), three channels of the flying object 10 (also not shown in Figure 6b for clarity) are controlled via a first control element 15. For this purpose, the first control element 15 can be rotated about its vertical axis 11a, tilted or pivoted about its longitudinal axis 12a, and tilted or pivoted about its transverse axis 13a. The first control element 15 is rotatably and pivotably mounted on a fixed base 19 accordingly.

[0071] In contrast to the prior art four-channel remote control, three channels are controlled by means of a single control element (the first control element 15). The fourth channel is controlled by means of a separate control element, namely the second control element 16. Thus, according to the present invention, a first control element 15 is provided for controlling three channels and a second control element 16 for controlling a single channel, namely the fourth channel.

[0072] For easier and more comfortable gripping of the first operating element 15, corresponding handles 20, 21 are arranged on it. Possible

[0073] Examples of embodiments and variants are shown in Figures 1 to 5.

[0074] The first control element 15 is rotatable about its vertical axis 11a by a first maximum angle 22. The first maximum angle 22 is adjustable or variable. The first translation factor serves to convert the rotational movement of the first control element 15 about its vertical axis 11a into the actual control of the flying object 10.

[0075] According to the vertical axis 11a of the first control element 15, the first control element 15 can be pivoted about its longitudinal axis 12a by a second maximum angle 23. Furthermore, the first control element 15 can be pivoted about its transverse axis 13a by a third maximum angle 24. Like the first maximum angle 22, the second maximum angle 23 and the third maximum angle 24 are variable or adjustable. The second and third translation factors serve to implement the actual control of the flying object 10. Figure 6c shows a 3-dimensional view of a schematic representation of the control device 100. The first control element 15 is rotatably mounted on the fixed base 19 about its vertical axis 11a. Furthermore, the first control element 15 is pivotably arranged about its longitudinal axis 12a and its transverse axis 13a. In this example, all three axes 11a, 12a, and 13a intersect at a common point.In principle, the longitudinal axis 12a and the transverse axis 13a could also be arranged one above the other at a small distance.

[0076] As shown in Figure 6c, the rotatable bearing of the vertical axis 11a of the first control element 15 can be arranged along this vertical axis 11a spaced apart from the longitudinal axis 12a and transverse axis 13a of the first control element 15.

[0077] Reference symbol list

[0078] 100 Control device

[0079] 10 flying objects

[0080] 11 Vertical axis of the flying object

[0081] 11a Vertical axis of the first control element

[0082] 12 Longitudinal axis of the flying object

[0083] 12a Longitudinal axis of the first control element

[0084] 13 Transverse axis of the flying object

[0085] 13a Transverse axis of the first control element

[0086] 14. Flight altitude of the aircraft

[0087] 15 First control element

[0088] 16 Second control element

[0089] 17, 18 Parallel planes

[0090] 19 Fixed Base

[0091] 20, 21 handles

[0092] 22 First maximum angle

[0093] 23 Second maximum angle

[0094] 24 Third maximum angle

[0095] 25 belt

Claims

Claims 1. Control device (100) for controlling unmanned and / or manned and / or virtual flying objects (10), in particular real and / or virtual multicopters, wherein a movement about a vertical axis (11), a longitudinal axis (12) and a lateral axis (13) of the flying object (10) is controlled by means of a first control element (15), wherein furthermore a change in a flight altitude (14) and / or a speed and / or a thrust of the flying object (10) is controlled by means of a second control element (16), characterized by that a rotational movement and / or pivoting movement of the first control element (15) about its vertical axis (11a), its longitudinal axis (12a) and its transverse axis (13) causes the movement of the flying object about its vertical axis (11), its longitudinal axis (12) and its transverse axis (13).

2. Control device (100) according to claim 1, characterized by that the vertical axis (11a), the longitudinal axis (12a) and the transverse axis (13a) of the first control element (15) pass through a common point.

3. Control device (100) according to claim 1 or 2, characterized by that the first control element (15) is fixed with respect to its vertical axis (11a) and / or its longitudinal axis (12a) and / or its transverse axis (13a) by means of a spring element.

4. Control device (100) according to one of the preceding claims, characterized by that the first control element (15) has two parallel and spaced-apart planes (17, 18) which are rotated or pivoted together around the respective axis (11a, 12a, 13a) of the first control element (15).

5. Control device (100) according to one of the preceding Claims, characterized by that the second control element (16) is designed as a lever, rotary wheel, rocker, pistol trigger or pedal.

6. Control device (100) according to one of the preceding Claims, characterized by that the second control element (16) is arranged on the first control element (15) and / or that the second control element (16) is arranged on a fixed base (19) of the control device (100).

7. Control device (100) according to one of the preceding Claims, characterized by that the control device (100) has two handles (20, 21) which are rigidly connected to the first control element (15) or rigidly to a fixed base (19) of the control device (100).

8. Control device (100) according to claim 7, characterized by that the handles (20, 21) are arranged on a parallel to the transverse axis (13a) of the first operating element (15).

9. Control device (100) according to one of the preceding Claims, characterized by that a zero position of the first control element (15) with respect to its vertical axis (11a) and / or its longitudinal axis (12a) and / or its transverse axis (13a) is adjustable and variable.

10. Control device (100) according to one of the preceding Claims, characterized by that the first control element (15) is rotatable about its vertical axis (11a) by a first maximum angle (22), wherein the first maximum angle (22) is adjustable and variable.

11. Control device (100) according to one of the preceding Claims, characterized by that the first control element (15) is rotatable about its longitudinal axis (12a) by a second maximum angle (23), wherein the second maximum angle (23) is adjustable and variable.

12. Control device (100) according to one of the preceding Claims, characterized by that the first control element (15) is rotatable about its transverse axis (13a) by a third maximum angle (24), wherein the third maximum angle (24) is adjustable and variable.

13. Control device (100) according to one of the preceding Claims, characterized by that a zero position of the second control element (16) is adjustable and variable.

14. Control device (100) according to claim 13, characterized by that the second control element (16) has a spring means which, after the second control element (16) has been actuated, resets it to its zero position.