SHIVA S R
Published © MIT

Mapping of Unknown Environment

Mapping a room needs more processing so I used a basic ultrasonic sensor, connected it with a servo and plotted them.

AdvancedWork in progress12 hours4,985
Mapping of Unknown Environment

Things used in this project

Hardware components

Raspberry Pi 3 Model B
Raspberry Pi 3 Model B
×1
Servos (Tower Pro MG996R)
×1
Ultrasonic Sensor - HC-SR04 (Generic)
Ultrasonic Sensor - HC-SR04 (Generic)
×1

Software apps and online services

Cayenne
myDevices Cayenne

Story

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Schematics

OUTPUT WILL BE SIMILAR TO IT

Code

RASPBERRY PI CODE

Python
SIMPLY RUN IT
import pylab as pl
import numpy
import cv2
import RPi.GPIO as GPIO                    
import time
from matplotlib import collections  as mc
import math
from Adafruit_IO import Client


aio = Client('2847f3e0b36f4f308a5582fdc58211ab')




GPIO.setmode(GPIO.BCM)                      
GPIO.setwarnings(False)

TRIG = 23
ECHO = 24

q=0
GPIO.setup(12,GPIO.OUT)
GPIO.setup(16,GPIO.OUT)
GPIO.setup(TRIG,GPIO.OUT)                  
GPIO.setup(ECHO,GPIO.IN)
GPIO.setup(25,GPIO.OUT)

pwm=GPIO.PWM(25,50)
pwm.start(5)
DutyCycle = 1/18* (q) + 2
pwm.ChangeDutyCycle(DutyCycle)
lines = [[(0, 1), (3, 3)], [(0, 1), (7, 9)], [(0, 1), (8, 7)]]

for i in range (0, 36):

    GPIO.output(TRIG, False)                 
    print ("Waitng For Sensor To Settle")
    time.sleep(1)

    print ("Distance measurement in progress")

    GPIO.output(TRIG, True)                  
    time.sleep(0.00001)                      
    GPIO.output(TRIG, False)                 

    while GPIO.input(ECHO)==0:               
        pulse_start = time.time()            
    while GPIO.input(ECHO)==1:
        pulse_end = time.time()               

    pulse_duration = pulse_end - pulse_start 

    distance = pulse_duration * 17150        
    distance = round(distance, 2)            

    if distance > 2 and distance < 400:      
        print ("Distance:",distance - 0.5,"cm")
    else:
        print ("Out Of Range")
    a=math.cos(math.radians(q))*distance
    b=math.sin(math.radians(q))*distance
    q=q+.8
    if (q>180):
        q=0

    lines.append([(0, 1),(a,b)])
    c = [1, 0, 0, 1]
    i=i+1
    
print(lines)
aio.send('line segment', lines)
lc = mc.LineCollection(lines, colors=c, linewidths=0.5)


fig, ax = pl.subplots()


ax.add_collection(lc)
ax.autoscale()
ax.margins(0.1)
fig.savefig('foo1.png')
time.sleep(1)
r=cv2.imread('foo1.png')
cv2.imshow('Mapped image',r)
    

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Credits

SHIVA S R

SHIVA S R

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