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3D Laser Range Finder Group 27 Andrew Watson, Jon Ulrich

3D Laser Range Finder Group 27 Andrew Watson, Jon Ulrich. LIDAR. LI ght D etection A nd R anging. Motivation. AUVSI Competitions for Robotics Club Augment Computer Vision Capabilities Mobile 3D range finder Visually represent range data Gain valuable experience. Goals.

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3D Laser Range Finder Group 27 Andrew Watson, Jon Ulrich

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  1. 3D Laser Range Finder Group 27 Andrew Watson, Jon Ulrich

  2. LIDAR LIghtDetection And Ranging

  3. Motivation • AUVSI Competitions for Robotics Club • Augment Computer Vision Capabilities • Mobile 3D range finder • Visually represent range data • Gain valuable experience

  4. Goals • Create Accuracte 3D Sensor • Indoor/Outdoor Operation • High Update Rate • Longevity • Occams Razor

  5. SpecificationsRequirements

  6. Process • Rotating 2D lidar sensor • Event driven system • Rotation adds 3rd dimension

  7. Lidar Selection

  8. UTM-30LX • 30 meter range • Serial Interface • C++ Library • Scan Feedback

  9. Event Driven

  10. Event Driven • Callback Functions • Interrupt Routines • Data Staging

  11. Laser

  12. Motion: Pitch +Pro: Immediate Horizon -Con: Alternating Directions Full Scan Latency

  13. Motion: Yawing Scan +Pro: Immediate Vertical Scan -Con: Alternating Directions Full Scan Latency

  14. Motion: Rolling Scan +Pro: Center Focus Continuous Rotation -Con: Peripheral Vision

  15. Motor Selection

  16. Motor Selection: MX-28T • Motor Feedback • Highest Resolution • Continuous Rotation • Serial Communication • 12V Rail

  17. Continuous Motion • Wire management in gear center • 1:1 Reversing gear assembly • Cheaper to adjust code than add third gear

  18. Mercotac830 • Continuous Motion • Data & Power • 200 RPM • 2A Current • 0 – 250 Volts

  19. Gathering 3D Points

  20. 3D Transformation

  21. Point Cloud Visualization

  22. Microcontroller

  23. Raspberry Pi • 700 MHz ARMv6 ISA • 8 GPIO • Smallest physical footprint

  24. Operating System • RaspbianDebian linux operating system tailored for raspberry Pi • Threaded Application • Onboard development • Libraries

  25. Communication • UDP Communication • Custom Communication Protocol • Send and Receive Queues

  26. Power Source: 12VDC Output: 5VDC and 12VDC Part: TI LMZ14203 Switching Module Source Input: 6V - 42V Max Output: 18 Watts Output Voltage: 0.8V - 6V

  27. Power LMZ14203 Switching Module

  28. PCB

  29. PCB

  30. Testing: Laser Sensor • 24ms event trigger confirmed • Between 1078-1082 scans per trigger • Distance checking confirmed range accuracy within 0.1 meters

  31. Testing: Motor & Encoder • Position feedback would sometimes show reversing direction. • Random physical resistance still allows for accurate position.

  32. Testing: Indoors

  33. Testing Outdoors

  34. Testing Outdoors

  35. Division of Labor

  36. Division of Labor

  37. Bill of Materials

  38. The Pidar

  39. Questions?

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