BlimpDuino is a very low cost open source autonomous blimp. It consists of an Arduino-based blimp controller board with on-board infrared and ultrasonic sensors and an interface for an optional RC mode, a simple gondola with two vectoring (tilting) differential thrusters, and ground-based infrared beacon.It is available as a commercial kit from the Maker Shed or the DIY Drones store for $89.
[UPDATE: The current Blimpduino kit has been discontinued. Stay tuned for a new design in 2012]
- What else you'll need
- Instructions for making the kit are here.
- Instructions for loading the code are here
- Correct LED/servo/motor behavior modes are here
- Instructions for using Blimpduino are here
- The parts list is here
- The discussion forum for teams using Blimpduino in the FIRST Robotics aerial robotics demonstration is here
- If you want to build your own board from scratch, the necessary files and component lists are here
- If you want to print out a cool DIY Drones sticker like the blimp above has, here's a pdf.
The Blimpduino board is the core of the kit. Features:
* 17 grams, with ultrasonic and IR sensors.
* Controls two motors and one vectoring servo.
* Built-in RC compatibility (can read two RC channels--throttle and steering)
* Designed for a 7.4v LiPo battery; has an automatic power cut-off at low voltage to protect the battery.
Here's the board with the ultrasonic sensor removed, so you can see the Atmega168 processor underneath it:
Here is a video of BlimpDuino in flight, using a breadboard version of the controller board:
At the moment, we're using Pololu IR beacons as the ground beacon, but we'll eventually release our own, open source, versions of them, too.
Here's the board on the gondola with vectoring thrusters and the optional RC receiver:
The commercial kit consists of the following:
--BlimpDuino board, with all SMD parts already soldered on
--Other through-hole components, to be soldered by user (easy)
--A very simple laser-cut plastic platform for the board, battery, optional RC receiver, and motor components
--A servo, gears and motor shaft for the vectoring (thrust tilting) function
--Two motors and props
--One IR ground beacon
--52" mylar envelope
The following is a chronological list of posts describing the development of the project. This is mostly for those who want to follow along and learn about Arduino-based robotics. If you're interested in autonomous blimp development and want to know more about BlimpDuino features, they will give you some insight into the evolution of this project.
- BlimpDuino, an Arduino-based blimp controller board.
- BlimpDuino board, assembled
- BlimpDuino test platform, with optional RC mode
- A simple Arduino code demo of how to control vectoring thrusters in RC mode
- How to add vectoring thrusters to a toy RC blimp
- Video of BlimpDuino with vectoring thrusters
- Near-final production Blimpduino board
- Status update (Sept 10)
- Production board release candidate
- How can we make BlimpDuino navigate between multiple IR beacons?
- BlimpDuino code now in pre-alpha
- BlimpDuino RC-mode code
- New BlimpDuino code--much more efficient (10/18/08)
- Video of BlimpDuino demonstrating autonomous navigation
- Finally, BlimpDuino code in Beta!
- Board version 432 released
- How to prepare a self-built BlimpDuino board for first use
- Coast Guard Academy course built around BlimpDuino
- BlimpDuino debugging tips
- A small fleet going out to the beta testers
- Building instructions
- Instructions for using BlimpDuino
- BlimpDuino code Beta 1.1 released
- BlimpDuino board v5 released, final production version
Comments
Yes, you can have lots of IR interference in a room. Sunlight, fluorescent lights, etc. But it should still be pretty clear that it's responding to the beacon.
I suppose you could write code that would read the serial port from the FTDI. It's been a while since I was in the code, but I don't think we're using the Rx line for anything else.
But I still don't know which way each plug should go in the socket - where should the "+" pin for each motor be wired to?
Last time I tried noting which leds came on, it jumped around a lot. Do hot things in the room (like laptops) confuse the IR system, or is it looking for a specific pattern from the beacon?
Is it possible to program it to take rc-like commands (for testing with a usb cable, or xbee flying) from the serial monitor, or is it only able to output status (half duplex)?
Thanks again,
Well, it's much easier to set it up with RC gear, but I'll try to walk you through it without that. The motor labels are correct. Remember that the board is facing downward when it's taped to the bottom of the blimp.
The best way to test it, with the ultasonic sensor plugged in, is to use the beacon. Plug the battery into Blimpduino and plug a battery into the beacon, too. Holding the Blimpduino board at shoulder height, with the ultrasonic sensor pointing down at a hard floor, power it on and wait until the vectoring servo goes up and down.
Now, while holding it there and holding the beacon with the other hand, bring it to one side of the board and the other. The LEDs under the IR sensors should light up on the side the beacon is on. When that happens, the motor on the *opposite* side should power up. It should be blowing backwards.
If you lower or raise the board or get in the way of the ultrasonic sensor, you may find both motors coming on. That should stop once it thinks it's at the starting altitude again.
I'd also love to see updated software that would let us test the system via the serial interface, if we don't have the optional RC control.
How big is the executable, and how much space for code remains available?
I suggest noting that 2 of the lego blocks have round inside holes, and the other 2 have an "x" inside so they stay fixed on the beams if you use them there by mistake. I didn't notice for a while and was wondering how the beams were supposed to rotate.
Do we need to seal the helium port? Is there a way to seal it and then add more helium later?
Finally, my kit only had 31" of wire, so my motor wires couldn't be 8" long. And even that would not allow for enough slack to wrap around the beams.
Thanks!
FIRST Kick Off is this weekend, so a new project kicks in!
He is looking for a list of recommended equipment to go from "nothing" to "three flying systems" (with a minimum number of purchase orders). They will be controlling in autonomous and RC mode.
The list so far is detailed below based on Chris' recs, and I am looking for additional recs for some "nice to have" spare parts. Feel free to drop in some suggestions!
List to date:
1 Blimpduino kit - quantity 3
2 Official Ardupilot FTDI Cable - quantity 3
3 RC unit - quantity 3
4 LiPo Battery - quantity 6
5 battery charger - quantity 3
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6
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7
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