Ultrasonic 3D Scanner

Informatie (ENG):

A small XY-moveable Scanner to create a (low detailed) 3D Picture of your environment.

Movement is done with 2x “Servo 9g”.

The sensor is an “HC-SR04”.

Next step will be to create the electronics and the display…

Edit: Added a very first picture of a scan. The scan is of course (like expected) low detailed, but you can see the shape of the bottle. I have some ideas to improve the quality, but for now I have to go on and do some other stuff. Maybe I will work again on it in some weeks.
Edit 2: Added the SourceCode for the ATMega8, which is sending the data to its UART with 250kbit/s, 8bit Data, no partity.
Additionally there is a “PHP” file which converts the LOG-Files to PNG.
PLEASE NOTE: This is only a quick and dirty hack, just to see if it the idea, that I had is realizable.

Scripts

/*
 * _3D_Scanner_Mega8.c
 *
 * Created: 23.06.2015 18:38:27
 *  Author: pyromaniac
 */ 

#define F_CPU 8000000UL

#include <stdio.h>
#include <avr/io.h>
#include <util/delay.h>
#include <avr/interrupt.h>

char stop = 1; // start/stop => sending 's' in terminal (250kbit, 8bit, no parity)

/*
	PORT C.5 => Ultrasonic Trigger
	PORT C.4 => Ultrasonic Echo
	
	PORT B.0 => ServoMotor Vertikal
	PORT B.1 => ServoMotor Horizontal
*/

void USART_Transmit( unsigned char data );

ISR(USART_RXC_vect)
{
	char c = UDR;
	if (c == 's') stop = (stop + 1) & 0x01;
	USART_Transmit (c);
}

void warte(int x)
{
	x = x / 1.9;
	while (x--)
		_delay_us(1);
}

int US_Messen()
{
	unsigned int max_us_time = 3000;
	unsigned int time = max_us_time;
	PORTC = 0x20;
	_delay_ms(10);
	PORTC = 0x00;
	while (!(PINC & 0x10));
	while ((PINC & 0x10) && time)
	{
		time--;
		//_delay_us(0.1);
	}
	return max_us_time-time;
}

void USART_Transmit( unsigned char data )
{
	while (!(UCSRA & (1<<UDRE)));
	UDR = data;
}

void serial_send_str( const char *s )
{
	while (*s != 0)
	{
		while (!(UCSRA & (1<<UDRE)));
		UDR = *s++;
	}
}

void init_serial( void )
{
	UBRRL = 1;	// 250kbit @ 8Mhz CPU_CLK
	UCSRB = (1 << RXEN) | (1 << TXEN) | (1 << RXCIE);
	UCSRC = (1 << URSEL) | (3 << UCSZ0);
}

void set_position ( int x, int y )
{
	int xdelay = 1500;
	int ydelay = 1500;

	PORTB = 0x01;
	warte(ydelay + y);
	PORTB = 0x00;
	warte(3000 - ydelay + y);

	PORTB = 0x02;
	warte(xdelay + x);
	PORTB = 0x00;
	warte(3000 - xdelay + x);
}

void init_adc()
{
	ADMUX = (1 << REFS0) | (3 << MUX0); // Ref = AVCC; ADC3;
	ADCSRA = (1 << ADEN) | (1 << ADSC) | (1 << ADFR) | (3 << ADPS0);
}

int IR_messen()
{
	return ADC;
}

int main( void )
{
	const char mode = 0;	// mode 0 => Ultraschall; 1 => Infrarot;
	
	int dist = 0;
	char buf[64];

	DDRC = 0b00100000;	// Ultraschall + LED
	DDRB = 0b00000011;	// Servo-Motoren
	
	init_serial();
	init_adc();
	
	sei();
	
	sprintf(buf, "Starting...\n\r");
	serial_send_str(buf);
	
	while(1)
	{
		for (int y = 300; y <= 1100; y += 10)
		{
			for (int x = -1000; x <= 1000; x += 20)
			{
				while (stop) set_position(x, y);
				set_position(x, y);
				if (mode == 0) dist = US_Messen();
				if (mode == 1) dist = IR_messen();
				//sprintf(buf, "X: %d; Y: %d; D: %u;\n\r", x, y, dist);
				sprintf(buf, "0X%04X,", dist);
				serial_send_str(buf);
			}
			for (int z = 0; z < 100; z++)
				set_position(-1000, y);
		}
		stop = 1;
	}
}

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* _3D_Scanner_Mega8.c

* Created: 23.06.2015 18:38:27

* Author: pyromaniac

#define F_CPU 8000000UL

#include <stdio.h>

#include <avr/io.h>

#include <util/delay.h>

#include <avr/interrupt.h>

char stop = 1; // start/stop => sending 's' in terminal (250kbit, 8bit, no parity)

PORT C.5 => Ultrasonic Trigger

PORT C.4 => Ultrasonic Echo

PORT B.0 => ServoMotor Vertikal

PORT B.1 => ServoMotor Horizontal

void USART_Transmit( unsigned char data );

