Payloads and Gimbals

Payload

The design of our UAVs allow the assembly of different modules to answer the needs of the user.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.

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

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

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

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

Micasense Altum-PT

A picture containing camera, indoor, electronics Description automatically generated

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

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)

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)

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

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.

Gimbal

Assemble a maximum 2 gimbals simultaneously. The 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.