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= Technical Data = | All hardware & electronics is freely available in shops. The software is Open Source. Nothing is commercially-restricted. = Physical Characteristics = - Width: 40 cm (between opposite motors). 66 cm (propeller tip-to-tip). - Height: 12 cm. (28 cm with [https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=77&products_id=272&zenid=ad3b305fb0d23fb5d4c519cc63a37231 HiLander]). - Weight: 700 grams (without battery). - Flight Duration: ~15 minutes (with 167g/2200 mAh Lipo battery). |
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- [:en/FlightCtrl:FlightCtrl] V1.3 upgraded to V2.0 with retrofit of 2 x ADXRS610 gyros (nick & roll), 1 ADXRS150 Gyro (yaw), 1 x 4017 (servo control), 2 x RECOM R-785.0-1.0 SIP3 switching regulators, 2uF capacitors on LIS344AL accelerometer outputs, R5 of red LED connected to ground. Murata ENC-03R gyros removed. | - [:en/FlightCtrl:FlightCtrl] v1.3 upgraded to v2.0 with retrofit of 2 x ADXRS610 gyros (nick & roll), 1 ADXRS150 Gyro (yaw), 1 x 4017 (servo control), 2 x RECOM R-785.0-1.0 SIP3 switching regulators, 2uF capacitors on LIS344AL accelerometer outputs, R5 of red LED connected to ground. Murata ENC-03R gyros removed. |
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- [:en/NaviCtrl:NaviCtrl] V1.1 navigation controller | - [:en/NaviCtrl:NaviCtrl] V1.1 navigation controller. |
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- [:en/MK3Mag:MK3Mag] compass module | - [:en/MK3Mag:MK3Mag] compass module for direction detection. |
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- [:en/MKGPS:MKGPS] GPS receiver | - [:en/MKGPS:MKGPS] GPS receiver for navigation. |
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- MPX 4115A pressure sensor for altitude estimation | - [http:www.freescale.com/files/sensors/doc/data_sheet/MPX4115A.pdf MPX 4115A] pressure sensor for altitude estimation. |
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- Spektrum 2.4 GHz R/C receiver | - [http://www.spektrumrc.com/ Spektrum] 2.4 GHz R/C receiver. |
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- Schulze alpha 5.35 35 MHz R/C receiver (modified with PPM output). | - [http://www.schulze-elektronik-gmbh.de/alpha-e.htm Schulze alpha 5.35] 35 MHz R/C receiver (modified with PPM output). |
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- Graupner/JR MX-12s 35 MHz R/C transmitter modified with 3 extra channels (1x 3-position switch, 2x trimpots) and Spektrum DM9 2.4 GHz module installed. Switchable between 35 MHz & 2.4 GHz. | - [http://shop.graupner.de/webuerp/servlet/AI?ARTN=4745 Graupner/JR MX-12s] 35 MHz R/C transmitter modified with 3 extra channels (1x 3-position switch, 2x trimpots) and Spektrum DM9 2.4 GHz module installed. Switchable between 35 MHz & 2.4 GHz. |
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- Radiotronix WI232EUR 868 MHz radio modem with 1/4 wave dipole & yagi antennas | - [http://www.radiotronix.com Radiotronix] WI232EUR 868 MHz radio modem with 1/4 wave dipole & yagi antennas. |
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- FB155BC Class-2 Bluetooth module | - [http://www.firmtech.co.kr/01pro/main_eng.php?index=100&proinfo=13 FB155BC] Class-2 Bluetooth module] |
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- 2200 mAh & 4400 mAh LIPO batteries | - [http://www.maxbotix.com/ Maxbotix] LV-EZ1 Ultrasonic Range Finder. - [http://en.wikipedia.org/wiki/Lithium-ion_polymer_battery LIPO] batteries 2200 mAh & 4400 mAh. - The advanced computer vision system is being prototyped on a [http://beagleboard.org/ BeagleBoard]. This single board Linux computer is from the latest generation of low-power embedded processing platforms. Basic computer vision algorithms have been implemented on it. The source code is being optimised to off-load the number-crunching to the DSP & GPU processors to achieve real-time vision performance. * 600 MHz ARM Cortex-A8 with NEON SIMD Co-processor * 430 MHz TMS320C64x+ DSP (fixed point, six parallel vector units) * 110 MHz SGX GPU As the Beagle Board allows connection of keyboard, mouse, and display, it hosts the development toolchain and allows direct coding, compiling, and executing the embedded computer vision algorithms. |
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- MK40 (40cm) with anodized bars | - [https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=77&products_id=286&zenid=ad3b305fb0d23fb5d4c519cc63a37231 MK40] 40cm frame with anodized bars |
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- Circular level 10mm | - [https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=88&products_id=317&zenid=ad3b305fb0d23fb5d4c519cc63a37231 Circular level 10mm] |
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- MK HiLander | - [https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=77&products_id=272&zenid=ad3b305fb0d23fb5d4c519cc63a37231 MK HiLander] |
