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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.

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.

Home

[http://map.speedyweb.at/fullscreen.php?link=MarkG Geneva, Switzerland]

Photo

attachment:microbee_park.jpg

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