ISR(USART_RXC_vect)

{

char c = UDR;

if (c == 's') stop = (stop + 1) & 0x01;

USART_Transmit (c);

}

void warte(int x)

{

x = x / 1.9;

while (x--)

_delay_us(1);

}

int US_Messen()

{

unsigned int max_us_time = 3000;

unsigned int time = max_us_time;

PORTC = 0x20;

_delay_ms(10);

PORTC = 0x00;

while (!(PINC & 0x10));

while ((PINC & 0x10) && time)

{

time--;

//_delay_us(0.1);

}

return max_us_time-time;

}

void USART_Transmit( unsigned char data )

{

while (!(UCSRA & (1<<UDRE)));

UDR = data;

}

void serial_send_str( const char *s )

{

while (*s != 0)

{

while (!(UCSRA & (1<<UDRE)));

UDR = *s++;

}

void init_serial( void )

{

UBRRL = 1; // 250kbit @ 8Mhz CPU_CLK

UCSRB = (1 << RXEN) | (1 << TXEN) | (1 << RXCIE);

UCSRC = (1 << URSEL) | (3 << UCSZ0);

}

void set_position ( int x, int y )

{

int xdelay = 1500;

int ydelay = 1500;

PORTB = 0x01;

warte(ydelay + y);

PORTB = 0x00;

warte(3000 - ydelay + y);

PORTB = 0x02;

warte(xdelay + x);

PORTB = 0x00;

warte(3000 - xdelay + x);

}

void init_adc()

{

ADMUX = (1 << REFS0) | (3 << MUX0); // Ref = AVCC; ADC3;

ADCSRA = (1 << ADEN) | (1 << ADSC) | (1 << ADFR) | (3 << ADPS0);

}

int IR_messen()

{

return ADC;

}

int main( void )

{

const char mode = 0; // mode 0 => Ultraschall; 1 => Infrarot;

int dist = 0;

char buf[64];

DDRC = 0b00100000; // Ultraschall + LED

DDRB = 0b00000011; // Servo-Motoren

init_serial();

init_adc();

sei();

sprintf(buf, "Starting...\n\r");

serial_send_str(buf);

while(1)

{

for (int y = 300; y <= 1100; y += 10)

{

for (int x = -1000; x <= 1000; x += 20)

{

while (stop) set_position(x, y);

set_position(x, y);

if (mode == 0) dist = US_Messen();

if (mode == 1) dist = IR_messen();

//sprintf(buf, "X: %d; Y: %d; D: %u;\n\r", x, y, dist);

sprintf(buf, "0X%04X,", dist);

serial_send_str(buf);

}

for (int z = 0; z < 100; z++)

set_position(-1000, y);

}

stop = 1;

}

<?php

$width = 100;
$height = 80;

$name = "putty1_01.log";

$ascii_content = file_get_contents($name);

for ($y = 0; $y < $height; $y++)
	for ($x = 0; $x < $width;  $x++)
	{
		$content[$x][$y] = hexdec(substr($ascii_content, $x * 7 + 2 + ($y * ($width + 1) * 7), 4)) / 2;
		//echo substr($ascii_content, $x * 7 + 2, 4)." ";
		//echo $content[$x][$y]." ";
	}

//exit;

header ('Content-Type: image/png');
$im = @imagecreatetruecolor($width, $height) or die('Cannot Initialize new GD image stream');

for ($y = 0; $y < $height; $y++)
	for ($x = 0; $x < $width;  $x++)
	{
		$col = imagecolorallocate ($im, $content[$x][$y], 0, 0);
		imagesetpixel ($im, $x, $y, $col);
	}

imagepng($im);
imagedestroy($im);

?>

<?php

$width = 100;

$height = 80;

$name = "putty1_01.log";

$ascii_content = file_get_contents($name);

for ($y = 0; $y < $height; $y++)

for ($x = 0; $x < $width; $x++)

{

$content[$x][$y] = hexdec(substr($ascii_content, $x * 7 + 2 + ($y * ($width + 1) * 7), 4)) / 2;

//echo substr($ascii_content, $x * 7 + 2, 4)." ";

//echo $content[$x][$y]." ";

}

//exit;

header ('Content-Type: image/png');

$im = @imagecreatetruecolor($width, $height) or die('Cannot Initialize new GD image stream');

for ($y = 0; $y < $height; $y++)

for ($x = 0; $x < $width; $x++)

{

$col = imagecolorallocate ($im, $content[$x][$y], 0, 0);

imagesetpixel ($im, $x, $y, $col);

}

imagepng($im);

imagedestroy($im);

Download Ultrasonic 3D scanner @ Thingiverse

[#/3dscanner/ultrasonic3dscanner/onderdelen/ultrasonic3dscanner” ]

Zoeken

Ultrasonic 3D Scanner – Informatie en onderdelen

Ultrasonic 3D Scanner

Scripts