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- MK HiSight Small | - [https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=77&products_id=301&zenid=ad3b305fb0d23fb5d4c519cc63a37231 MK HiSight Small] |
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- Canon IXUS-80IS camera | - [http://www.canon.com Canon] IXUS-80IS camera |
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4x Roxxy 2824-34 Brushless motors | 4x [https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=73&products_id=199&zenid=ad3b305fb0d23fb5d4c519cc63a37231 Roxxy 2824-34] Brushless motors |
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4x BL-Ctrl V1.2 brushless motor controllers | 4x [:en/BrushlessCtrl:BL-Ctrl] V1.2 brushless motor controllers |
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- Airwave AWM683TX 5.8 GHz 100mW video transmitter http://www.airwave.com.tw/58GHz-Analog-RF-module.html with 3.2 dBi WiniZen W6E–UPW–10 dipole antenna | - [http://www.airwave.com.tw/58GHz-Analog-RF-module.html Airwave AWM683TX] 5.8 GHz 100mW video transmitter with 3.2 dBi WiniZen W6E–UPW–10 dipole antenna |
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- Airwave AWM682RX 5.8 GHz video receiver with 7 dBi AWM-ANT58-PCB patch antenna http://www.airwave.com.tw/58GHz-Analog-RF-module.html | - [http://www.airwave.com.tw/58GHz-Analog-RF-module.html Airwave AWM682RX] 5.8 GHz video receiver with 7 dBi AWM-ANT58-PCB patch antenna |
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- CM-26N/P CMOS colour camera module http://www.sparkfun.com/datasheets/Sensors/Imaging/CM-26N.pdf | - [http://www.sparkfun.com/datasheets/Sensors/Imaging/CM-26N.pdf CM-26N/P] CMOS colour camera module |
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- Sunex DSL209A or DSL215B fisheye lens http://www.optics-online.com/dsl_fisheye.asp | - [http://www.optics-online.com/dsl_fisheye.asp Sunex] DSL209A or DSL215B fisheye lens |
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= Software = - [:en/MikroKopter-Tool:MikroKopter-Tool] - Ubuntu 9.04 - OpenCV Based on the work of [[http://github.com/nzjrs|John Stowers]]. |
= Internal Software = - [http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=/tags/V0.74d/Hex-Files/Flight-Ctrl_MEGA644_V0_74d.hex Flight-Ctrl 0.74d] |
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<code bash> git clone git://github.com/nzjrs/opencv.git opencv cd opencv git checkout --track -b ./autogen.sh ./configure --with-v4l=yes --with-quicktime=no make sudo make install </code> |
- [http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=/tags/V0.15c/Hex-Files/Navi-Ctrl_STR9_V0_15c.hex Navi-Ctrl 0.15c] |
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= External Software = - [:en/MikroKopter-Tool:MikroKopter-Tool]. - [http://mikrocontroller.cco-ev.de/mikrosvn/Projects/MissionCockpit Mission Cockpit] and [http://mikrocontroller.cco-ev.de/mikrosvn/Projects/MissionCockpit/branches/V0.2.0_EN/ English version]. - [http://www.ubuntu.com/ Ubuntu 9.04]. - [http://opencv.willowgarage.com/wiki OpenCV] Based on the work of [http://github.com/nzjrs John Stowers]. - [http://www.roborealm.com RoboRealm]. Was freely available but now only a demo :-( - Some parts of the [http://www.mikrokopter.de/ucwiki/en/Riddim Riddim] code. - Some parts of the [http://www.mikrokopter.de/ucwiki/en/MoteCtrl MoteCtrl] code. - [http://liblo.sourceforge.net/ liblo OSC] for fast & efficient interprocess communication. = Home = [http://map.speedyweb.at/fullscreen.php?link=MarkG Geneva, Switzerland] |
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- attachment:Microbee_logo2.gif
Microbee is a four-rotor model helicopter based on the Mikrokopter design. It's equipped with the latest electronics hardware and is capable of photography, vision guided autonomous navigation as well as normal radio-control flying by a human being. An advanced vision recognition system is currently being developed based on the high performance, low power OMAP3 platform.
All hardware & electronics is freely available in shops. The software is Open Source. Nothing is commercially-restricted.
Physical Characteristics
- Width: 40 cm (between opposite motors). 66 cm (propeller tip-to-tip).
- Height: 12 cm. (28 cm with [https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=77&products_id=272&zenid=ad3b305fb0d23fb5d4c519cc63a37231 HiLander]).
- Weight: 700 grams (without battery).
- Flight Duration: ~15 minutes (with 167g/2200 mAh Lipo battery).
Electronics
- [:en/FlightCtrl:FlightCtrl] v1.3 upgraded to v2.0 with retrofit of 2 x ADXRS610 gyros (nick & roll), 1 ADXRS150 Gyro (yaw), 1 x 4017 (servo control), 2 x RECOM R-785.0-1.0 SIP3 switching regulators, 2uF capacitors on LIS344AL accelerometer outputs, R5 of red LED connected to ground. Murata ENC-03R gyros removed.
- [:en/NaviCtrl:NaviCtrl] V1.1 navigation controller.
- [:en/MK3Mag:MK3Mag] compass module for direction detection.
