Product Description

What’s in the box

Beyond Vision’s HEIFU® drone comes enclosed in a custom-made special casing, assembled to ensure the best protection of the device before it reaches you. If you receive the drone with any part missing or broken, please contact Beyond Vision immediately.

Inside the case you should find the following components:

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  • HEIFU® drone: the drone itself. Encased with the arms folded, for easier transportation and smaller casing. The propellers are attached to the arms with rubber pieces to ensure a safer transportation. Please refer to section 2.2 for a more detailed description of the parts;

  • Operator control: the wireless manual drone control. Please refer to section 2.3 for a more detailed description;

  • High definition and depth cameras: default cameras that come assembled to the drone; The high definition allows perception for the pilot, even when performing long distance flights. The depth camera gives a 3D world perception for the UAV collision free flights.

  • Multispectral camera (optional): if your package includes a multispectral camera, it comes together with the drone. Please refer to section 2.4 for a more detailed description of the camera options;

  • Primary gimbal: included in the package, this gimbal is used to hold the high definition camera;

  • Secondary gimbal (optional): if your package includes an optional camera, a secondary gimbal is included in this kit. Please refer to section 2.5 for a more detailed description of the camera options;

  • Mounting adaptors: mechanical adaptors to enable the assembling of different accessories under the battery compartment;

  • Battery: high-density, heavy-duty Li-Po battery that powers up the drone;

  • Battery charger: main charger and cell balancing station for the Li-Po battery;

  • LTE Dongle: connector for a SIM card, which enables 4G connectivity;

HEIFU® Drone

The HEIFU® drone is part of an ecosystem that includes the beXStream® platform, local and remote communication networks and accurate positioning systems. The macro block diagram of the HEIFU® can be seen in the following figure:

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  • Battery: a heavy-duty 22.2V, 22000mAh, Li-Po battery that powers the system;

  • Power Supply: power supply, having 12V, 5V and 3.3V outputs;

  • CPU Board: the system “brains”, based on a Nvidia module;

  • Flight Controller: flight controller module, which controls each of the six drone rotors;

  • Rotors: the rotors themselves;

  • GPS RTK: Positioning module, which includes an INS (Inertial Navigation System), so that the drone can know where it is, where it goes and what is its speed, with a high accuracy;

  • RGB Camera: Visible spectrum camera;

  • Depth Camera: Stereo camera pair, prepared to acquire video and a point cloud;

  • Multispectral Camera: multispectral camera module, so that images can be acquired in a range other than visible;

  • Operator Control Radio Link: wireless link to the operator control;

  • RTK Radio Link: wireless link to the RTK base station;

  • Flight Control Radio Link: wireless link to the flight controller (within a certain range, flight information can be retrieved from the flight controller;

  • WiFi Transceiver: WiFi Transceiver module, so that the drone can use the WiFi network (if available) to connect to the system’s web platform;

Physically, the HEIFU® drone looks like the figure below:

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It is mainly composed by: * The body structure: where all the electronics are located; * Six folding arms: to hold the rotors; * Landing gear: used when the drone is not flying; * The battery compartment: to shelter the battery and a rail to hold the payload (gimbals, cameras, other…).

On the back side of the drone, one has access to the on/off button, some status indicators and the interface connectors, according to the picture below:

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In detail:

  • On/Off Button: switches the drone on or off (this is a toggle button). Please press the button briefly to toggle between on and off. This button has a LED indicator to enable the user to check the drone status;

  • Safety switch: The safety switch can be used by the local user to enable/disable the drone’s safety mode. When in safety mode, the rotors are disabled ensuring that the drone doesn’t fly and the propellers don’t move, preventing accidents;

  • Peripheral Slots: From left to right:

  • Ethernet Port: enable the user to insert a Ethernet cable to the drone for Internet access.

  • USB Port: enable the user to connect one USB device to the drone’s CPU board.

  • HDMI Interface: enable the user to connect the drone to an external display.

  • 4G SIM card slot: enable the user to insert a 4G slot to the drone for Internet access.

  • Battery status indicator: 4 LEDs indicate the battery current status. If all LED are on, the battery is full or close to full. If no LED is on, the battery may still have some charge, but the drone should not fly as the battery level is already very low.

Operator Control

Two manual flight controller can be included with the HEIFU® drone.

FrSky Controller

This control enables a tight operator control of the drone’s movements, providing that the drone is within the control’s radio link range (approx. 1km in open-field line-of-sight) and manual mode has been selected on the drone.

The pictures below show the front and back view of the Control, together with a description of the commands that can be used to control the flight.

