Elaboración de un sistema mecatrónico para incrementar el ángulo de visión vertical del LIDAR HDL-64E

Abstract

This work presents the development of a mechatronic prototype that allows to increase from 26.8 to 69.8 ° the vertical viewing angle of the LIDAR HDL-64E, which is a high definition sensor used for the extraction of 3D models of any physical environment. The LIDAR HDL-64E sensor is a device designed for navigation of autonomous vehicles, however, with the expansion in the field of vision provided by the prototype designed and manufactured in this study, it significantly expands its applicability. The expansion in the field of vision of sensor is given when it is tilted through a one degree of freedom device, device that bases its operation on a motion transmission mechanism called "variable base triangle". The precise angular positioning of the sensor is achieved through the implementation of a PID controller, which was complemented by the development of a very friendly user interface and tailored to application. The fact to tilt the HDL-64E to extend its field of view generates a change in the reference systems of all shots made, for this reason a methodology to correct the acquired clouds of points was developed, this methodology is to express these clouds of points in a global reference system, system that corresponds to the horizontal reference of the sensor (0 ° inclination). With the mechatronic angular positioning system and the methodology for correction of clouds of points, one can perform scans with the sensor, and obtain clouds of points with much more information about the height of a physical environment. The system is ready to be mounted on a vehicle and perform tasks related to the 3D reconstruction of urban environments