by bob buecher - national speleological society...lidarlite scanner cost lidarlite laser distance...
TRANSCRIPT
![Page 1: By Bob Buecher - National Speleological Society...LidarLite Scanner Cost LidarLite laser distance module $ 129.00 Tripod $ 30.00 Stepper Motors (1.8°, 200 steps rev., 12V) $ 40.00](https://reader035.vdocuments.site/reader035/viewer/2022081402/6050aa06f2e6b70b811fa439/html5/thumbnails/1.jpg)
Do It Yourself LIDAR For Caves
By
Bob Buecher
^
![Page 2: By Bob Buecher - National Speleological Society...LidarLite Scanner Cost LidarLite laser distance module $ 129.00 Tripod $ 30.00 Stepper Motors (1.8°, 200 steps rev., 12V) $ 40.00](https://reader035.vdocuments.site/reader035/viewer/2022081402/6050aa06f2e6b70b811fa439/html5/thumbnails/2.jpg)
What I Want
• Cost less than $500
• Complete Coverage
• Collect thousands of points
• Range 30 meters or more
• Centimeter accuracy
• Lightweight
• Less than 10 minutes per setup
• Run for 8 hours
![Page 3: By Bob Buecher - National Speleological Society...LidarLite Scanner Cost LidarLite laser distance module $ 129.00 Tripod $ 30.00 Stepper Motors (1.8°, 200 steps rev., 12V) $ 40.00](https://reader035.vdocuments.site/reader035/viewer/2022081402/6050aa06f2e6b70b811fa439/html5/thumbnails/3.jpg)
What I Builtthe Survey Instrument for Caves and Karst (SICK)
• Meets all criteria
– 128,000 pts. In 8 min.
– 360° in 1° steps Horz.
– 180° in ½° steps Vert.
– Range ~30+ meters
– Cost ~$1160
• except cost & weight
![Page 4: By Bob Buecher - National Speleological Society...LidarLite Scanner Cost LidarLite laser distance module $ 129.00 Tripod $ 30.00 Stepper Motors (1.8°, 200 steps rev., 12V) $ 40.00](https://reader035.vdocuments.site/reader035/viewer/2022081402/6050aa06f2e6b70b811fa439/html5/thumbnails/4.jpg)
S.I.C.K. - Survey Instrument Cave Karst
SICK LMS-200Laser Distance Module
TelescopeMount Base
Battery Holder24V LMS-20011V Stepper7V Arduino
![Page 5: By Bob Buecher - National Speleological Society...LidarLite Scanner Cost LidarLite laser distance module $ 129.00 Tripod $ 30.00 Stepper Motors (1.8°, 200 steps rev., 12V) $ 40.00](https://reader035.vdocuments.site/reader035/viewer/2022081402/6050aa06f2e6b70b811fa439/html5/thumbnails/5.jpg)
ACER 8” Windows 8 Tablet PC
Horizontal200 Step Motor
SICK LMS-200Laser Distance Module
Battery Pouch
Arduino UNO &Motor Controller
TelescopeMount Base
![Page 6: By Bob Buecher - National Speleological Society...LidarLite Scanner Cost LidarLite laser distance module $ 129.00 Tripod $ 30.00 Stepper Motors (1.8°, 200 steps rev., 12V) $ 40.00](https://reader035.vdocuments.site/reader035/viewer/2022081402/6050aa06f2e6b70b811fa439/html5/thumbnails/6.jpg)
EverythingLIDARTripodBatteriesComputerTools
27.5 pounds
![Page 7: By Bob Buecher - National Speleological Society...LidarLite Scanner Cost LidarLite laser distance module $ 129.00 Tripod $ 30.00 Stepper Motors (1.8°, 200 steps rev., 12V) $ 40.00](https://reader035.vdocuments.site/reader035/viewer/2022081402/6050aa06f2e6b70b811fa439/html5/thumbnails/7.jpg)
130,000 points collected in 7 minutes. Range 30 meters+.
