Subject:
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Re: LIDARStation and LIDARDisp application finished
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Newsgroups:
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lugnet.robotics
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Date:
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Tue, 19 Feb 2002 20:31:57 GMT
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Original-From:
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Chris 'Xenon' Hanson <XENON@3DNATUREspamless.COM>
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Reply-To:
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xenon@3&IHateSpam&dnature.com
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Viewed:
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1114 times
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Mario Ferrari wrote:
> "Chris 'Xenon' Hanson" <lego-robotics@crynwr.com> wrote:
> > Well, my first serious Mindstorms project is complete.
> > http://www.arcticus.com
> > Go to "Lego Robotics Projects".
>
> Nice idea, Chris, very interesting project.
Thanks, Mario. Love your work too, BTW.
> I'd like to replicate your setup using John Barnes' Ultrasonic distance
> sensor instead of the light sensor. This should increase the radius of the
> scanned area, and make the device return the true distance instead of the
> reflectivity of the objects.
I think this would be a very useful modification. Wish I had an ultrasonic
sensor to do it with myself. ;)
I will point out that the reason the entire assembly rotates is because I
wanted it to sweep continuously without stopping. The data logging issues
made that impossible. If I were to design it using an ultrasonic sensor,
I would only put the sensor on the rotating part, and stop and reverse the
sensor assembly at the end of each sweep to prevent wire coil-up. Balancing
the RCX and sensor mechanisms all on top of a little axle was part of what
made this project difficult, and I would avoid it if possible.
I'm leaving my design as-is, because I hope to be able to use the RCX's
IR emitter as an illumination source in the future, and thus the whole RCX
will still need to rotate.
But your ultrasonic design could be less complex and more robust. The
xlidarst.nqc code would only require minimal modifications, and the
lidardisp.cpp code would need no changes.
Shout if you need any explanation of any of the code for either program.
I'd be very interested in seeing a two-axis controlled pan/tilt head
with an ultrasonic sensor on it. Such a device could perform a rudimentary
3D scan of a hemisphere of space. Alas, it would require so many IO ports
that putting it onto a mobile robot base would be nearly impossible.
> Mario
Chris - Xenon
--
Chris Hanson | Xenon@3DNature.com | I've got friends in low latitudes!
New WCS 5 Demo Version! http://www.3DNature.com/demo/
"There is no Truth. There is only Perception. To Perceive is to Exist." - Xen
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Message has 1 Reply:
 | | Re: LIDARStation and LIDARDisp application finished
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| (...) Not really. I believe this enough to try it soon. :) Two motors to turn and tilt the camera, and one for a differential drive setup(possibly using the reverse differential device). All the sensor ports would be used however - 1 for the (...) (23 years ago, 19-Feb-02, to lugnet.robotics)
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Message is in Reply To:
| | Re: LIDARStation and LIDARDisp application finished
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| (...) Nice idea, Chris, very interesting project. I'd like to replicate your setup using John Barnes' Ultrasonic distance sensor instead of the light sensor. This should increase the radius of the scanned area, and make the device return the true (...) (23 years ago, 19-Feb-02, to lugnet.robotics)
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