STAGE 1 (nearly complete)

Ok, so I have built (nearly) a Pixhawk quadcopter on an F-450 clone base with some Sunnysky 800kV motors and 30A esc's, operated via a Taranis X9D Plus remote control. I am following AndyRC's series on Youtube called "High End 450 Quadcopter" and have bought everything pretty much exactly as he specified, only because I'm a newby at all of this. I just need to order the battery to get it in the air and then learn how to fly and use Arducopter properly etc. I have playing with Raspberry Pi and hoping to incorporate some vision systems and low power lasers (<1mW) on servos operated by a second person on another remote control if possible.

STAGE 2

Notes: some items may never make it onboard. All lasers (low-powered <1mW red) can be switched on and off.

- Pan-tilt FPV perhaps via a standard Pixy camera (which is also a colour sensor), so that colours can be locked onto and followed. I have seen a drone with pixy following an orange remote controlled car, though only the camera was locked on and the drone itself was remote controlled. I do not know if anyone has connected the Pixy to Pixhawk before, though it seems likely given that the IR-Lock version has been. Low power laser to be mounted here also.

- A 3 axis gimbal to mount a HD camera (don't own a Go Pro or equivalent yet). Low power laser mounted here also.

- IR-lock pixy sensor (to use with my 5 light IR beacon that I ordered with it) for accurate landing. I believe this gets mounted pointing precisely downwards, presumably off the bottom of the gimbal or off an arm.

- Lidar though I'm not sure what purpose it is for other than for super accurate altitude hold.

- A homemade parachute and parachute container (single servo operated of course). I assume these are mounted pointed upwards, even though a lot of drone crash videos seem to show the drones falling head first.

STAGE 3

- Another pan-tilt mechanism with FPV camera and laser under one of the arms for an "ordinance officer" to operate using another X9D or other type of RC.

- A raspberry pi to possibly be used instead of pixy for blob detection etc. (using OPENCV?) and to operate the "ordinance officer's" servos instead of that being done via the Pixhawk. I do not know how and if it can at all connect to the Pixhawk to tell the Pixhawk for example to fly towards a blob etc.

STAGE 4

When the drone is in idle mode "sleeping" in the living room it will awake to the presence of IR light via an IR sensor and/or motion sensor (ultrasound?) connected to the Pi, then initiate blob scanning (via ultrasound?), the drone will speak using a DAC and mylar speaker(s) and the laser turrets will aim for the intruder. There are tutorials about this where people have made Portal style speaking turrets, connected to either Arduino or Pi.

 

Wish me luck and please offer me help - I'm going to need it. Obviously weight will be an issue, but with gimbal off all should be good. I can do

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