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The following are the commands to the drone:

  • Power switch: switches the Control on/off;

  • SA : Position hold mode;

  • SB: Autonomous mode;

  • S2: Gimbal Control;

  • SC (up): Stabilize mode;

  • SC (center): Altitude Hold mode;

  • SC (down): Guided mode;

  • SD: Landing gear;

  • SG: Takeoff/Land command;

  • SH + SE (up): Arm rotors;

  • SH + SE (down): Disarm rotors;

  • J2 (up/down): Move forward/backward;

  • J2 (left/right): Move sideways;

  • J3 (up/down): Throttle control;

  • J3 (left/right): Yaw control;

  • LCD Display: Displays the Control’s user information;

  • Scroll button: Scrolls the menus and widgets on the LCD Display;

  • MENU: Goes to the Main menu or Radio Setup menu (if pressed for one second);

  • PAGE: Switch page button or Telemetry menu (if pressed for more than one second);

  • EXIT: Exit current page on LCD Display.

The other buttons and sliders are reserved for future use (professional users own setup).

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The following functions can be obtained from the back of the Control:

  • Carrying Bar: Mechanical bar to ease the hand carry of the Control;

  • Mini-USB Port: Mini-USB Port to enable the connection of the Control to a PC computer to upgrade and read/write the SD memory cards and internal memory. It can also be used to charge the batteries via USB port (cable included in the kit);

  • Smart Port: Used for firmware upgrading of the Control;

  • Micro-SD Card Port: Used to store all the information recorded by the Control (SD Card not provided);

  • Battery Cover and Port: Used to shelter and charge the Control’s 2S Li-Ion batteries. One can charge the Li-ion batteries by using the connector on the right-hand side of the equipment.

Warning

Unless in emergency, do not try to arm or disarm the rotors when in flight, as this will likely result in critical failure and drone crash!

Payload

The HEIFU® Kit comes equipped with up to 4 payloads, but it is also prepared to use other cameras, depending on the purchased package. The following sub-sections describe some of the payloads that are integrated and can be used with HEIFU.

High Definition Camera

The RGB (or visible camera) that comes with this package is a high definition camera or equivalent. This camera enables the capture of live images in the visible spectrum with an image resolution of up to 3280 x 2464 pixels or video up to 1920 x 1080 pixels, 30 fps. The camera counts on a 3674 x 2760 mm sensor size (1/4” format).

The camera is assembled on the front of the drone, on the primary gimbal, at the battery compartment level.

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Features

Use environment:

Indoor/Outdoor

Ideal range:

.3 m to 3 m

Image sensor technology:

Global Shutter

Depth

Depth technology:

Stereoscopic

Depth Field of View (FOV):

87° × 58°

Depth output resolution:

Up to 1280 × 720

Minimum depth distance (Min‑Z) at max resolution:

~28 cm

Depth Accuracy:

<2% at 2 m1

Depth frame rate:

Up to 90 fps

RGB

RGB frame resolution:

1920 × 1080

RGB sensor FOV (H × V):

69° × 42°

RGB frame rate:

30 fps

RGB sensor resolution:

2 MP

RGB sensor technology:

Rolling Shutter

Major Components

Camera module:

Intel RealSense Module D430 + RGB Camera

Vision processor board:

Intel RealSense Vision Processor D4

Physical

Form factor:

Camera Peripheral

Connectors:

USB‑C* 3.1 Gen 1*

Length × Depth × Height:

90 mm × 25 mm × 25 mm

Mounting mechanism:

  • One 1/4‑20 UNC

    thread mounting point.

  • Two M3 thread

    mounting points.

Tip

In all packs - ‘til now

Depth Camera

The depth camera that makes part of the HEIFU® kit is an Intel® RealSense™ stereo camera that comprises two cameras to calculate depth and enable devices to see, interact with and learn from their environment. Stereo depth works in indoor and outdoor and in a wide variety of lighting conditions without the need for custom calibration.

This camera is assembled on the front of the drone, at the battery compartment level.

