Introduction
Tools 🛠
How to build it 🛠
Step 1: stepper motor driver modules
STEP 2: install the LiDAR instead of nozzle
STEP 3: write a program that generates G-code and stores the data
STEP 4 : plotting the data

Yaman jaddouh

•

Mohammad Baher Karazeh

•

Mahmoud Mardnly

•

Ahmad TASKIA

•

Bakry Rihawi

Published February 21, 2024

3D Scanner using Hexabitz Modules

A CNC Machine scans shapes with XY axis and measure the height then send it to python program and plots it

IntermediateFull instructions provided406

Things used in this project

Hardware components

Hexabitz 4-Pin USB-Serial Prototype Cable

Hexabitz STLINK-V3MODS Programmer (H40Rx)

Hexabitz VL53L1 Time-of-Flight IR Sensor Module (H08R70)

Hexabitz Dual H-Bridge Motor Driver (H18R1x)

Anycubic i3 Mega 3D printer

Hexabitz 3.3V/1A DC-DC Power Supply Module (H03R00)

DPS5005 mini power supply

Software apps and online services

Microsoft VS Code

STMicroelectronics STM32CUBEPROG

Hand tools and fabrication machines

Soldering iron (generic)

Solder Wire, Lead Free

3D Printer (generic)

Cable Cutter, 130.17mm

Story

Introduction:

The 3D Scanner Project is an innovative endeavor focused on creating a cost-effective and user-friendly 3D scanning system. By combining advanced hardware and software technologies, the project aims to capture accurate and detailed digital models of physical objects. This cutting-edge technology has the potential to revolutionize industries such as manufacturing, healthcare, architecture, and cultural heritage preservation, opening up new possibilities for creativity and problem-solving.

Tools 🛠️

1. STLINK-V3MODS Programmer (H40Rx):

H40Rx is a programmer module which contains STLINK-V3MODS stand-alone debugging and programming mini probe for STM32 micro-controllers (Hexabitz modules and other MCUs).

It supports the SWD (Serial Wire Debugging) interface for the communication with any STM32 micro-controller located on an application board.

It also provides bridge interfaces to several communication protocols, allowing for instance the programming of the target through boot-loader.

STLINK-V3MODS Programmer

2. 1D LiDAR IR Sensor (H08R6x):

H08R6x is an infrared (IR) time-of-flight (ToF) ranging sensor module based on ST VL53L0X sensor and STM32F0 MCU. This sensor is immune to surface reflectance or varying lighting conditions and can function as a 1D LiDAR or gesture-detection interface. It can measure distance accurately up to 2 m.

Time-of-flight IR Sensor

3. Dual H-Bridge Motor Driver (H18R1x):

H18R1x is a dual H-bridge motor driver module based onL298 and STM32G0 MCU.

The H-bridge motor driver module, allows driving motors in two directions (forward and backward). With such a module, the motor can be made to rotate, and the polarity of the motor’s power supply can be reversed to change the direction of rotation. If necessary, the motor can also be braked.

Dual H-Bridge Motor Driver

4. 3.3V/1A DC-DC Power Supply (H03R0x):

H03R0x is a compact DC-DC buck power supply with a 3.3V/1A DC output and 5-40V DC input. The output voltage is provided through Hexabitz SMD edge-pad connectors (3.3V on top and GND on bottom). The -T module version comes with a 5.08 mm terminal block connector for input voltage, while the -J comes with a DC power jack. Use this module to power all your Hexabitz creations (and other hardware) from a DC source (battery, AC/DC wall adapter, etc.)

3.3V / 1A DC-DC Buck Power Supply

How to build it 🛠️

Step 1: stepper motor driver modules

we use 4 of H18R1 module to drive a XYZ stepper motor, one of the modules is a master who receives the G-code format then handles it and sends command via UART to other module doing the movement by moving the stepper motors

stepper driver modules

STEP 2: install the LiDAR instead of nozzle

we use H08R6 module to measure the distance from the plate for each movement, so if there is an object the distance will be changed.

this module is connected to the master of other modules and is connected to a computer, this will allow to receive and transmit data between the two.

