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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.

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

- [:en/MKGPS:MKGPS] GPS receiver

- [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

- MK40 (40cm) with anodized bars

- Circular level 10mm

- MK HiLander

- MK HiSight Small

- Canon IXUS-80IS camera

Motors

4x Roxxy 2824-34 Brushless motors

4x BL-Ctrl V1.2 brushless motor controllers

4x EPP1045 Propellers

Video

- 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

- 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

- CM-26N/P CMOS colour camera module http://www.sparkfun.com/datasheets/Sensors/Imaging/CM-26N.pdf

- Sunex DSL209A or DSL215B fisheye lens http://www.optics-online.com/dsl_fisheye.asp

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://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]

Photo

attachment:microbee_park.jpg

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