Inspiration
We wanted to try out Simultaneous Localisation And Mapping(SLAM) without burning a hole in our pockets. As such we decided to make a Sound Detection and Ranging Device, which is similar in concept as a LiDAR except an ultrasonic sensor is used instead of a laser.
What it does
The ultrasonic sensor sends out sound waves and calculate the distance of the object in front. This is combined with a stepper and servo motor, which rotates the ultrasonic sensor 360 degrees and tilt it up 60 degrees. This allowed a 3D mapping of the surrounding.
The entire processing is done via arduino, and the data of the distance, stepper angle and servo angle is transferred via serial to a local computer. The computer employs PCL Library and custom written serial library to read the data transferred, and plots the points real time.
How we built it
We originally planned to make our own laser and receiver circuit, but we swopped to the ultrasonic sensor due to time constraint. Using 3D print parts, a stepper and servo motor, slip ring and arduino, the SIDAR was born.
Challenges we ran into
We purchased many components to build the laser and receiver circuit, but the pulsing circuit was too challenging for us and we could not get the laser to pulse properly.
The PCL library and custom serial read library was somewhat challenging for us as we wrote it in C++ which we were not very familiar with.
Accomplishments that we're proud of
We were able to do short range 3D mapping of obstacles! We managed to read, process and plot the points real time!
What we learned
Mainly advances in the language C++ We were glad that we were able to complete everything in 24hours.
What's next for 89 - SIDAR
We would be continuing trying to improve our ranging range by using the laser circuit that we completed halfway. This will allow us to reach a range of 40m. We will also be prototyping the circuit board and fabricating the mounts for the motors.
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