Design of 3 D Laser Scanner and Calibration Objects

........................................................................................................................................................................ ii Acknowledgement .................................................................................................................................................. iii Table of Figures ......................................................................................................................................................... v List of Tables .............................................................................................................................................................. vi Chapter 1: Introduction ......................................................................................................................................... 1 1.1 Background .................................................................................................................................................... 1 1.2 Working Concept of 3D Laser Scanners ............................................................................................ 2 1.3 Purpose of the Research............................................................................................................................ 3 1.4 Significance of the Research .................................................................................................................... 3 1.5 Outline of Thesis ........................................................................................................................................... 4 Chapter 2: Design of DIY 3D Scanner ............................................................................................................... 5 2.1 Setting of the DIY Laser Scanner ........................................................................................................... 5 2.2 Control System of the Design .................................................................................................................. 6 2.3 Software and Interface ............................................................................................................................. 8 Chapter 3: Optimization and Redesign ......................................................................................................... 11 3.1 Alignment Part ........................................................................................................................................... 11 3.2 Tolerance Analysis of the Center Position ...................................................................................... 15 3.3 Other Redesigns of Components ....................................................................................................... 17 Chapter 4: Calibration Objects ......................................................................................................................... 18 4.1 Calibration Grid ......................................................................................................................................... 18 4.2 Motion Capture ......................................................................................................................................... 19 4.3 Design of Calibration Objects .............................................................................................................. 20 Chapter 5: Result and Validation..................................................................................................................... 23 5.1 Scanning Capability of ROMER Absolute Arm .............................................................................. 23 5.2 Scanning Capability of Structure Sensor ......................................................................................... 32 5.3 Scanning Capability of the DIY 3D Laser Scanner ....................................................................... 34 Chapter 6: Conclusion and Future Work...................................................................................................... 36 References ................................................................................................................................................................ 38 Appendices Appendix A: Pseudocode Instruction to Test the Arduino Sketch ............................................... 41 Appendix B: Arduino Sketch to Control the DIY 3D Laser Scanner ............................................. 42 Appendix C: Configuration Header File with Variable Name Defined ........................................ 49 Appendix D: Specification Sheet of Motor 28BYJ-48 ......................................................................... 51