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  • Intel® RealSense™ Vision Processor D4

  • Up to 1280x720 active stereo depth resolution

  • Up to 1920x1080 RGB resolution

  • Depth Diagonal Field of View over 90°

  • Dual global shutter sensors for up to 90 FPS depth streaming

  • Range 0.2m to over 10m (Varies with lighting conditions)

  • Intel® RealSense™ Depth Camera D435i includes Inertial Measurement Unit (IMU) for 6 degrees of freedom (6DoF) data

Tip

In all packs - ‘til now

FLIR Vue Pro™

Bellow you can find the FLIR Vue Pro™ Specifications:

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Overview

Thermal Imager

Uncooled VOx Microbolometer

Resolution

640×512

Lens Options

9 mm; 69° x 56° 13 mm; 45° x 37° 19 mm; 32° x 26°

Spectral Band

7.5 – 13.5 µm

Full Frame Rates

30 Hz (NTSC); 25 Hz (PAL) US only, not for Export

Exportable Frame Rates

7.5 Hz (NTSC); 8.3 Hz (PAL)

Physical Attributes

Size

2.26″ x 1.75″ (57.4 x 44.4 mm) (including lens)

Weight

3.25-4 oz (92.1 – 113.4 g) (configuration dependent)

Precision Mounting Holes

Two M2x0.4 on each of two sides & bottom One 1/4-20 threaded hole on top

Image Processing & Display Controls

Image Optimization for sUAS

Yes

Digital Detail Enhancement

Yes – Adjustable in GUI

Invertable Image?

Yes – Adjustable in GUI

Polarity Control (black hot/whitehot) & Color Palettes

Yes – Adjustable in GUI

Environmental

Operating Temperature Range

-20°C to +50°C

Non-Operating Temperature Range

-55°C to +95°C

Operational Altitude

  • 12 000 meters

Tip

Available via the Pack 5 - Thermal

Insta 360 8K Pro VR

The insta360 Pro is a 360º VR camera equipped with six 200° lenses that record in 8K, allowing a full user’s experience. The visualization of this stream is already available at Beyond Skyline and is compatible with VR equipment (you can contact Beyond Vision for more information regarding this equipment). Furthermore, the camera has multiple functionalities and ports, and we advise you do carefully read the specific user manual of the camera. A support adapter is provided with the purchase of this equipment to mount it in HEIFU®. Due to the weight of the camera, we recommend that when using it, don’t use any more equipment to maintain the drone as light as possible for better stability.

Please see Insta360 setup for instructions on how to setup the camera’s configurations and start live streaming.

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360 photos

Maximum at 7680x3840 (8K) (real-time stitching OR post-processing stitching)

360 videos

Maximum at 3840x1920@30fps (4K) (real-time stitching/live streaming) Maximum at 7680x3840@30fps (8K) (post-processing stitching)

360 3D photos

Maximum at 7680x7680 (8K) (real-time stitching OR post-processing stitching)

360 3D videos

Maximum at 3840x3840@24fps (4K) (real-time stitching/live streaming) Maximum at 6400x6400@30fps (6K) (post-processing stitching)

Lenses

6 x F2.4 fisheye lenses

File

MP4, JPG, RAW

Material

Aluminum alloy, polycarbonate

Sound

Built-in mic x 4 AUX

Dimensions

Ø143mm

Weight

1228g

Storage

SD card USB3.0 High-Speed driver

Interface

HDMI 2.0 Type-D (for the monitoring and output of footage) RJ45 Ethernet interface (for stable cable communication) USB Type-C (for high-speed file transfer)

Battery

5100mAh removable battery (with 75 min of endurance) 12V 5A DC adapter

Live streaming

Up to 3840x3840 (4K) at 24fps H264 video coding and 3840x1920 (4K) at 30fps H264 video coding on any 360-supporting platform, including Facebook and YouTube

Tip

Available with Pack 6 – all around

Micasense RedEdge MX

Some applications demand high-resolution pictures in ranges other than visible. For those applications, the HEIFU® drone can come equipped with a Micasense RedEgde MX camera, which can capture images in near-IR (842nm center, 57nm bandwidth), red edge (717nm center, 12nm bandwidth), blue (475nm center, 32nm bandwidth), green (560nm center, 27nm bandwidth) and red (668nm center, 16nm bandwidth) spectral bands. This camera comprises a global shutter, aligned with all bands and can capture up to one 12-bit resolution sample per second in all band RAW.

The multispectral camera is assembled to the secondary gimbal on the lower part of the drone, below the battery compartment.

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Weight

231.9 g (8.18 oz.) (includes DLS 2 and cables)

Dimensions

8.7cm x 5.9cm x 4.54cm (3.4in x 2.3in x 1.8in)

External Power

4.2 V DC - 15.8 V DC 4 W nominal, 8 W peak

Spectral Bands

Blue, green, red, red edge, near-IR (global shutter, narrowband)

Wavelength (nm)

Blue (475 nm center, 32 nm bandwidth), green (560 nm center, 27 nm bandwidth), red (668 nm center, 14 nm bandwidth), red edge (717 nm center, 12 nm bandwidth), near-IR (842 nm center, 57 nm bandwidth)

RGB Color Output

Global shutter, aligned with all bands

Ground Sample Distance (GSD)

