3D-mapper

thingiverse

This is a 2 DOF robotic frame, designed to rotate a distance sensor over jaw and pitch using two SG-90 servos. By taking distance measurements over a set of angles, a 3D-map of the sensor's surroundings can be plotted by processing the obtained data. I built it originally to scan using the ultrasonic HC_SR04 sensor. However, I suggest not using this sensor for this type of task because of its wide FOV (~15 degrees). Finer structures could not properly be distinguished and flat surfaces can appear concave, because nearest detected points can stay in the FOV of the sensor for multiple angle steps. I added a STL file of a mounting piece which fits the TFMini LiDAR, which is a distance sensor with a much smaller FOV (~3 degrees) and does a much better job by scanning smaller individual points in the room. Code for this project: https://github.com/Zucchero-K/TFMINI-I2C-LiDAR