Rotating 360 LIDAR Scanner - 3D Printed up and down scanning - Robotic Vehicle #9
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- Опубликовано: 5 май 2017
- I finally add a servo to the lidar scanner to achieve up and down scanning.
This is meant to form the main obstacle avoidance system on my robotic platform.
LIDAR Sensor
amzn.to/2v7pGmt
Slipring to allow the sensor to rotate
ebay.to/2eMPduk
Timing belt
ebay.to/2tCCRaC
This is part of a series where I am looking to get my old robotic platform up and running again.
Playlist: • Robotic Vehicle - Kevin
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Twitter: / arthurguy 
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Good job. Like you said in your previous video, I too have had all the parts half-put-together, waiting to be finished. My project is similar, but I'm using multiple LIDARs, 180deg from each other, which effectively doubles the scan rate at the same rotational speed of the stepper motor. You could also have 3 at 120 degrees from each other, with also a little bit of a vertical angle (top is lifted a few degrees, the middle is at 0, and the bottom is pointed down a few degrees).
As for the bottom bit to dynamically change the Z axis, I have also toyed with using another stepper or brushless motor with an elliptical piece on the shaft so that it gradually pushes the platform up and down, instead of the jerking motion that you have. I would then run that bottom motor much faster than the horizontal motor. That way I can also deal with calculating all readings' Z value - your current solution, albeit being changed, leaves some number of readings unknown while the servo arm is in motion.
have you build a ROS package for integrating the sensor feed? Would be interested in seeing the point cloud you're able to get with the device as built.
Very cool! i have an old V2 LIDAR that has also been sitting around from before i purchased my 3D printer. i'll be "gearing" that up again. i do wonder, though, that you are putting so much sideways pressure on the Stepper Shaft. maybe you could incorporate a housing with a bearing to keep that pressure off?
great move from gear to belt.
keep up the great work!!!
Russ from Coral Springs, Florida, USA
You might wanna check tinyLidar out as well!
You are amazing!!! Bravo!!!!
It is interesting that you are talking about calibration issues. It would seem to me that letting the head rotate and monitoring the optical sensor for the line, you should be able to tell how many steps the motor requires per full rotation and then just rely on that for the rest of the scan.
Please share. Any code sketch for this
well done!!
Do you plan on transmitting data via bluetooth ?
please share the code. I just curious how can be rotate so fast while measurement a distance
I wonder how the wire on rotating table don't wrap around as it's rotated.
he's using a slip ring
why not use mirros instead? you get better control as is just the mirror you need to rotate. Nice video btw!
+Richard I didn't use mirrors because I wasn't sure they would work with the beam alignment. Although it's something I am planning on testing sometime soon.
Ahh right well im looking forward to the video! keep it up!
code?
Can I ask for the step motor and its driver name please ?