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LiDAR Scanning Platform

This project details the development and construction of a LiDAR scanning mechanism designed for 3D environmental mapping. Completed as a senior project at Boğaziçi University in June 2023, the project was carried out by Abdullah Gedük, Alper Akkaya, and İbrahim Tuna Yön.

Project Overview

Initially designed for LiDAR-based 3D mapping, the project faced significant budget constraints, leading to a design adaptation that employed a laser pointer instead of a LiDAR sensor. Although this adjustment sacrificed the ability for actual distance measurement and mapping, the constructed mechanism maintained full functionality in terms of motion control and precision aiming.

The primary goal remained to create a cost-effective, accurate, and robust mechanical system capable of performing defined angular movements for potential LiDAR integration.

System Description

The designed system consists of:

  • Stepper motors for azimuthal and polar rotations.
  • Microcontroller (Arduino Uno) for precise motor control and user interaction.
  • Laser pointer substituting the LiDAR sensor.
  • Mechanical platform providing structural support and rotation.
  • LCD and button interface for user input and feedback.

Mechanical Design

The system features a dual-axis motion platform:

  • Azimuthal rotation is achieved via a NEMA 23 stepper motor inverted to stabilize the motor shaft, minimizing cable winding issues and ensuring continuous 360-degree rotation.
  • Polar rotation is provided by a smaller NEMA 17 stepper motor mounted on the primary rotating platform, allowing precise vertical aiming from -30° downward to 60° upward.
CAD Model of the Mechanism
Figure 1a: CAD Model of the Mechanism.
The Final Product
Figure 1b: The Final Product.

Detailed Components

  • Main Platform: 3D printed with high-density plastic, carrying the electrical components, motors, and battery.
  • Laser Holder: Precision-machined for accurate laser alignment.
  • Bearing: Pillow block bearing for additional shaft stability.
  • Base Platform: Heavy metal base ensuring stability during operation.

Electronic Design

The electronic circuit integrates the Arduino Uno microcontroller, two TMC2208 stepper motor drivers, a 12V rechargeable battery, LCD screen, control buttons, and safety switch. The detailed schematic can be found here.

User Interface and Operation

The user interacts with the system via an LCD and buttons:

  • Turning on and off the system.
  • User-defined angular coordinates for laser pointing.
  • Selection of predefined motion patterns.
System workflow System workflow
Figure 2: System Workflow Diagram.

Experimental Analysis

  • Maximum Stable Speed: 75 rpm for azimuthal rotation, ensuring mechanical stability.
  • Acceleration Limits: Maximum angular acceleration set at 0.5 rev/s² for stable operation.
  • Accuracy and Precision: Verified through consistent, precise laser positioning.

Animations and Demonstrations

Animations demonstrating the mechanism's rotational capabilities can be viewed below:

Conclusion

The developed mechanism effectively demonstrates precise angular control and robust structural design, suitable for future integration of actual LiDAR sensors. This groundwork supports applications in mapping, robotics, and environmental monitoring systems while balancing performance, reliability, and cost efficiency.