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Nodding LIDAR

Nodding LIDAR. For Applied Research Associates By Roscoe Kane and John Barton. Background. LIDAR stands for Li ght D etection A nd R anging Emits a pulses laser beam and measures the time between emission and return to determine distance

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Nodding LIDAR

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  1. Nodding LIDAR For Applied Research Associates By Roscoe Kane and John Barton

  2. Background • LIDAR stands for Light Detection And Ranging • Emits a pulses laser beam and measures the time between emission and return to determine distance • Most systems are at best 2 dimensional, with 1 axis of sweep that returns 1 dimension of range

  3. Problem Statement • Develop a system to adapt a 2 dimensional LIDAR system into a 3 dimensional LIDAR system by adding a second axis of rotation

  4. Brainstorm Solutions • Adjust angle of existing mirror • Change angle of entire LIDAR unit • Add second mirror to outside of unit, also adjustable

  5. Mirror Angle Adjustment • Would require modifying LIDAR unit • Would involve much smaller motors and drive systems

  6. Move Entire LIDAR Unit • Requires much larger drive systems • No modification to LIDAR unit • Simple manufacturing

  7. Secondary Mirror • Would require very large mirror and curved mirror • Very expensive and difficult to adjust • Very fragile • Uses small drive systems • No modification to LIDAR unit

  8. Solution Selection • Met with clients, found mirror solutions unworkable • Client mentioned movement of whole unit as typical

  9. Specs • 30º minimum sweep angle • 1hz minimum scan rate from top to bottom • Capable of any orientation • Capable of being disabled • Safety for both humans and robot

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