LiDAR installed

the module uses VL53L0X ic which is a time-of-flight (ToF) sensor that uses laser light to measure the distance to a target object. the range of sensor is ( 4 - 200cm)

The field of view (FOV) is 25 degrees and can affect the reading distance and the object will not appear in clear detail so we should make the light ray of sensor more straighter or take the sample as close as possible from the object

The accuracy is lower as the distance increases, so when taking samples,

before starting the process we make the distance between the LiDAR and the top of object at most 4 cm by moving the z-axis, this way will increase accuracy because the reading is for a very small field of object.

distance between the LiDAR

we use another way we put a sticker on the LiDAR with a small hole opposite the transmitter, which is smaller than the diameter of the transmitter, which allows the rays to exit. The size of the hole will lead to a smaller angle of view,

and leads to reduce the range of measure distance

1 / 2 • sticker on LiDAR

STEP 3: write a program that generates G-code and stores the data

we have programmed python script that sends the G-code to LiDAR module using FTDI cable via UART then wait for response when the movement ends.

the format of the received data is : Xxx.xxYxx.xxZxx.xx|xx.xx.

which contains coordinates presenting XYZ and the distance.

after receiving the data, it will be stored in CSV file line by line until the process is finished.

we use CSV format because it is easy to read and write and it is supported by a wide range of software applications and programming languages

STEP 4 : plotting the data

we also have programmed python script that opens the CSV file in reading mode then takes the data and plots it

plotting one of scanned object

Hexabitz 3D Scanner

Code

import serial
from time import sleep
import os

def splitData(data):
    data =data.split(' ')
    return (data[1][1:],data[2][1:],data[3][1:],data[6][:-2])
dir = os.listdir('./')
cnc = serial.Serial('COM30',9600)
print("connected")
sleep(2)
print("start send")
x ,y =0,0
move_y=False
with open(f"./data{len(dir)}.csv","a") as f:
    f.write("x,y,z,ir\n")

while True:
    cnc.write(f"G1 X{x} Y{y} F3000\n".encode())
    sleep(0.01)
    data = cnc.read_until('\n'.encode())
    if move_y:
        y+=5
        move_y=False
    else:
        x+=5
    print(data)
    try:
        sleep(0.200)
        print(splitData(data.decode())  )
        a,b,c,d = splitData(data.decode())
        with open(f"./data{len(dir)}.csv","a") as f:
            f.write(f"{a},{b},{c},{d}\n")
    except:
        print(data)
    
    if x > 120:
        x=0
        move_y=True
    if y > 120:
        break
f.close()
print("done")
    # sleep(0.2)

from mpl_toolkits import mplot3d
import numpy as np
import matplotlib.pyplot as plt
import pandas as pd 

df=pd.read_csv('./Square.csv')
print(df.columns)

fig = plt.figure()
fig.autofmt_xdate(rotation=180)

ir_val = df['ir'].values.tolist()
ax=fig.add_subplot(111,projection='3d')
ax.scatter(df['x'].values.tolist(),df['y'].values.tolist(),ir_val)
ax.set_title('3D Scanner')
ax.set(xticklabels=[],
       yticklabels=[],
       zticklabels=[])
ax.set_zlim3d(0, 120)
roll = 0
elev = -130
for angle in range(0, 360*4 + 1):
    # Normalize the angle to the range [-180, 180] for display
    angle_norm = (angle + 180) % 360 - 180
    azim =0
    azim =angle_norm
    ax.view_init(elev, azim, roll)
#     plt.title('Elevation: %d°, Azimuth: %d°, Roll: %d°' % (elev, azذ1im, roll))
    plt.draw()
    plt.pause(.00001)
plt.show()