8 cm per pixel (per band) at 120 m (~400 ft) AGL

Capture Rate

1 capture per second (all bands), 12-bit RAW

Interfaces

Serial, 10/100/1000 ethernet, removable Wi-Fi, external trigger, GPS, SDHCField of View47.2° HFOV

Triggering Options

Timer mode, overlap mode, external trigger mode (PWM, GPIO, serial, and Ethernet options), manual capture mode

Tip

Available with Pack 7 - Multispectral

Micasense Altum-PT

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Weight

460 g (16.2 oz.) Altum-PT + DLS2

Dimensions

11.0 x 8.0 x 6.9 cm (4.3 in x 3.1 in x 2.7 in)

External Power

7.0 V - 25.2 V

Power Input

5.5/7.0/10W (standby, average, peak)

Sensor Resolution

2064 x 1544 (3.2MP per MS band) 4112 x 3008 (12MP per PAN band) 320 × 256 thermal infrared

Spectral Bands

Blue 475(32), Green 560(27), Red 668(14), Red Edge 717(12), NIR 842(57)

RGB Color Output

12.4 MP (global shutter, aligned with all bands)

Thermal

FLIR LWIR thermal infrared 7.5-13.5um radiometrically calibrated

Multispec GSD (per multispec band)

5.28 cm per pixel at 120 m

Thermal GSD

33.5 cm per pixel at 120 m

Panchro & Pansharpened GSD

2.49 cm per pixel at 120 m

Capture Rate

2 capture per second raw DNG*

Interfaces

3 configurable GPIO: select from trigger input, PPS input, PPS output, and top of frame signals. Host virtual button. USB 2.0 port for WiFi. Serial. 10/100/1000 Ethernet. CFexpress for storage

Field of View

50° HFOV x 38° VFOV (multispectral) 46° HFOV x 35° VFOV (panchromatic) 48o x 39o (thermal)

Storage

CFexpress Card

Tip

Available with Pack 8 - Multispectral

LIDAR Velodyne Puck Lite

A close-up of a logo Description automatically generated with low confidence

Sensor:

  • 16 Channels

  • Measurement Range: 100 m

  • Range Accuracy: Up to ±3 cm (Typical)1

  • Field of View (Vertical): +15.0° to -15.0° (30°)

  • Angular Resolution (Vertical): 2.0°

  • Field of View (Horizontal): 360°

  • Angular Resolution (Horizontal/Azimuth): 0.1° – 0.4°

  • Rotation Rate: 5 Hz – 20 Hz

  • Integrated Web Server for Easy Monitoring and Configuration

Laser:

  • Laser Product Classification: Class 1 Eye-safe per IEC 60825-1:2007 & 2014

  • Wavelength: 903 nm

Mechanical/ Electrical/ Operational

  • Power Consumption: 8 W (Typical)2

  • Operating Voltage: 9 V – 18 V (with Interface Box and Regulated Power Supply)

  • Weight: ~590 g (without Cabling and Interface Box)

  • Dimensions: See diagram on previous page

  • Environmental Protection: IP67

  • Operating Temperature: -10°C to +60°C3

  • Storage Temperature: -40°C to +105°C

Output:

  • 3D LiDAR Data Points Generated:

    • Single Return Mode: ~300,000 points per second

    • Dual Return Mode: ~600,000 points per second

  • 100 Mbps Ethernet Connection

  • UDP Packets Contain:

    • Time of Flight Distance

      Measurement

    • Calibrated Reflectivity

      Measurement

    • Rotation Angles

    • Synchronized Time Stamps

      (µs resolution)

  • GPS: $GPRMC and $GPGGA NMEA

    Sentences from GPS Receiver (GPS not included)

Tip

Lidar (subject to short future comments)

G20Z36S-H 36x zoom Global Shutter

image15image16

  • Global Shutter Sony Pregius IMX392 sensor (1/2.3”)

  • 36x optical zoom, 32x digital zoom

  • 1080p 60/50/30/25, 720p 60/50/30/25, PAL, NTSC

  • LVDS / EX-SDI / CVBS

  • VISCA, Pelco-D, Pelco-P

  • Trigger in, Strobe out

  • Configurable Trigger/Strobe

  • 9-15V, 5W

  • Dimension: 64mm x 56mm x 124mm (without external enclosure)

Tip

Pack 11 – Surveillance 1

EH640 30x Optical Zoom + IR Thermal

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General Specifications

Working voltage

12-25 Vdc

Power consumption

8,4 Watt

Weight

975 g

Memory card type (single slot available; not built-in memory)

