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 ?