Auto-Targeting Nerf Turret Final presentation Axel Bender, Elas - - PowerPoint PPT Presentation

Auto-Targeting Nerf Turret

Final presentation

Axel Bender, Elías Marel & Ívar Kristinsson

Department of Science and Engineering (TVD) Reykjavík University November 29, 2012

Overview

• Introduction
• Requirements
• Use case
• Design

○ Hardware ○ Software

• Performance
• Summary
• Questions

Introduction

• Our project is a Auto-Targeting Nerf-Turret.
• Using motion sensors, a webcam and computer vision

to detect a player of the opposing team and track them.

• The turret then automatically fires at the target.
• This is not a solution to a practical problem, this is just

something we think will be a fun and challenging final project.

• Requires all aspects of mechatronic engineering;

programming, electronics and mechanical design

Requirements

• The device is required to:

○

Detect motion in 7 m radius.

○

Can track motion in 360° around the turret.

○

Move the turret in the direction of the movement.

○

Use image analysis to locate target.

○

Adjust for height and distance by tilting the barrel.

○

Follow predetermined color and shape.

○

Shoot at target when ready.

Specifications

• Other automatic turret projects use similar methods to

find and shoot a target.

• Why is our solution special?
• A full 360° radius of movement.
• It moves around both in a pan and tilt motion (X and Y

axis).

• It chooses the best target available and tracks it until

the target is in the crosshairs and shoots.

Use case

• Could be useful as a primitive defence/guarding

system.

• It is mostly intended for people that like microcontroller

programming, and improving/building mechatronic projects.

• Ideal for hardcore Nerf battles, like team vs. game

types.

• Improved version could be made for hunting.

Design: Overview

• The turret consists of an electronic operated toy gun.
• Handcrafted base, followed by a bracket mounted

using ball bearings.

• 2x servo motors controlling movement of x- and y-

axis connected to the system with gears.

• Motion sensors, webcam and an Arduino uno for

tracking, targeting and system control.

Design: Turret

Design: Gun

Design: Base

Design: Motion sensor

Design: Microcontroller

Design: Computer vision

Design: Servo motors and gun bracket.

Design: Hardware and materials

• Nerf Gun.
• 2 Servo motors.
• Webcam.
• 3 motion sensors.
• Arduino Uno
• Technical Lego Gears.
• Bracket
• Wooden plate as a base.
• Plastic axle.
• Extendable steel legs.

Design: Software

Design: Software - Roborealm

Design: Bill of materials (BOM)

• 3 x PPIR Motion sensor SEN-08630, $ 10.
• 1 x HiTec HS422 RC servos, $ 25.
• 1 x HiTec HS311 RC servos, $ 17.
• 2 x IRF1010 N-type MOSFETs, < 1$
• 1 x Air Blasters Tommy 20 Dart Blaster, $ 40.
• 1 x Logitech Webcam, $ 20.
• 2 x Technic Lego Gears with 40 teeth, < 1$.
• 1 x Technic Lego Gears with 20 teeth, <1 $.
• 1 x Technic Lego Gears with 24 teeth, <1 $.
• 2 x KBC 62022RS 15x35x11 mm ball bearings, 4 $.
• 1 x FAG 6004.2RSR 20x42x12 mm ball bearings, 6 $.
• Total amount: 140 - 150 $.

Performance

• When a motion is detected by a motion sensor the gun

moves to that direction.

• The webcam at the front of the gun detects and tracks

red objects, taking over from the sensors.

• When the target has been in the crosshairs for long

enough, the turret fires away.

• Best seen in action.
• http://www.youtube.com/watch?v=IzK23zt-E0Y

Summary

• The auto-targeting nerf turret met all of its

requirements. ○ Moves in the direction of motion. ○ Detects and tracks red objects (or other colors). ○ Shoots when it has a good target. ○ Manual override equipped. ○ Complete manual operation also equipped.

• Expansions could be made in the future

○ Upgrade motors. ○ Upgrade gears. ○ Expand the programming to pattern and shape tracking.

Please and thank you

Questions ?