Micro SD: máximum 128 Gb

Size

166 x 115 x 184 (mm)

Video out

Ethernet

Sbus

Support (controlled by Wince)

Display and control terminal

Windows PC

Video output resolution

White light camera 720 x 1080 (pix)

Thermal camera 640 x 480 (pix)

Environmental specifications

Working temperature

-10oC to 45 oC

Storage temperature

-20oC to 70 oC

Gimbal parameter

Accuracy

+/- 0,008o

Mounting type

Detachable

Range of control angle

Pitch: +70° to -90°; Yaw: ±160°

Structure design angle

Pitch: +750 to -100°; Yaw ;±1750; RoH: +90° to - 500

Max. Control speed

Pitch: 120’/s; Yaw: 180°/s

Camera specifications

White light camera

Sensor

CMOS: 1f2.8’

Total pixels: 2.3 MP

Lens

30x optical zoom lens

F: 4.7 to 141mm

Minimum object distance: 1m – 1,5m

Field angle (horizontal): 60° – 2,3°

Image storage format

JPG

Video storage format

MP4

Working mode

REC; PIC

Fog-penetrating method

Electronic fog penetration

Exposure mode

Auto

HD Video

1920 x l080 pix; 25 fps (default)

Range

1-50 fps (adjustable by web page “Camera”

2D Denoise

Support (auto)

3D Denoise

Support (auto)

Shutter speed

1/3 to 1/30000s

Exposure

Automatic

OSD

Support

Point to zoom

Support

Zoom range

1-30x optical zoom

One-key to no-zoom

Support

Tip

Available with Pack 12 – Surveillance 2

Q30F 30x Optical Zoom

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General Specifications

Working voltage

12-16 Vdc

Power consumption

≤ 5,4 Watt

Dynamic current

450mA @ 12Vdc

Idle current

330mA @ 12V

Local storage

SD card (Up to 32G, class 10, FAT32 or ex FAT format)

Size

166 x 115 x 184 (mm)

Video out

Mini HDMI; (HD output 1080P 60fps): Analog

Control method

PWM / TTL

Environmental specifications

Working temperature

-20oC to 50 oC

Storage temperature

-20oC to 70 oC

Gimbal parameter

Pitch/Tilt

±90°

Roll

±85°

Yaw/Pan

±150°

Vibration angle

Pitch/Roll: ±0.02°, Yaw:±0.03°

One-key to centre

Support

Camera specifications

Sensor

1/3inch CMOS

Total pixels: 4 MP

Effective pixel: 2688 x 1520

Dynamic range

65dB

Lens

5MP

Optical zoom

30x, F=4.5~135mm

Min object distance

1,5 m

Viewing angle

  • Horizontal: 54.8°(Wide end) ~ 3.4°(Tele end)

  • 41°(wide end) ~ 2.5°(tele end)

Focus

66.6°(wide end) ~ 7.2°(tele end)

Sync system

Progressive scanning

Local video

1080P 30fps local TF card

HD output

1080P/720/480P 60fps HDMI1.4

AV output

Standard CVBS 1Vp-p

S/N ratio

38dB

Min illumination

Colour 0.05lux@F1.6

Backlight compensation

Backlight compensation/strong light inhibition

Gain

Auto

White balance

Auto/Manual

Shutter speed

Auto

Control system

UART/IR/PWM

Communication protocol

PELCO-D, Hitachi protocol or VISCA

Focus

Auto/Manual/One-time automatic focus

Focus speed

2 s

Lens initialization

Built-in

User pre-setting bit

20 sets

Image rotation

180°, Horizontal/Vertical mirror image

Photo format

JPEG

Video format

MP4

OSD

Not supported

Dimensions

Net weight

670g

Dimensions

121 x 147 x 154.8 mm

One-key to no-zoom

Support

Note

If you need cameras other than the ones described above, please contact Beyond Vision in order to confirm if it is possible to integrate them in the drone.

Gimbals

The HEIFU® drone comes equipped with one gimbal for stable operation of the high definition camera. This gimbal is assembled on the front of the drone, near the battery compartment. A second gimbal can be assembled below the battery compartment by using one of the mounting adapters supplied with the HEIFU® drone kit. A suitable gimbal can be purchased from Beyond Vision as an add-on to the kit or can be purchased from a third-party providing it complies with the specifications. Gimbal control: Servo.

beXStream® platform

If you purchased a beXStream® platform license, you were given a login to access the application either by using a web browser or by using a Windows/Ubuntu/iOS app. You can register and access the application by using this login and accessing the web address: https://bexstream.beyond-vision.pt or by downloading and installing the beXStream App on your PC.