Let's Make Robots!

"LoMoR" - Lets Orientate & Map Our Robots (Sonar Based)

"LoMoR" - Lets Orientate & Map Our Robots (Sonar Based)

 Also Blogged as Mystery Object Here

My System Uses a LCD display to Map an area which is scanned by an Ultrasonic or IR Distance_ing transducer.

The Angle of the Probe is converted from polar Coordinate to Cartesian Coords and then displayed X,Y fashion on the LCD Display.

The System works pretty well i must say, however the "Extra" echos of Ultrasonic signal can be miss-leading.

What is super cool is being able to see what the Ultrasonic or IR sensor sees - it sees a lot more than you would think, or should i say Too much more!!

I am not sure what the overshot areas on the plot are yet. (maybe i have to mount the transducers sideways).

I mounted the Ultrasonic Transducer Vertically and it gave slightly better result - the plus point is the transducer can pivot better around itself.

Basic system is so:-

  1. Arduino - LCD walkthrough
  2. GLCD based display
  3. Data Sheet for KSO108B
  4. Ultrasonic or IR Distance Transducer connected to a servo.

My code_ing works this way :-

  1. Servo scans with attached Ultrasonic or IR sensor taking distance measurments
  2. From this you have the angle of the servo with distance to object
  3. Convert the Angle of the servos Polar Coordinates to (cartesian coordinates)
  4. ie x=cos(angle)*distance, y=sin(angle)*distance
  5. then you can plot direct to the display x,y
  6. Result is a visual map of your scanned area.

Video (1)  URL :- LoMoR with URM37 Ultrasonic Sensor (Film was made by my Son, voice over by me)
Video (2)  URL :- LoMoR with Sharp GP2Y0A02YK0F Infra Red Long Range Sensor

Video (3)  URL :- LoMoR with Maxbotix LV-EZ1 - Ultrasonic Long Range Sonar

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I tried to study the way that a robot percieves the environment, and I like to approach ways to read and vizualize sensor data, but this never get to far away from this point.

In this video the robot is connected with usb cable to the computer, making wireless communication would be the next step.

I want to improve this, but freetime is now a bit of a problem for me (wich I can't complaint because it means I have work to do)

Thank you very much for posting this- this is soooooo coool

- what resolution display field did you use - just for comparison to my 64*128 display.

As it looks like a lot of info can be "Gleamed" off this.

thanks  :)

the screen display has 800x600

Is the range finder a srf08? - now are you going to offload the map into memory, so you can map the whole house?

I really like the overlay presentation - how did you do that?

The Ultrasonic module is a URM37

The initial idea is to map an area and work with the data directly off the display - its easily read.

The plus point being you can have a quick peek at the display to "de-brief" the bot after the crash.

I am not sure yet how i can store the data (for rooms) however the screen is a giant bit map so it would not take much memory to store the data 64*128 bits.

The Overlay was done by video editing in my favorite  Edit Studio pro software . Its able to render dark blue as a transparent layer (the signal overlay is light blue so is not touched) . Then is just a case of overlaying the rendered video data over a track showing the Game Arena (coffee table).

I ordered the same graphic LCD after I saw your first blog post on this, gareth. Very much looking forward to try it out myself. So thanks for the nice write up and video demonstrating it.

OddBots Chain reaction.

Super cool - now i have a feeling in my bones that some bots with sight will emerge.......

I have to say that i am more than pleased with the display - and in fact its easier to use than my old 2 liner LCD.

Let me know when it lands and i can launch some code to you.

These days I don't get to spend much time on LMR. It is nice to know I can still set off a chain reaction from time to time :D

I really wish I had gotten around to playing with the display now :(

Very cool "radar" system, will look awesome on a robot. Sadly it doesn't leave many pins on the Arduino for anything else.
Using a dedicated standalone microcontroller is probably the cheapest and easiest solution to that problem( - which I know of).