3D Laser Range Finder Group 27
This project focuses on creating an accurate 3D sensor for indoor and outdoor operation with high update rate and longevity. The device aims to visually represent range data to enhance computer vision capabilities for robotics clubs participating in AUVSI competitions. The specifications include size less than a cubic foot, weight less than 5 pounds, power draw less than 24 watts, 3D scan rate of 2 hertz, Ethernet communication port, and weather rating of approximately IP45. The process involves rotating a 2D LIDAR sensor in an event-driven system to add the third dimension. The project also includes selecting LIDAR components like Hokuyo PBS and SICK LMS291-S05, with detailed specifications such as angular resolution, scanning range, detecting range, and price.
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Presentation Transcript
3D Laser Range Finder Group 27 Andrew Watson, Jon Ulrich
LIDAR LIght Detection And Ranging
Motivation AUVSI Competitions for Robotics Club Augment Computer Vision Capabilities Mobile 3D range finder Visually represent range data Gain valuable experience
Goals Create Accuracte 3D Sensor Indoor/Outdoor Operation High Update Rate Longevity Occams Razor
Specifications Requirements Size Less than a cubic foot Weight Less than 5 pounds Power Draw Less than 24 watts 3D Scan Rate 2 hertz Communication Port Ethernet Weather Rating ~IP45
Process Rotating 2D lidar sensor Event driven system Rotation adds 3rd dimension
Lidar Selection Hokuyo PBS SICK LMS291- S05 Hokuyo UTM- 30LX Light Source IR LED Laser Diode Laser Diode Application Indoor Indoor / Outdoor Indoor / Outdoor Angular Resolution 1.8 0.25 0.25 Scanning Range 178 180 270 Detecting Range 0.2m to 3m 1.5 - 30m 0.1m to 30m Scan Time 100ms 75ms 25ms Power 24VDC 230V 12VDC Price $1,200 $3,500 $6,000
UTM-30LX 30 meter range Serial Interface C++ Library Scan Feedback
Event Driven
Event Driven Callback Functions Interrupt Routines Data Staging
Motion: Pitch +Pro: Immediate Horizon -Con: Alternating Directions Full Scan Latency
Motion: Yawing Scan +Pro: Immediate Vertical Scan -Con: Alternating Directions Full Scan Latency
Motion: Rolling Scan +Pro: Center Focus Continuous Rotation -Con: Peripheral Vision
Motor Selection Dynamixel RX-24F 42BYGHM809 Dynamixel MX-28 Servo Stepper Servo Motor Type 0.29 0.9 0.088 Resolution 12VDC 3VDC 12VDC Voltage $139 $17 $219 Price
Motor Selection: MX-28T Motor Feedback Highest Resolution Continuous Rotation Serial Communication 12V Rail
Continuous Motion Wire management in gear center 1:1 Reversing gear assembly Cheaper to adjust code than add third gear
Mercotac 830 Continuous Motion Data & Power 200 RPM 2A Current 0 250 Volts
3D Transformation ? = ? sin ? cos ? ? = ? sin ? sin ? ? = ? cos(?)
Point Cloud Visualization
Microcontroller Raspberry Pi Model B Beagle Board Black Pandaboard ES $35 $45 $182 Price 700MHz 1GHz 1.2GHz Dual Core Processor 512MB 512MB 1GB RAM Size 3.37 x 2.125 3.4 x 2.1 4.5 x 4 700mA 470mA 800mA Max. Drain
Raspberry Pi 700 MHz ARMv6 ISA 8 GPIO Smallest physical footprint
Operating System Raspbian Debian linux operating system tailored for raspberry Pi Threaded Application Onboard development Libraries
Communication UDP Communication Custom Communication Protocol Send and Receive Queues Packet Section # Bytes Single Scan ~26000 Commands 2 - 4 Command Name Command Type Action Code ChangeSpeed Action CS## GetSpeed Information GS
Power Source: 12VDC Output: 5VDC and 12VDC Part: TI LMZ14203 Switching Module Source Input: Max Output: Output Voltage: 6V - 42V 18 Watts 0.8V - 6V
Power LMZ14203 Switching Module
Testing: Laser Sensor 24ms event trigger confirmed Between 1078-1082 scans per trigger Distance checking confirmed range accuracy within 0.1 meters
Testing: Motor & Encoder Position feedback would sometimes show reversing direction. Random physical resistance still allows for accurate position.
Division of Labor Andrew Christian Jon Laser X Motor X Mount X X Control X X Communication X Power X X Visualization X X Testing X X
Bill of Materials Raspberry Pi model B $35 Hokuyo UTM-30LX $5,999 Dynamixel MX-28 $219 Mercotac Rotating Connector 830 $449 PCB $100 FTDI Chip USB-RS485-WE-5000-BT $45 Electrical Connectors $150 PLA Plastic $100 Total Cost $7,097 TI & UCF Robotics Club Donated Parts -$7,097 Final Cost $0
