3D snimač prostora mobilnog robota

undergraduate thesis

• Title (english): 3D space scanner of a mobile robot
• Author: Domagoj Pfeiffer
• Mentor: Mladen Crneković (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; (Department of Robotics and Production System Automation); (Chair of Engineering Automation); Zagreb
• Defense date and country: 2024-09-26, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U radu je opisan postupak pretvorbe 2D LIDAR senzora u 3D senzor dodavanjem jedne osi rotacije namijenjenog za mobilnog robota. U prvom dijelu se opisuju komponente, njihova uloga u ovom senzoru i način rada. Nakon odabira komponenti bilo je potrebno osmisliti konstrukciju koja omogućava dodatnu os rotacije. Završetkom konstrukcijskog dijela rada bilo je potrebno napisati kod za zapisivanje i slanje podatka u oblaku točaka sa senzora na računalo i u realnom vremenu locirati smjer i opasnost moguće kolizije. Kroz čitav rad obraća se pozornost na točnost, brzinu i cijenu uređaja. Dodatno kod osmišljavanja svakog uređaja ili proizvoda, svaka odluka kod konstruiranja ili odabira komponenti donosi svoje prednosti i mane. Finalno u zaključku rada predlažu se dodatna rješenja koja bi bila odabrana kada bi se rad počeo raditi ispočetka sa stečenim znanjima.

Abstract (english)

The paper describes the process of converting a 2D LIDAR sensor into a 3D sensor by adding one axis of rotation intended for a mobile robot. The first part describes the components, their role in this sensor and how they work. After the components were chosen, it was necessary to design a construction that enables an additional axis of rotation. After the completion of hardware part, it was necessary to write a code that records and sends data in point cloud format from sensor to computer and locates the direction of possible collision in real time. Throught the paper, attention is pait to accuracy, speed and price of device. In addtion to desing of each device or product, each decision in the construction or selection of componets brings advantages and disadvatages that have been obtained and should be emphasized. Finally in the conclusion of the paper, addtional solutions are proposed that would be chosen if the sensor would made from scratch with the acquired knowledge.

• Keywords: LIDAR; senzor; mobilni robot; oblak točaka
• Keywords (english): LIDAR; sensor; mobile robot; point cloud
• Language: croatian
• URN:NBN: urn:nbn:hr:235:786766
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2024-09-23 13:40:48