A device which tilts and pivots a base of four ultrasound distance scanners. Each scanner fires and listens at an interval. The received data is stored as a point cloud. This point cloud represents the geometries of the environment of the scanner. The data is very crude and low resolution. Ultrasound distance measurements take time to acquire and thus, not many measurements can be taken in a short amount of time.
This is the pan and tilt system for the scanner. This is built out of plexi-glass for quick prototyping.
Scan of the room including obstacles at various heights. The left-most part of the screen shows the current orientation of the scanner. The middle panel shows a 2D over-head view of the scanned points. The right most panel shows a 3D perspective view of the scan points