Auto-Targeting Nerf Turret

Final presentation

Axel Bender, Elías Marel & Ívar Kristinsson

Department of Science and Engineering (TVD)

Reykjavík UniversityNovember 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 ?