While 3D scanning a component is becoming much popular in the product world, there comes the requirements of scanning a much larger area when we are stepping into the 4th revolution of industrialization where a 3D scan of a plant can be used in integration which can save a bigger portion of the cost. FARO is a company who are providing 3D scanners with range up to 330m radius but this brings the question how much man power and time it consumes. Therefore it is an important fact that in future, autonomous rovers must be designed and developed to fix a scanner on it and the user can give the co-ordinates where then the rover would carry out the scan without any human support.

1. AUTONOMOUSROVER SPECIALLYDESIGNED FOR
FARO® FOCUS3D LASER SCANNER
Sachith Harshitha Liyanagama 12060212
(Class 08)
Bsc. Mechatronics Engineering

2. WHY3DSCANNING?
REAL TIME DATA FOR VIRTUAL COMMISSIONGPRECISE AND ACTUAL DIGITAL MODELREDUCED INTEGRATION COST
Virtual World
Real World
Control Technology
 It helps us to create precise and up-to-date digital models of the existing environment.
 It provide us 3D models rather than 2D plan.
 It ensures the integration of new products into existing production lines.
Sachith Harshitha Liyanagama 12060212
21st December 2016

3. 3DSCANNINGWORKFLOW
3D Scan, using FARO™ Focus 3D Laser scanner
Index, clean, region point clouds, Scan-to-scan
target-less registration and survey control with
AUTODESK™ Recap 360 (Alternative for FARO™ Scene)
Annotate, edit and visualize point clouds , Measure
distances within a point cloud, Detect clashes from
point clouds Model geometry from point clouds with
Bentley™ Pointools.
Sachith Harshitha Liyanagama 12060212
21st December 2016

4. WHYNEEDA ROVER?
More than 80 Scanning points to cover an area
of 5000sqm.
Time consumption on each scan varies
from 11 minutes till 45 per one point.
Sachith Harshitha Liyanagama 12060212
21st December 2016

5. DESIGN OFTHE ROV R
Control SystemMechanical Structure
Electronics
Sachith Harshitha Liyanagama 12060212
21st December 2016

6. REQUIREMENTS &FEATURES
Smaller than the range of the scanner
Easy to setup
Emergency Return
Proximity sensing to avoid interference
Obstacle avoidant
Sachith Harshitha Liyanagama 12060212
21st December 2016

7. MECHANICALSTRUCTURE
Wishbone Suspension
ServoDriven Steering
Kinetic Stability
Highersurface and internal capacity for bigger
load
Sachith Harshitha Liyanagama 12060212
21st December 2016

8. ELECTRONIC CIRCUIT DESIGN
Rover Control Circuit
Sachith Harshitha Liyanagama 12060212
21st December 2016

9. ELECTRONIC CIRCUIT DESIGN
RemoteControl Circuit
Sachith Harshitha Liyanagama 12060212
21st December 2016

10. CONTROLSYSTEM
Remote
Pre-saved GPS coordinate
HumanControlled
HumanControlled
+
Obstacle avoidant
EmergencyHoming
GPS + Compass + IMU
Based fully autonomous
Sachith Harshitha Liyanagama 12060212
21st December 2016

11. X0000Y000A0
X0000Y000A0
REMOTE BASEDCONTROLLING
Sachith Harshitha Liyanagama 12060212
21st December 2016

12. FULLYAUTONOMOUSDRIVE
SD card GPS Interface
Compass
Sensor
NAVIGATION
OBSTACLE
AVOIDANCE
Motor DriversServo Drivers
MOTION&
STEERING
Arduino Controller
Encoders
Ultrasonic
Sensors
Brush MotorsServo Motors
Sachith Harshitha Liyanagama 12060212
21st December 2016

13. CONS &FUTURE ENHANCEMENTS
Sachith Harshitha Liyanagama 12060212
21st December 2016

14. Thank youfor yourvaluabletimeand
attention!