![Page 8: By Bob Buecher - National Speleological Society...LidarLite Scanner Cost LidarLite laser distance module $ 129.00 Tripod $ 30.00 Stepper Motors (1.8°, 200 steps rev., 12V) $ 40.00](https://reader035.vdocuments.site/reader035/viewer/2022081402/6050aa06f2e6b70b811fa439/html5/thumbnails/8.jpg)
LidarLite 3D Scanner
uSD card
VerticalStepper Motor
HorizontalStepper Motor
Lithium Battery7.2v, 2.2AH
Arduino Uno &Motor Controller
LidarLite Module
360° x 150° in 1.8° steps16,900 points in 6½ minutes1° beam width
![Page 9: By Bob Buecher - National Speleological Society...LidarLite Scanner Cost LidarLite laser distance module $ 129.00 Tripod $ 30.00 Stepper Motors (1.8°, 200 steps rev., 12V) $ 40.00](https://reader035.vdocuments.site/reader035/viewer/2022081402/6050aa06f2e6b70b811fa439/html5/thumbnails/9.jpg)
Data Saved as ASCII for Postprocessing
![Page 10: By Bob Buecher - National Speleological Society...LidarLite Scanner Cost LidarLite laser distance module $ 129.00 Tripod $ 30.00 Stepper Motors (1.8°, 200 steps rev., 12V) $ 40.00](https://reader035.vdocuments.site/reader035/viewer/2022081402/6050aa06f2e6b70b811fa439/html5/thumbnails/10.jpg)
![Page 11: By Bob Buecher - National Speleological Society...LidarLite Scanner Cost LidarLite laser distance module $ 129.00 Tripod $ 30.00 Stepper Motors (1.8°, 200 steps rev., 12V) $ 40.00](https://reader035.vdocuments.site/reader035/viewer/2022081402/6050aa06f2e6b70b811fa439/html5/thumbnails/11.jpg)
LidarLite Version 5
LidarLite V2 module
Larger Stepper Motors
Slip-Ring for wires
Rigid Design
![Page 12: By Bob Buecher - National Speleological Society...LidarLite Scanner Cost LidarLite laser distance module $ 129.00 Tripod $ 30.00 Stepper Motors (1.8°, 200 steps rev., 12V) $ 40.00](https://reader035.vdocuments.site/reader035/viewer/2022081402/6050aa06f2e6b70b811fa439/html5/thumbnails/12.jpg)
Five Times Faster … But …
New Version 2, LIDAR-Lite Module
OLD: 42 points/sec (24ms) 16ms Measure 8ms Move
NEW: 71 points/sec (14ms) 6ms Measure 8ms Move
![Page 13: By Bob Buecher - National Speleological Society...LidarLite Scanner Cost LidarLite laser distance module $ 129.00 Tripod $ 30.00 Stepper Motors (1.8°, 200 steps rev., 12V) $ 40.00](https://reader035.vdocuments.site/reader035/viewer/2022081402/6050aa06f2e6b70b811fa439/html5/thumbnails/13.jpg)
Faster
Fewer Errors
Longer Range (30 to 40m)
More Expensive
Power options (Lithium, alkaline)
Merging Pointclouds
Computing Pointcloud
Changes
![Page 14: By Bob Buecher - National Speleological Society...LidarLite Scanner Cost LidarLite laser distance module $ 129.00 Tripod $ 30.00 Stepper Motors (1.8°, 200 steps rev., 12V) $ 40.00](https://reader035.vdocuments.site/reader035/viewer/2022081402/6050aa06f2e6b70b811fa439/html5/thumbnails/14.jpg)
LidarLite Scanner Cost
LidarLite laser distance module $ 129.00
Tripod $ 30.00
Stepper Motors (1.8°, 200 steps rev., 12V) $ 40.00
AdaFruit Data Logger Shield $ 20.00
2 GB, SD memory card $ 9.00
Arduino Pro Mini microcontroller $ 10.00
Pololu Stepper motor controllers $ 15.00
Pololu 5V Regulator $ 7.00
AdaFruit Power Switch $ 5.00
AdaFruit 6 conductor Slip-Ring $ 15.00
3.6V lithium Ion 18650 batteries (2) $ 20.00
18650 battery holder $ 5.00
Aluminum Sheet Metal $ 10.00
Hardware $ 15.00
Waterproof Box $ 10.00
TOTAL $ 340.00
![Page 15: By Bob Buecher - National Speleological Society...LidarLite Scanner Cost LidarLite laser distance module $ 129.00 Tripod $ 30.00 Stepper Motors (1.8°, 200 steps rev., 12V) $ 40.00](https://reader035.vdocuments.site/reader035/viewer/2022081402/6050aa06f2e6b70b811fa439/html5/thumbnails/15.jpg)
Ogle Cave
![Page 16: By Bob Buecher - National Speleological Society...LidarLite Scanner Cost LidarLite laser distance module $ 129.00 Tripod $ 30.00 Stepper Motors (1.8°, 200 steps rev., 12V) $ 40.00](https://reader035.vdocuments.site/reader035/viewer/2022081402/6050aa06f2e6b70b811fa439/html5/thumbnails/16.jpg)
Merging Separate Point Clouds
![Page 17: By Bob Buecher - National Speleological Society...LidarLite Scanner Cost LidarLite laser distance module $ 129.00 Tripod $ 30.00 Stepper Motors (1.8°, 200 steps rev., 12V) $ 40.00](https://reader035.vdocuments.site/reader035/viewer/2022081402/6050aa06f2e6b70b811fa439/html5/thumbnails/17.jpg)
In Our State Of The Art Production Facility
![Page 18: By Bob Buecher - National Speleological Society...LidarLite Scanner Cost LidarLite laser distance module $ 129.00 Tripod $ 30.00 Stepper Motors (1.8°, 200 steps rev., 12V) $ 40.00](https://reader035.vdocuments.site/reader035/viewer/2022081402/6050aa06f2e6b70b811fa439/html5/thumbnails/18.jpg)
Construction of Four Scanners
![Page 19: By Bob Buecher - National Speleological Society...LidarLite Scanner Cost LidarLite laser distance module $ 129.00 Tripod $ 30.00 Stepper Motors (1.8°, 200 steps rev., 12V) $ 40.00](https://reader035.vdocuments.site/reader035/viewer/2022081402/6050aa06f2e6b70b811fa439/html5/thumbnails/19.jpg)
BOSCH BNO055
9-Axis Motion SensorAccelerometer, Gyroscope, Magnetometer
With SAM D20 Cortex 48 MHz Co-processor
AdaFruit BNO055 Pico Platinchen
Plus Arduino ATmega328p
![Page 20: By Bob Buecher - National Speleological Society...LidarLite Scanner Cost LidarLite laser distance module $ 129.00 Tripod $ 30.00 Stepper Motors (1.8°, 200 steps rev., 12V) $ 40.00](https://reader035.vdocuments.site/reader035/viewer/2022081402/6050aa06f2e6b70b811fa439/html5/thumbnails/20.jpg)
A Better $220 Handheld Scanner
Arduino Mini Pro
Bluetooth Module
BNO055
9 axis IMU
5V Boost
Regulator
Lithium Ion Battery
LIDARLite v2