- [:en/MKGPS:MKGPS] GPS receiver for navigation.
- [http:www.freescale.com/files/sensors/doc/data_sheet/MPX4115A.pdf MPX 4115A] pressure sensor for altitude estimation.
- [http://www.spektrumrc.com/ Spektrum] 2.4 GHz R/C receiver.
- [http://www.schulze-elektronik-gmbh.de/alpha-e.htm Schulze alpha 5.35] 35 MHz R/C receiver (modified with PPM output).
- [http://shop.graupner.de/webuerp/servlet/AI?ARTN=4745 Graupner/JR MX-12s] 35 MHz R/C transmitter modified with 3 extra channels (1x 3-position switch, 2x trimpots) and Spektrum DM9 2.4 GHz module installed. Switchable between 35 MHz & 2.4 GHz.
- [http://www.radiotronix.com Radiotronix] WI232EUR 868 MHz radio modem with 1/4 wave dipole & yagi antennas.
- [http://www.firmtech.co.kr/01pro/main_eng.php?index=100&proinfo=13 FB155BC] Class-2 Bluetooth module]
- [http://www.maxbotix.com/ Maxbotix] LV-EZ1 Ultrasonic Range Finder.
- [http://en.wikipedia.org/wiki/Lithium-ion_polymer_battery LIPO] batteries 2200 mAh & 4400 mAh.
- The advanced computer vision system is being prototyped on a [http://beagleboard.org/ BeagleBoard]. This single board Linux computer is from the latest generation of low-power embedded processing platforms. Basic computer vision algorithms have been implemented on it. The source code is being optimised to off-load the number-crunching to the DSP & GPU processors to achieve real-time vision performance.
- 600 MHz ARM Cortex-A8 with NEON SIMD Co-processor
- 430 MHz TMS320C64x+ DSP (fixed point, six parallel vector units)
- 110 MHz SGX GPU
As the Beagle Board allows connection of keyboard, mouse, and display, it hosts the development toolchain and allows direct coding, compiling, and executing the embedded computer vision algorithms.
Frame
- [https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=77&products_id=286&zenid=ad3b305fb0d23fb5d4c519cc63a37231 MK40] 40cm frame with anodized bars
- [https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=88&products_id=317&zenid=ad3b305fb0d23fb5d4c519cc63a37231 Circular level 10mm]
- [https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=77&products_id=272&zenid=ad3b305fb0d23fb5d4c519cc63a37231 MK HiLander]
- [https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=77&products_id=301&zenid=ad3b305fb0d23fb5d4c519cc63a37231 MK HiSight Small]
- [http://www.canon.com Canon] IXUS-80IS camera
Motors
4x [https://www.mikrocontroller.com/index.php?main_page=product_info&cPath=73&products_id=199&zenid=ad3b305fb0d23fb5d4c519cc63a37231 Roxxy 2824-34] Brushless motors
4x [:en/BrushlessCtrl:BL-Ctrl] V1.2 brushless motor controllers
4x EPP1045 Propellers
Video
- [http://www.airwave.com.tw/58GHz-Analog-RF-module.html Airwave AWM683TX] 5.8 GHz 100mW video transmitter with 3.2 dBi WiniZen W6E–UPW–10 dipole antenna
- [http://www.airwave.com.tw/58GHz-Analog-RF-module.html Airwave AWM682RX] 5.8 GHz video receiver with 7 dBi AWM-ANT58-PCB patch antenna
- [http://www.sparkfun.com/datasheets/Sensors/Imaging/CM-26N.pdf CM-26N/P] CMOS colour camera module
- [http://www.optics-online.com/dsl_fisheye.asp Sunex] DSL209A or DSL215B fisheye lens
attachment:microbee_vision.JPG
Internal Software
- [http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=/tags/V0.74d/Hex-Files/Flight-Ctrl_MEGA644_V0_74d.hex Flight-Ctrl 0.74d]
- [http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=NaviCtrl&path=/tags/V0.15c/Hex-Files/Navi-Ctrl_STR9_V0_15c.hex Navi-Ctrl 0.15c]
External Software
- [:en/MikroKopter-Tool:MikroKopter-Tool].
- [http://mikrocontroller.cco-ev.de/mikrosvn/Projects/MissionCockpit Mission Cockpit] and [http://mikrocontroller.cco-ev.de/mikrosvn/Projects/MissionCockpit/branches/V0.2.0_EN/ English version].
- [http://www.ubuntu.com/ Ubuntu 9.04].
- [http://opencv.willowgarage.com/wiki OpenCV] Based on the work of [http://github.com/nzjrs John Stowers].
- [http://www.roborealm.com RoboRealm]. Was freely available but now only a demo
- Some parts of the [http://www.mikrokopter.de/ucwiki/en/Riddim Riddim] code.
- Some parts of the [http://www.mikrokopter.de/ucwiki/en/MoteCtrl MoteCtrl] code.
- [http://liblo.sourceforge.net/ liblo OSC] for fast & efficient interprocess communication.
Home
[http://map.speedyweb.at/fullscreen.php?link=MarkG Geneva, Switzerland]
Photo
attachment:microbee_park.jpg